kopia lustrzana https://github.com/bristol-seds/pico-tracker
335 wiersze
7.3 KiB
C
335 wiersze
7.3 KiB
C
/*
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* UBX Message definitions
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* Copyright (C) 2014 Richard Meadows <richardeoin>
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#ifndef UBX_MESSAGES_H
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#define UBX_MESSAGES_H
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#include "samd20.h"
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/** We use the packed attribute so we can copy direct to structs */
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#define __PACKED__ __attribute__((packed))
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/** UBX Message IDs are 16-bit types */
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typedef uint16_t ubx_message_id_t;
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/** Used for storing the state of each packet */
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enum ubx_packet_state {
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UBX_PACKET_WAITING,
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UBX_PACKET_ACK,
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UBX_PACKET_NACK,
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UBX_PACKET_UPDATED,
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};
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/** Generic UBX Message Type. Each message type extended is from this */
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typedef struct {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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} ubx_message_t;
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/** UBX Class Types */
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enum {
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UBX_NAV = 0x01,
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UBX_RXM = 0x02,
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UBX_INF = 0x04,
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UBX_ACK = 0x05,
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UBX_CFG = 0x06,
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UBX_MON = 0x0A,
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UBX_AID = 0x0B,
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UBX_TIM = 0x0D,
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UBX_ESF = 0x10,
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};
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/**
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* =============================================================================
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* UBX CFG Message Types =======================================================
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* =============================================================================
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*/
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/**
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* UBX CFG ANT Antenna Control Settings
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*/
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__PACKED__ struct ubx_cfg_ant {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint16_t flags;
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uint16_t pins;
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} payload;
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};
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/**
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* UBX CFG GNSS
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*/
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__PACKED__ struct ubx_cfg_gnss {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint8_t msgVer;
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uint8_t numTrkChHw;
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uint8_t numTrkChUse;
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uint8_t numConfigBlocks;
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struct {
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uint8_t gnssID;
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uint8_t resTrkCh;
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uint8_t maxTrkCh;
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uint8_t reserved1;
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int32_t flags;
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} block[8];
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} payload;
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};
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/**
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* UBX CFG NAV5 Navigation Engine Settings
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*/
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__PACKED__ struct ubx_cfg_nav5 {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint16_t mask;
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uint8_t dynModel;
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uint8_t fixMode;
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int32_t fixedAlt;
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uint32_t fixedAltVar;
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int8_t minElev;
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uint8_t drLimit;
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uint16_t pDop;
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uint16_t tDop;
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uint16_t pAcc;
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uint16_t tAcc;
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uint8_t staticHoldThresh;
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uint8_t dgpsTimeOut;
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uint32_t res2;
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uint32_t res3;
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uint32_t res4;
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} payload;
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};
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/**
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* UBX CFG TP5 TimePulse Parameters
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*/
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__PACKED__ struct ubx_cfg_tp5 {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint8_t tpIdx;
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uint8_t res0;
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uint16_t res1;
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int16_t antCableDelay;
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int16_t rfGroupDelay;
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uint32_t freqPeriod;
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uint32_t freqPeriodLoc;
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uint32_t pulseLenRatio;
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uint32_t pulseLenRatioLock;
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int32_t userConfigDelay;
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uint32_t flags;
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} payload;
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};
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/**
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* UBX CFG PRT Polls the configuration for one I/O Port
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*/
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__PACKED__ struct ubx_cfg_prt {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint8_t portID;
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uint8_t res0;
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uint16_t txReady;
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uint32_t mode;
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uint32_t baudRate;
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uint16_t inProtoMask;
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uint16_t outProtoMask;
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uint16_t flags;
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uint16_t res3;
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} payload;
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};
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/**
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* UBX CFG PWR Put receiver in a defined power state
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*/
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__PACKED__ struct ubx_cfg_pwr {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint8_t messageVersion;
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uint8_t res0;
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uint16_t res1;
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uint32_t state;
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} payload;
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};
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/**
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* UBX CFG RXM Set powersave mode
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*/
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__PACKED__ struct ubx_cfg_rxm {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint8_t reserved1;
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uint8_t lpMode;
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} payload;
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};
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/**
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* UBX Dynamic Platform Model
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*/
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enum {
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UBX_PLATFORM_MODEL_PORTABLE = 0,
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UBX_PLATFORM_MODEL_STATIONARY = 2,
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UBX_PLATFORM_MODEL_PEDESTRIAN = 3,
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UBX_PLATFORM_MODEL_AUTOMOTIVE = 4,
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UBX_PLATFORM_MODEL_SEA = 5,
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UBX_PLATFORM_MODEL_AIRBORNE_1G = 6,
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UBX_PLATFORM_MODEL_AIRBORNE_2G = 7,
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UBX_PLATFORM_MODEL_AIRBORNE_4G = 8,
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};
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/**
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* UBX GNSS Systems
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*/
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enum {
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UBX_GNSS_GPS = 0,
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UBX_GNSS_SBAS = 1,
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UBX_GNSS_GALILEO = 2,
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UBX_GNSS_BEIDOU = 3,
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UBX_GNSS_QZSS = 5,
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UBX_GNSS_GLONASS = 6,
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};
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/**
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* UBX PWR Power States
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*/
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enum {
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UBX_PWR_STATE_GNSS_RUNNING = 0x52554E20,
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UBX_PWR_STATE_GNSS_STOPPED = 0x53544F50,
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};
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/**
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* UBX Powersave Modes
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*/
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enum {
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UBX_POWERSAVE_OFF = 0,
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UBX_POWERSAVE_ON = 1,
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};
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/**
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* UBX TP5 Flags
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*/
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enum {
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UBX_TP5_ENABLE = (1 << 0),
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UBX_TP5_LOCK_TO_GPS = (1 << 1),
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UBX_TP5_LOCKED_OTHER = (1 << 2),
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UBX_TP5_IS_FREQ = (1 << 3),
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UBX_TP5_IS_LENGTH = (1 << 4),
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UBX_TP5_ALIGN_TO_TOW = (1 << 5),
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UBX_TP5_ALIGN_FALLING = (0 << 6),
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UBX_TP5_ALIGN_RISING = (1 << 6),
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UBX_TP5_USE_GRID_UTC = (0 << 7),
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UBX_TP5_USE_GRID_GPS = (1 << 7),
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};
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/**
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* =============================================================================
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* UBX NAV Message Types =======================================================
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* =============================================================================
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*/
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/**
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* UBX NAV POSLLH Geodetic Position Solution
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*/
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__PACKED__ struct ubx_nav_posllh {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint32_t iTOW;
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int32_t lon;
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int32_t lat;
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int32_t height;
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int32_t hMSL;
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uint32_t hAcc;
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uint32_t vAcc;
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} payload;
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};
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/**
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* UBX NAV TIMEUTC
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*/
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__PACKED__ struct ubx_nav_timeutc {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint32_t iTOW;
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uint32_t tAcc;
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int32_t nano;
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uint16_t year;
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uint8_t month;
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uint8_t day;
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uint8_t hour;
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uint8_t min;
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uint8_t sec;
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uint8_t valid;
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} payload;
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};
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/**
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* UBX NAV SOL Navigation Solution Information
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*/
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__PACKED__ struct ubx_nav_sol {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint32_t iTOW;
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int32_t fTOW;
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uint16_t week;
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uint8_t gpsFix;
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uint8_t flags;
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int32_t ecefX;
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int32_t ecefY;
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int32_t ecefZ;
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uint32_t pAcc;
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int32_t ecefVX;
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int32_t ecefVY;
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int32_t ecefVZ;
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uint32_t sAcc;
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uint16_t pDOP;
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uint8_t res1;
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uint8_t numSV;
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uint32_t res2;
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} payload;
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};
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/**
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* UBX NAV STATUS Receiver Navigation Status
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*/
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__PACKED__ struct ubx_nav_status {
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ubx_message_id_t id;
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enum ubx_packet_state state;
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struct {
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uint32_t iTOW;
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uint8_t gpsFix;
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int8_t flags;
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int8_t fixStat;
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int8_t flags2;
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uint32_t ttff;
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uint32_t msss;
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} payload;
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};
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/**
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* UBX TIMEUTC valid flags
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*/
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enum {
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UBX_TIMEUTC_VALID_TOW = (1 << 0),
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UBX_TIMEUTC_VALID_WKN = (1 << 1),
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UBX_TIMEUTC_VALID_UTC = (1 << 2),
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};
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#endif /* UBX_MESSAGES_H */
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