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/*
* 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; either version 2 of the License, or
* (at your option) any later version.
*
* 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 */
};
#define UBLOX_CFG 0x06
#define UBLOX_CFG_NAV5 0x24
#define UBLOX_CFG_NAV5_MASK_DYN 0
#define UBLOX_CFG_NAV5_MASK_MINE1 1
#define UBLOX_CFG_NAV5_MASK_FIXMODE 2
#define UBLOX_CFG_NAV5_MASK_DRLIM 3
#define UBLOX_CFG_NAV5_MASK_POSMASK 4
#define UBLOX_CFG_NAV5_MASK_TIMEMASK 5
#define UBLOX_CFG_NAV5_MASK_STATICHOLDMASK 6
#define UBLOX_CFG_NAV5_MASK_DGPSMASK 7
#define UBLOX_CFG_NAV5_DYNMODEL_PORTABLE 0
#define UBLOX_CFG_NAV5_DYNMODEL_STATIONARY 2
#define UBLOX_CFG_NAV5_DYNMODEL_PEDESTRIAN 3
#define UBLOX_CFG_NAV5_DYNMODEL_AUTOMOTIVE 4
#define UBLOX_CFG_NAV5_DYNMODEL_SEA 5
#define UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_1G 6
#define UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_2G 7
#define UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G 8
#define UBLOX_CFG_NAV5_FIXMODE_2D 1
#define UBLOX_CFG_NAV5_FIXMODE_3D 2
#define UBLOX_CFG_NAV5_FIXMODE_AUTO 3
#endif /* _AO_GPS_UBLOX_H_ */
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