Sylvain Munaut | 0f91413 | 2009-12-22 21:53:22 +0100 | [diff] [blame] | 1 | /* |
| 2 | * ubx.h |
| 3 | * |
| 4 | * Header for UBX related stuff |
| 5 | * |
| 6 | * |
| 7 | * Copyright (C) 2009 Sylvain Munaut <tnt@246tNt.com> |
| 8 | * |
| 9 | * This program is free software: you can redistribute it and/or modify |
| 10 | * it under the terms of the GNU General Public License as published by |
| 11 | * the Free Software Foundation, either version 2 of the License, or |
| 12 | * (at your option) any later version. |
| 13 | * |
| 14 | * This program is distributed in the hope that it will be useful, |
| 15 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 16 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 17 | * GNU General Public License for more details. |
| 18 | * |
| 19 | * You should have received a copy of the GNU General Public License |
| 20 | * along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 21 | */ |
| 22 | |
| 23 | #ifndef __UBX_H__ |
| 24 | #define __UBX_H__ |
| 25 | |
| 26 | #ifdef __cplusplus |
| 27 | extern "C" { |
| 28 | #endif |
| 29 | |
| 30 | #include <stdint.h> |
| 31 | |
| 32 | /* Constants used in UBX */ |
| 33 | |
| 34 | /* Sync bytes (two first bytes of each message) */ |
| 35 | #define UBX_SYNC0 0xb5 |
| 36 | #define UBX_SYNC1 0x62 |
| 37 | |
| 38 | /* UBX messages classes */ |
| 39 | #define UBX_CLASS_NAV 0x01 |
| 40 | #define UBX_CLASS_RXM 0x02 |
| 41 | #define UBX_CLASS_INF 0x04 |
| 42 | #define UBX_CLASS_ACK 0x05 |
| 43 | #define UBX_CLASS_CFG 0x06 |
| 44 | #define UBX_CLASS_UPD 0x09 |
| 45 | #define UBX_CLASS_MON 0x0a |
| 46 | #define UBX_CLASS_AID 0x0b |
| 47 | #define UBX_CLASS_TIM 0x0d |
| 48 | |
| 49 | /* UBX messages type ID (by class) */ |
| 50 | #define UBX_NAV_POSECEF 0x01 |
| 51 | #define UBX_NAV_POSLLH 0x02 |
| 52 | #define UBX_NAV_STATUS 0x03 |
| 53 | #define UBX_NAV_DOP 0x04 |
| 54 | #define UBX_NAV_SOL 0x06 |
| 55 | #define UBX_NAV_POSUTM 0x08 |
| 56 | #define UBX_NAV_VELECEF 0x11 |
| 57 | #define UBX_NAV_VELNED 0x12 |
| 58 | #define UBX_NAV_TIMEGPS 0x20 |
| 59 | #define UBX_NAV_TIMEUTC 0x21 |
| 60 | #define UBX_NAV_CLOCK 0x22 |
| 61 | #define UBX_NAV_SVINFO 0x30 |
| 62 | #define UBX_NAV_DGPS 0x31 |
| 63 | #define UBX_NAV_SBAS 0x32 |
| 64 | #define UBX_NAV_EKFSTATUS 0x40 |
| 65 | |
| 66 | #define UBX_RXM_RAW 0x10 |
| 67 | #define UBX_RXM_SFRB 0x11 |
| 68 | #define UBX_RXM_SVSI 0x20 |
| 69 | #define UBX_RXM_SVSI_GPS 0x20 |
| 70 | #define UBX_RXM_ALM 0x30 |
| 71 | #define UBX_RXM_EPH 0x31 |
| 72 | #define UBX_RXM_POSREQ 0x40 |
| 73 | |
| 74 | #define UBX_INF_ERROR 0x00 |
| 75 | #define UBX_INF_WARNING 0x01 |
| 76 | #define UBX_INF_NOTICE 0x02 |
| 77 | #define UBX_INF_TEST 0x03 |
| 78 | #define UBX_INF_DEBUG 0x04 |
| 79 | #define UBX_INF_USER 0x07 |
| 80 | |
| 81 | #define UBX_ACK_NAK 0x00 |
| 82 | #define UBX_ACK_ACK 0x01 |
| 83 | |
| 84 | #define UBX_CFG_PRT 0x00 |
| 85 | #define UBX_CFG_USB 0x1b |
| 86 | #define UBX_CFG_MSG 0x01 |
| 87 | #define UBX_CFG_NMEA 0x17 |
| 88 | #define UBX_CFG_RATE 0x08 |
| 89 | #define UBX_CFG_CFG 0x09 |
| 90 | #define UBX_CFG_TP 0x07 |
| 91 | #define UBX_CFG_NAV2 0x1a |
| 92 | #define UBX_CFG_DAT 0x06 |
| 93 | #define UBX_CFG_INF 0x02 |
| 94 | #define UBX_CFG_RST 0x04 |
| 95 | #define UBX_CFG_RXM 0x11 |
| 96 | #define UBX_CFG_ANT 0x13 |
| 97 | #define UBX_CFG_FXN 0x0e |
| 98 | #define UBX_CFG_SBAS 0x16 |
| 99 | #define UBX_CFG_LIC 0x80 |
| 100 | #define UBX_CFG_TM 0x10 |
| 101 | #define UBX_CFG_TM2 0x19 |
| 102 | #define UBX_CFG_TMODE 0x1d |
| 103 | #define UBX_CFG_EKF 0x12 |
| 104 | |
| 105 | #define UBX_UPD_DOWNL 0x01 |
| 106 | #define UBX_UPD_UPLOAD 0x02 |
| 107 | #define UBX_UPD_EXEC 0x03 |
| 108 | #define UBX_UPD_MEMCPY 0x04 |
| 109 | |
| 110 | #define UBX_MON_SCHD 0x01 |
| 111 | #define UBX_MON_IO 0x02 |
| 112 | #define UBX_MON_IPC 0x03 |
| 113 | #define UBX_MON_VER 0x04 |
| 114 | #define UBX_MON_EXCEPT 0x05 |
| 115 | #define UBX_MON_MSGPP 0x06 |
| 116 | #define UBX_MON_RXBUF 0x07 |
| 117 | #define UBX_MON_TXBUF 0x08 |
| 118 | #define UBX_MON_HW 0x09 |
| 119 | #define UBX_MON_USB 0x0a |
| 120 | |
| 121 | #define UBX_AID_REQ 0x00 |
| 122 | #define UBX_AID_INI 0x01 |
| 123 | #define UBX_AID_HUI 0x02 |
| 124 | #define UBX_AID_DATA 0x10 |
| 125 | #define UBX_AID_ALM 0x30 |
| 126 | #define UBX_AID_EPH 0x31 |
| 127 | |
| 128 | #define UBX_TIM_TP 0x01 |
| 129 | #define UBX_TIM_TM 0x02 |
| 130 | #define UBX_TIM_TM2 0x03 |
| 131 | #define UBX_TIM_SVIN 0x04 |
| 132 | |
| 133 | |
| 134 | /* Header */ |
| 135 | struct ubx_hdr { |
| 136 | uint8_t sync[2]; |
| 137 | uint8_t msg_class; |
| 138 | uint8_t msg_id; |
| 139 | uint16_t payload_len; |
| 140 | } __attribute__((packed)); |
| 141 | |
| 142 | |
| 143 | /* Payload formats (some of them) */ |
| 144 | struct ubx_nav_posllh { |
| 145 | uint32_t itow; |
| 146 | int32_t lon; /* scaling 1e-7 */ |
| 147 | int32_t lat; /* scaling 1e-7 */ |
| 148 | int32_t height;/* mm */ |
| 149 | int32_t hsl; /* mm */ |
| 150 | uint32_t hacc; /* mm */ |
| 151 | uint32_t vacc; /* mm */ |
| 152 | } __attribute__((packed)); |
| 153 | |
| 154 | struct ubx_aid_ini { |
| 155 | int32_t x; |
| 156 | int32_t y; |
| 157 | int32_t z; |
| 158 | uint32_t posacc; |
| 159 | uint16_t tm_cfg; |
| 160 | uint16_t wn; |
| 161 | uint32_t tow; |
| 162 | int32_t tow_ns; |
| 163 | uint32_t tacc_ms; |
| 164 | uint32_t tacc_ns; |
| 165 | int32_t clkd; |
| 166 | uint32_t clkdacc; |
| 167 | uint32_t flags; |
| 168 | } __attribute__((packed)); |
| 169 | |
| 170 | struct ubx_aid_hui { |
| 171 | uint32_t health; |
| 172 | double utc_a1; |
| 173 | double utc_a0; |
| 174 | int32_t utc_tot; |
| 175 | int16_t utc_wnt; |
| 176 | int16_t utc_ls; |
| 177 | int16_t utc_wnf; |
| 178 | int16_t utc_dn; |
| 179 | int16_t utc_lsf; |
| 180 | int16_t utc_spare; |
| 181 | float klob_a0; |
| 182 | float klob_a1; |
| 183 | float klob_a2; |
| 184 | float klob_a3; |
| 185 | float klob_b0; |
| 186 | float klob_b1; |
| 187 | float klob_b2; |
| 188 | float klob_b3; |
| 189 | uint32_t flags; |
| 190 | } __attribute__((packed)); |
| 191 | |
| 192 | struct ubx_aid_alm { |
| 193 | uint32_t sv_id; |
| 194 | uint32_t gps_week; |
| 195 | uint32_t alm_words[8]; /* Present only if 'gps_week' != 0 */ |
| 196 | } __attribute__((packed)); |
| 197 | |
| 198 | struct ubx_aid_eph { |
| 199 | uint32_t sv_id; |
| 200 | uint32_t present; |
| 201 | uint32_t eph_words[24]; /* Present only if 'present' != 0 */ |
| 202 | } __attribute__((packed)); |
| 203 | |
| 204 | |
| 205 | /* Message handler */ |
| 206 | typedef void (*ubx_msg_handler_t)( |
| 207 | struct ubx_hdr *hdr, void *payload, int payload_len, void *userdata); |
| 208 | |
| 209 | struct ubx_dispatch_entry { |
| 210 | uint8_t msg_class; |
| 211 | uint8_t msg_id; |
| 212 | ubx_msg_handler_t handler; |
| 213 | }; |
| 214 | |
| 215 | #define UBX_DISPATCH(kls,id,hdl) { \ |
| 216 | .msg_class = UBX_CLASS_ ## kls , \ |
| 217 | .msg_id = UBX_ ## kls ## _ ## id, \ |
| 218 | .handler = (hdl), \ |
| 219 | } |
| 220 | |
| 221 | |
| 222 | /* Methods */ |
| 223 | int ubx_msg_dispatch(struct ubx_dispatch_entry *dt, |
| 224 | void *msg, int len, void *userdata); |
| 225 | |
| 226 | |
| 227 | #ifdef __cplusplus |
| 228 | } |
| 229 | #endif |
| 230 | |
| 231 | #endif /* __UBX_H__ */ |
| 232 | |