| /* |
| * 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; |
| 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; |
| 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)); |
| |
| |
| /* 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__ */ |
| |