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   1 /*
   2  * Copyright © 2024 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #ifndef _AO_GPS_MOSAIC_H_
  20 #define _AO_GPS_MOSAIC_H_
  21
  22 void
  23 ao_gps_mosaic(void);
  24
  25 struct sbf_header {
  26         uint16_t        crc;
  27         struct {
  28                 uint16_t        id;
  29                 uint16_t        length;
  30         } h;
  31 };
  32
  33 #define SBF_BLOCK_NUMBER(id)    ((id) & 0x1fff)
  34 #define SBF_BLOCK_REVISION(id)  ((id) >> 13)
  35
  36 #define SBF_MEAS_EPOCH          4027
  37
  38 struct sbf_meas_epoch {
  39         uint32_t        tow;
  40         uint16_t        wnc;
  41         uint8_t         n1;
  42         uint8_t         sb1length;
  43         uint8_t         sb2length;
  44         uint8_t         commonflags;
  45         uint8_t         cumclkjumps;
  46         uint8_t         reserved;
  47 };
  48
  49 struct sbf_meas_epoch_channel_type1 {
  50         uint8_t         rxchannel;
  51         uint8_t         type;
  52         uint8_t         svid;
  53         uint8_t         misc;
  54         uint32_t        codelsb;
  55         int32_t         doppler;
  56         uint16_t        carrierlsb;
  57         int8_t          carriermsb;
  58         uint8_t         cn0;
  59         uint16_t        locktime;
  60         uint8_t         obsinfo;
  61         uint8_t         n2;
  62 };
  63
  64 struct sbf_meas_epoch_channel_type2 {
  65         uint8_t         type;
  66         uint8_t         locktime;
  67         uint8_t         cn0;
  68         uint8_t         offsetmsb;
  69         int8_t          carriermsb;
  70         uint8_t         obsinfo;
  71         uint16_t        codeoffsetlsb;
  72         uint16_t        carrierlsb;
  73         uint16_t        doppleroffsetlsb;
  74 };
  75
  76 #define SBF_DOP                 4001
  77
  78 struct sbf_dop {
  79         uint32_t        tow;
  80         uint16_t        wnc;
  81         uint8_t         nrsv;
  82         uint8_t         reserved;
  83         uint16_t        pdop;
  84         uint16_t        tdop;
  85         uint16_t        hdop;
  86         uint16_t        vdop;
  87         float           hpl;
  88         float           vpl;
  89 };
  90
  91 #define SBF_PVT_GEODETIC        4007
  92
  93 struct sbf_pvt_geodetic {
  94         uint32_t        tow;
  95         uint16_t        wnc;
  96         uint8_t         mode;
  97         uint8_t         error;
  98         double          latitude;
  99         double          longitude;
 100         double          height;
 101         float           undulation;
 102         float           vn;
 103         float           ve;
 104         float           vu;
 105         float           cog;
 106         double          rxclkbias;
 107         float           rxclkdrift;
 108         uint8_t         timesystem;
 109         uint8_t         datum;
 110         uint8_t         nrsv;
 111         uint8_t         wacorrinfo;
 112         uint16_t        referenceid;
 113         uint16_t        meancorrage;
 114         uint32_t        signalinfo;
 115         uint8_t         alertflag;
 116         uint8_t         nrbases;
 117         uint16_t        pppinfo;
 118         uint16_t        latency;
 119         uint16_t        haccuracy;
 120         uint16_t        vaccuracy;
 121         uint8_t         misc;
 122 };
 123
 124 #define SBF_RECEIVER_TIME       5914
 125
 126 struct sbf_receiver_time {
 127         uint32_t        tow;
 128         uint16_t        wnc;
 129         int8_t          utcyear;
 130         int8_t          utcmonth;
 131         int8_t          utcday;
 132         int8_t          utchour;
 133         int8_t          utcmin;
 134         int8_t          utcsec;
 135         int8_t          deltals;
 136         uint8_t         synclevel;
 137 };
 138
 139 #define MAX_SBF_DATA    1024
 140
 141 struct sbf {
 142         struct sbf_header       header;
 143         union {
 144                 struct sbf_receiver_time        receiver_time;
 145                 struct sbf_meas_epoch           meas_epoch;
 146                 struct sbf_pvt_geodetic         geodetic;
 147                 struct sbf_dop                  dop;
 148                 uint8_t                         data[MAX_SBF_DATA];
 149         };
 150 };
 151
 152 #endif /* _AO_GPS_MOSAIC_H_ */