194 lines
6.6 KiB
C
194 lines
6.6 KiB
C
/*
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* gps.h
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*
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* Header to deal with low level GPS data
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*
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*
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* Copyright (C) 2009 Sylvain Munaut <tnt@246tNt.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __GPS_H__
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#define __GPS_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <time.h>
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#define MAX_SV 64
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/* Ionosperic model data */
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struct gps_ionosphere_model {
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/* #bits Scale factor Effective Units */
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/* (LSB) range */
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int alpha_0; /* s 8 2^-30 seconds */
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int alpha_1; /* s 8 2^-27 s / semi-circles */
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int alpha_2; /* s 8 2^-24 s / (semi-circles)^2 */
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int alpha_3; /* s 8 2^-24 s / (semi-circles)^3 */
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int beta_0; /* s 8 2^11 seconds */
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int beta_1; /* s 8 2^14 s / semi-circles */
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int beta_2; /* s 8 2^16 s / (semi-circles)^2 */
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int beta_3; /* s 8 2^16 s / (semi-circles)^3 */
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};
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/* UTC model data */
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struct gps_utc_model {
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/* #bits Scale factor Effective Units */
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/* (LSB) range */
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int a0; /* s 32 2^-30 seconds */
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int a1; /* s 24 2^-50 seconds / seconds */
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int delta_t_ls; /* s 8 1 seconds */
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int t_ot; /* u 8 2^12 602,112 seconds */
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int wn_t; /* u 8 1 weeks */
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int wn_lsf; /* u 8 1 weeks */
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int dn; /* u 8 1 7 days */
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int delta_t_lsf;/* s 8 1 seconds */
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};
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/* Almanach data */
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struct gps_almanac_sv {
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int sv_id;
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int sv_health;
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/* #bits Scale factor Effective Units */
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/* (LSB) range */
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int e; /* u 16 2^-21 */
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int t_oa; /* u 8 2^12 602,112 seconds */
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int ksii; /* s 16 2^-19 semi-circles */
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int omega_dot; /* s 16 2^-38 semi-circles / s */
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int a_powhalf; /* u 24 2^-11 meters */
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int omega_0; /* s 24 2^-23 semi-circles */
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int w; /* s 24 2^-23 semi-circles */
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int m_0; /* s 24 2^-23 semi-circles */
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int a_f0; /* s 11 2^-20 seconds */
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int a_f1; /* s 11 2^-38 seconds / seconds */
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};
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struct gps_almanac {
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int wna;
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int n_sv;
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struct gps_almanac_sv svs[MAX_SV];
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};
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/* Ephemeris data */
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struct gps_ephemeris_sv {
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int sv_id;
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/* #bits Scale factor Effective Units */
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/* (LSB) range */
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int code_on_l2; /* u 2 1 / */
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int week_no; /* u 10 1 week */
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int l2_p_flag; /* u 1 1 / */
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int sv_ura; /* u 4 / / */
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int sv_health; /* u 6 / / */
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int t_gd; /* s 8 2^-31 seconds */
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int iodc; /* u 10 / / */
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int t_oc; /* u 16 2^4 604,784 seconds */
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int a_f2; /* s 8 2^-55 sec / sec^2 */
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int a_f1; /* s 16 2^-43 sec / sec */
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int a_f0; /* s 22 2^-31 seconds */
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int c_rs; /* s 16 2^-5 meters */
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int delta_n; /* s 16 2^-43 semi-circles / s */
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int m_0; /* s 32 2^-31 semi-circles */
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int c_uc; /* s 16 2^-29 radians */
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unsigned int e; /* u 32 2^-33 0.03 / */
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int c_us; /* s 16 2^-29 radians */
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unsigned int a_powhalf; /* u 32 2^-19 meters^(1/2) */
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int t_oe; /* u 16 2^4 604,784 seconds */
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int fit_flag; /* u 1 / / */
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int c_ic; /* s 16 2^-29 radians */
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int omega_0; /* s 32 2^-31 semi-circles */
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int c_is; /* s 16 2^-29 radians */
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int i_0; /* s 32 2^-31 semi-circles */
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int c_rc; /* s 16 2^-5 meters */
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int w; /* s 32 2^-31 semi-circles */
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int omega_dot; /* s 24 2^-43 semi-circles / s */
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int idot; /* s 14 2^-43 semi-circles / s */
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int _rsvd1; /* 23 bits */
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int _rsvd2; /* 24 bits */
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int _rsvd3; /* 24 bits */
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int _rsvd4; /* 16 bits */
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int aodo; /* 8 bits Not sure it needs to be here ... */
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};
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struct gps_ephemeris {
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int n_sv;
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struct gps_ephemeris_sv svs[MAX_SV];
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};
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/* Reference position */
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struct gps_ref_pos { /* WSG84 ellipsoid */
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double latitude; /* deg */
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double longitude; /* deg */
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double altitude; /* m above ellipsoid */
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};
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/* Reference time */
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struct gps_ref_time {
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int wn; /* GPS week number */
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double tow; /* in seconds */
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time_t when; /* time in seconds when time was set */
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};
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/* All assist data */
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#define GPS_FIELD_IONOSPHERE (1<<0)
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#define GPS_FIELD_UTC (1<<1)
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#define GPS_FIELD_ALMANAC (1<<2)
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#define GPS_FIELD_EPHEMERIS (1<<3)
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#define GPS_FIELD_REFPOS (1<<4)
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#define GPS_FIELD_REFTIME (1<<5)
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#define GPS_FIELD_REALTIME_INT (1<<6)
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struct gps_assist_data {
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int fields;
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struct gps_ionosphere_model ionosphere;
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struct gps_utc_model utc;
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struct gps_almanac almanac;
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struct gps_ephemeris ephemeris;
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struct gps_ref_pos ref_pos;
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struct gps_ref_time ref_time;
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};
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/* GPS Subframe utility methods (see gps.c for details) */
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int gps_unpack_sf123(uint32_t *sf, struct gps_ephemeris_sv *eph);
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int gps_unpack_sf45_almanac(uint32_t *sf, struct gps_almanac_sv *alm);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __GPS_H__ */
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