Early/Obsolete code for Location Service (LCS / SMLC / RRLP)
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osmocom-lcs/ubx.h

240 lines
5.3 KiB

/*
* ubx.h
*
* Header for UBX related stuff
*
*
* Copyright (C) 2009 Sylvain Munaut <tnt@246tNt.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, see <http://www.gnu.org/licenses/>.
*/
#ifndef __UBX_H__
#define __UBX_H__
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
/* Constants used in UBX */
/* Sync bytes (two first bytes of each message) */
#define UBX_SYNC0 0xb5
#define UBX_SYNC1 0x62
/* UBX messages classes */
#define UBX_CLASS_NAV 0x01
#define UBX_CLASS_RXM 0x02
#define UBX_CLASS_INF 0x04
#define UBX_CLASS_ACK 0x05
#define UBX_CLASS_CFG 0x06
#define UBX_CLASS_UPD 0x09
#define UBX_CLASS_MON 0x0a
#define UBX_CLASS_AID 0x0b
#define UBX_CLASS_TIM 0x0d
/* UBX messages type ID (by class) */
#define UBX_NAV_POSECEF 0x01
#define UBX_NAV_POSLLH 0x02
#define UBX_NAV_STATUS 0x03
#define UBX_NAV_DOP 0x04
#define UBX_NAV_SOL 0x06
#define UBX_NAV_POSUTM 0x08
#define UBX_NAV_VELECEF 0x11
#define UBX_NAV_VELNED 0x12
#define UBX_NAV_TIMEGPS 0x20
#define UBX_NAV_TIMEUTC 0x21
#define UBX_NAV_CLOCK 0x22
#define UBX_NAV_SVINFO 0x30
#define UBX_NAV_DGPS 0x31
#define UBX_NAV_SBAS 0x32
#define UBX_NAV_EKFSTATUS 0x40
#define UBX_RXM_RAW 0x10
#define UBX_RXM_SFRB 0x11
#define UBX_RXM_SVSI 0x20
#define UBX_RXM_SVSI_GPS 0x20
#define UBX_RXM_ALM 0x30
#define UBX_RXM_EPH 0x31
#define UBX_RXM_POSREQ 0x40
#define UBX_INF_ERROR 0x00
#define UBX_INF_WARNING 0x01
#define UBX_INF_NOTICE 0x02
#define UBX_INF_TEST 0x03
#define UBX_INF_DEBUG 0x04
#define UBX_INF_USER 0x07
#define UBX_ACK_NAK 0x00
#define UBX_ACK_ACK 0x01
#define UBX_CFG_PRT 0x00
#define UBX_CFG_USB 0x1b
#define UBX_CFG_MSG 0x01
#define UBX_CFG_NMEA 0x17
#define UBX_CFG_RATE 0x08
#define UBX_CFG_CFG 0x09
#define UBX_CFG_TP 0x07
#define UBX_CFG_NAV2 0x1a
#define UBX_CFG_DAT 0x06
#define UBX_CFG_INF 0x02
#define UBX_CFG_RST 0x04
#define UBX_CFG_RXM 0x11
#define UBX_CFG_ANT 0x13
#define UBX_CFG_FXN 0x0e
#define UBX_CFG_SBAS 0x16
#define UBX_CFG_LIC 0x80
#define UBX_CFG_TM 0x10
#define UBX_CFG_TM2 0x19
#define UBX_CFG_TMODE 0x1d
#define UBX_CFG_EKF 0x12
#define UBX_UPD_DOWNL 0x01
#define UBX_UPD_UPLOAD 0x02
#define UBX_UPD_EXEC 0x03
#define UBX_UPD_MEMCPY 0x04
#define UBX_MON_SCHD 0x01
#define UBX_MON_IO 0x02
#define UBX_MON_IPC 0x03
#define UBX_MON_VER 0x04
#define UBX_MON_EXCEPT 0x05
#define UBX_MON_MSGPP 0x06
#define UBX_MON_RXBUF 0x07
#define UBX_MON_TXBUF 0x08
#define UBX_MON_HW 0x09
#define UBX_MON_USB 0x0a
#define UBX_AID_REQ 0x00
#define UBX_AID_INI 0x01
#define UBX_AID_HUI 0x02
#define UBX_AID_DATA 0x10
#define UBX_AID_ALM 0x30
#define UBX_AID_EPH 0x31
#define UBX_TIM_TP 0x01
#define UBX_TIM_TM 0x02
#define UBX_TIM_TM2 0x03
#define UBX_TIM_SVIN 0x04
/* Header */
struct ubx_hdr {
uint8_t sync[2];
uint8_t msg_class;
uint8_t msg_id;
uint16_t payload_len;
} __attribute__((packed));
/* Payload formats (some of them) */
struct ubx_nav_posllh {
uint32_t itow; /* ms */
int32_t lon; /* scaling 1e-7 */
int32_t lat; /* scaling 1e-7 */
int32_t height;/* mm */
int32_t hsl; /* mm */
uint32_t hacc; /* mm */
uint32_t vacc; /* mm */
} __attribute__((packed));
struct ubx_aid_ini {
int32_t x;
int32_t y;
int32_t z;
uint32_t posacc;
uint16_t tm_cfg;
uint16_t wn;
uint32_t tow; /* ms */
int32_t tow_ns;
uint32_t tacc_ms;
uint32_t tacc_ns;
int32_t clkd;
uint32_t clkdacc;
uint32_t flags;
} __attribute__((packed));
struct ubx_aid_hui {
uint32_t health;
double utc_a1;
double utc_a0;
int32_t utc_tot;
int16_t utc_wnt;
int16_t utc_ls;
int16_t utc_wnf;
int16_t utc_dn;
int16_t utc_lsf;
int16_t utc_spare;
float klob_a0;
float klob_a1;
float klob_a2;
float klob_a3;
float klob_b0;
float klob_b1;
float klob_b2;
float klob_b3;
uint32_t flags;
} __attribute__((packed));
struct ubx_aid_alm {
uint32_t sv_id;
uint32_t gps_week;
uint32_t alm_words[8]; /* Present only if 'gps_week' != 0 */
} __attribute__((packed));
struct ubx_aid_eph {
uint32_t sv_id;
uint32_t present;
uint32_t eph_words[24]; /* Present only if 'present' != 0 */
} __attribute__((packed));
struct ubx_nav_timegps {
uint32_t itow; /* ms */
int32_t ftow; /* ns */
int16_t week;
uint8_t leaps;
uint8_t valid;
uint32_t tacc; /* ns */
} __attribute__((packed));
/* Message handler */
typedef void (*ubx_msg_handler_t)(
struct ubx_hdr *hdr, void *payload, int payload_len, void *userdata);
struct ubx_dispatch_entry {
uint8_t msg_class;
uint8_t msg_id;
ubx_msg_handler_t handler;
};
#define UBX_DISPATCH(kls,id,hdl) { \
.msg_class = UBX_CLASS_ ## kls , \
.msg_id = UBX_ ## kls ## _ ## id, \
.handler = (hdl), \
}
/* Methods */
int ubx_msg_dispatch(struct ubx_dispatch_entry *dt,
void *msg, int len, void *userdata);
#ifdef __cplusplus
}
#endif
#endif /* __UBX_H__ */