--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.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; version 2 of the License.
+ *
+ * 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_GPS_UBLOX_H_
+#define _AO_GPS_UBLOX_H_
+
+struct ublox_hdr {
+ uint8_t class, message;
+ uint16_t length;
+};
+
+#define UBLOX_NAV 0x01
+
+#define UBLOX_NAV_DOP 0x04
+
+struct ublox_nav_dop {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x04 */
+ uint16_t length; /* 18 */
+
+ uint32_t itow; /* ms */
+ uint16_t gdop;
+ uint16_t ddop;
+ uint16_t tdop;
+ uint16_t vdop;
+ uint16_t hdop;
+ uint16_t ndop;
+ uint16_t edop;
+};
+
+#define UBLOX_NAV_POSLLH 0x02
+
+struct ublox_nav_posllh {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x02 */
+ uint16_t length; /* 28 */
+
+ uint32_t itow; /* ms */
+ int32_t lat; /* deg * 1e7 */
+ int32_t lon; /* deg * 1e7 */
+ int32_t height; /* mm */
+ int32_t hmsl; /* mm */
+ uint32_t hacc; /* mm */
+ uint32_t vacc; /* mm */
+};
+
+#define UBLOX_NAV_SOL 0x06
+
+struct ublox_nav_sol {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x06 */
+ uint16_t length; /* 52 */
+
+ uint32_t itow; /* ms */
+ int32_t ftow; /* ns */
+ int16_t week;
+ int8_t gpsfix;
+ uint8_t flags;
+ int32_t exefx; /* cm */
+ int32_t exefy; /* cm */
+ int32_t exefz; /* cm */
+ uint32_t pacc; /* cm */
+ int32_t exefvx; /* cm/s */
+ int32_t exefvy; /* cm/s */
+ int32_t exefvz; /* cm/s */
+ uint32_t sacc; /* cm/s */
+ uint16_t pdop; /* * 100 */
+ uint8_t reserved1;
+ uint8_t numsv;
+ uint32_t reserved2;
+};
+
+#define UBLOX_NAV_SOL_GPSFIX_NO_FIX 0
+#define UBLOX_NAV_SOL_GPSFIX_DEAD_RECKONING 1
+#define UBLOX_NAV_SOL_GPSFIX_2D 2
+#define UBLOX_NAV_SOL_GPSFIX_3D 3
+#define UBLOX_NAV_SOL_GPSFIX_GPS_DEAD_RECKONING 4
+#define UBLOX_NAV_SOL_GPSFIX_TIME_ONLY 5
+
+#define UBLOX_NAV_SOL_FLAGS_GPSFIXOK 0
+#define UBLOX_NAV_SOL_FLAGS_DIFFSOLN 1
+#define UBLOX_NAV_SOL_FLAGS_WKNSET 2
+#define UBLOX_NAV_SOL_FLAGS_TOWSET 3
+
+#define UBLOX_NAV_STATUS 0x03
+
+struct ublox_nav_status {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x03 */
+ uint16_t length; /* 16 */
+
+ uint8_t gpsfix;
+ uint8_t flags;
+ uint8_t fixstat;
+ uint8_t flags2;
+
+ uint32_t ttff; /* ms */
+ uint32_t msss; /* ms */
+};
+
+#define UBLOX_NAV_STATUS_GPSFIX_NO_FIX 0
+#define UBLOX_NAV_STATUS_GPSFIX_DEAD_RECKONING 1
+#define UBLOX_NAV_STATUS_GPSFIX_2D 2
+#define UBLOX_NAV_STATUS_GPSFIX_3D 3
+#define UBLOX_NAV_STATUS_GPSFIX_GPS_DEAD_RECKONING 4
+#define UBLOX_NAV_STATUS_GPSFIX_TIME_ONLY 5
+
+#define UBLOX_NAV_STATUS_FLAGS_GPSFIXOK 0
+#define UBLOX_NAV_STATUS_FLAGS_DIFFSOLN 1
+#define UBLOX_NAV_STATUS_FLAGS_WKNSET 2
+#define UBLOX_NAV_STATUS_FLAGS_TOWSET 3
+
+#define UBLOX_NAV_STATUS_FIXSTAT_DGPSISTAT 0
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING 6
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_NONE 0
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_VALID 1
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_USED 2
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_DR 3
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_MASK 3
+
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE 0
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_ACQUISITION 0
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_TRACKING 1
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_POWER_OPTIMIZED_TRACKING 2
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_INACTIVE 3
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_MASK 3
+
+#define UBLOX_NAV_SVINFO 0x30
+
+struct ublox_nav_svinfo {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x30 */
+ uint16_t length; /* 8 + 12 * numch */
+
+ uint32_t itow; /* ms */
+
+ uint8_t numch;
+ uint8_t globalflags;
+ uint16_t reserved;
+};
+
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN 0
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_ANTARIS 0
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_U_BLOX_5 1
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_U_BLOX_6 2
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_MASK 7
+
+struct ublox_nav_svinfo_block {
+ uint8_t chn;
+ uint8_t svid;
+ uint8_t flags;
+ uint8_t quality;
+
+ uint8_t cno; /* dbHz */
+ int8_t elev; /* deg */
+ int16_t azim; /* deg */
+
+ int32_t prres; /* cm */
+};
+
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_SVUSED 0
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_DIFFCORR 1
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITAVAIL 2
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITEPH 3
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_UNHEALTHY 4
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITALM 5
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITAOP 6
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_SMOOTHED 7
+
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND 0
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_IDLE 0
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_SEARCHING 1
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_ACQUIRED 2
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_UNUSABLE 3
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CODE_LOCK 4
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_5 5
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_6 6
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_7 7
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_MASK 7
+
+#define UBLOX_NAV_TIMEUTC 0x21
+
+struct ublox_nav_timeutc {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x21 */
+ uint16_t length; /* 20 */
+
+ uint32_t itow; /* ms */
+ uint32_t tacc; /* ns */
+ int32_t nano; /* ns */
+
+ uint16_t year;
+ uint8_t month;
+ uint8_t day;
+
+ uint8_t hour;
+ uint8_t min;
+ uint8_t sec;
+ uint8_t valid;
+};
+
+#define UBLOX_NAV_TIMEUTC_VALID_VALIDTOW 0
+#define UBLOX_NAV_TIMEUTC_VALID_VALIDWKN 1
+#define UBLOX_NAV_TIMEUTC_VALID_VALIDUTC 2
+
+#define UBLOX_NAV_VELNED 0x12
+
+struct ublox_nav_velned {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x12 */
+ uint16_t length; /* 36 */
+
+ uint32_t itow; /* ms */
+
+ int32_t veln; /* cm/s */
+ int32_t vele; /* cm/s */
+ int32_t veld; /* cm/s */
+
+ uint32_t speed; /* cm/s */
+ uint32_t gspeed; /* cm/s */
+
+ int32_t heading; /* deg */
+ uint32_t sacc; /* cm/s */
+ uint32_t cacc; /* deg */
+};
+
+#endif /* _AO_GPS_UBLOX_H_ */
projects / fw / altos / blobdiff