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