blob: 562a43543f9722d6cc86d99c85818ab1720c13dc (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
|
/*
* Copyright © 2013 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
#ifndef _AO_GPS_UBLOX_H_
#define _AO_GPS_UBLOX_H_
struct ublox_hdr {
uint8_t class, message;
uint16_t length;
};
#define UBLOX_NAV 0x01
#define UBLOX_NAV_DOP 0x04
struct ublox_nav_dop {
uint8_t class; /* 0x01 */
uint8_t message; /* 0x04 */
uint16_t length; /* 18 */
uint32_t itow; /* ms */
uint16_t gdop;
uint16_t ddop;
uint16_t tdop;
uint16_t vdop;
uint16_t hdop;
uint16_t ndop;
uint16_t edop;
};
#define UBLOX_NAV_POSLLH 0x02
struct ublox_nav_posllh {
uint8_t class; /* 0x01 */
uint8_t message; /* 0x02 */
uint16_t length; /* 28 */
uint32_t itow; /* ms */
int32_t lon; /* deg * 1e7 */
int32_t lat; /* deg * 1e7 */
int32_t height; /* mm */
int32_t hmsl; /* mm */
uint32_t hacc; /* mm */
uint32_t vacc; /* mm */
};
#define UBLOX_NAV_SOL 0x06
struct ublox_nav_sol {
uint8_t class; /* 0x01 */
uint8_t message; /* 0x06 */
uint16_t length; /* 52 */
uint32_t itow; /* ms */
int32_t ftow; /* ns */
int16_t week;
int8_t gpsfix;
uint8_t flags;
int32_t exefx; /* cm */
int32_t exefy; /* cm */
int32_t exefz; /* cm */
uint32_t pacc; /* cm */
int32_t exefvx; /* cm/s */
int32_t exefvy; /* cm/s */
int32_t exefvz; /* cm/s */
uint32_t sacc; /* cm/s */
uint16_t pdop; /* * 100 */
uint8_t reserved1;
uint8_t numsv;
uint32_t reserved2;
};
#define UBLOX_NAV_SOL_GPSFIX_NO_FIX 0
#define UBLOX_NAV_SOL_GPSFIX_DEAD_RECKONING 1
#define UBLOX_NAV_SOL_GPSFIX_2D 2
#define UBLOX_NAV_SOL_GPSFIX_3D 3
#define UBLOX_NAV_SOL_GPSFIX_GPS_DEAD_RECKONING 4
#define UBLOX_NAV_SOL_GPSFIX_TIME_ONLY 5
#define UBLOX_NAV_SOL_FLAGS_GPSFIXOK 0
#define UBLOX_NAV_SOL_FLAGS_DIFFSOLN 1
#define UBLOX_NAV_SOL_FLAGS_WKNSET 2
#define UBLOX_NAV_SOL_FLAGS_TOWSET 3
#define UBLOX_NAV_STATUS 0x03
struct ublox_nav_status {
uint8_t class; /* 0x01 */
uint8_t message; /* 0x03 */
uint16_t length; /* 16 */
uint8_t gpsfix;
uint8_t flags;
uint8_t fixstat;
uint8_t flags2;
uint32_t ttff; /* ms */
uint32_t msss; /* ms */
};
#define UBLOX_NAV_STATUS_GPSFIX_NO_FIX 0
#define UBLOX_NAV_STATUS_GPSFIX_DEAD_RECKONING 1
#define UBLOX_NAV_STATUS_GPSFIX_2D 2
#define UBLOX_NAV_STATUS_GPSFIX_3D 3
#define UBLOX_NAV_STATUS_GPSFIX_GPS_DEAD_RECKONING 4
#define UBLOX_NAV_STATUS_GPSFIX_TIME_ONLY 5
#define UBLOX_NAV_STATUS_FLAGS_GPSFIXOK 0
#define UBLOX_NAV_STATUS_FLAGS_DIFFSOLN 1
#define UBLOX_NAV_STATUS_FLAGS_WKNSET 2
#define UBLOX_NAV_STATUS_FLAGS_TOWSET 3
#define UBLOX_NAV_STATUS_FIXSTAT_DGPSISTAT 0
#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING 6
#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_NONE 0
#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_VALID 1
#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_USED 2
#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_DR 3
#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_MASK 3
#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE 0
#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_ACQUISITION 0
#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_TRACKING 1
#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_POWER_OPTIMIZED_TRACKING 2
#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_INACTIVE 3
#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_MASK 3
#define UBLOX_NAV_SVINFO 0x30
struct ublox_nav_svinfo {
uint8_t class; /* 0x01 */
uint8_t message; /* 0x30 */
uint16_t length; /* 8 + 12 * numch */
uint32_t itow; /* ms */
uint8_t numch;
uint8_t globalflags;
uint16_t reserved;
};
#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN 0
#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_ANTARIS 0
#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_U_BLOX_5 1
#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_U_BLOX_6 2
#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_MASK 7
struct ublox_nav_svinfo_block {
uint8_t chn;
uint8_t svid;
uint8_t flags;
uint8_t quality;
uint8_t cno; /* dbHz */
int8_t elev; /* deg */
int16_t azim; /* deg */
int32_t prres; /* cm */
};
#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_SVUSED 0
#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_DIFFCORR 1
#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITAVAIL 2
#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITEPH 3
#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_UNHEALTHY 4
#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITALM 5
#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITAOP 6
#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_SMOOTHED 7
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND 0
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_IDLE 0
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_SEARCHING 1
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_ACQUIRED 2
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_UNUSABLE 3
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CODE_LOCK 4
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_5 5
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_6 6
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_7 7
#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_MASK 7
#define UBLOX_NAV_TIMEUTC 0x21
struct ublox_nav_timeutc {
uint8_t class; /* 0x01 */
uint8_t message; /* 0x21 */
uint16_t length; /* 20 */
uint32_t itow; /* ms */
uint32_t tacc; /* ns */
int32_t nano; /* ns */
uint16_t year;
uint8_t month;
uint8_t day;
uint8_t hour;
uint8_t min;
uint8_t sec;
uint8_t valid;
};
#define UBLOX_NAV_TIMEUTC_VALID_VALIDTOW 0
#define UBLOX_NAV_TIMEUTC_VALID_VALIDWKN 1
#define UBLOX_NAV_TIMEUTC_VALID_VALIDUTC 2
#define UBLOX_NAV_VELNED 0x12
struct ublox_nav_velned {
uint8_t class; /* 0x01 */
uint8_t message; /* 0x12 */
uint16_t length; /* 36 */
uint32_t itow; /* ms */
int32_t veln; /* cm/s */
int32_t vele; /* cm/s */
int32_t veld; /* cm/s */
uint32_t speed; /* cm/s */
uint32_t gspeed; /* cm/s */
int32_t heading; /* deg */
uint32_t sacc; /* cm/s */
uint32_t cacc; /* deg */
};
#endif /* _AO_GPS_UBLOX_H_ */
|
