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Diffstat (limited to 'src/fsm/ubx.h')
| -rw-r--r-- | src/fsm/ubx.h | 176 |
1 files changed, 176 insertions, 0 deletions
diff --git a/src/fsm/ubx.h b/src/fsm/ubx.h new file mode 100644 index 0000000..2af5705 --- /dev/null +++ b/src/fsm/ubx.h @@ -0,0 +1,176 @@ +/* + * The MIT License (MIT) + * + * Copyright (c) 2015 Matthias P. Braendli + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. +*/ + +/* u-blox UBX protocol parser, register callbacks for specific messages using + * ubx_register() and and push in chars with ubx_parse() + */ + +#ifndef __UBX_H_ +#define __UBX_H_ + +#include <stdint.h> + +// message sync bytes +#define UBX_SYNC1_CHAR 0xB5 +#define UBX_SYNC2_CHAR 0x62 + +// UBX Class +typedef enum app_ubx_class_e // {{{ +{ + UBX_CLASS_NAV = 0x01, // Navigation Results: Position, Speed, Time, Acc, Heading, DOP, SVs used + UBX_CLASS_RXM = 0x02, // Receiver Manager Messages: Satellite Status, RTC Status + UBX_CLASS_TRK = 0x03, // Tracking Information: Measurements, Commands + UBX_CLASS_INF = 0x04, // Information Messages: Printf-Style Messages, with IDs such as Error, Warning, Notice + UBX_CLASS_ACK = 0x05, // Ack/Nack Messages: as replies to CFG Input Messages + UBX_CLASS_CFG = 0x06, // Configuration Input Messages: Set Dynamic Model, Set DOP Mask, Set Baud Rate, etc. + UBX_CLASS_MON = 0x0A, // Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task Status + UBX_CLASS_TIM = 0x0D, // Timing Messages: Timepulse Output, Timemark Results +} app_ubx_class_t; //}}} + +// UBX Message Id +typedef enum app_ubx_id_e // {{{ +{ + // ACK + UBX_ACK_NACK = 0x00, // Not acknowledge + UBX_ACK_ACK = 0x01, // acknowledge + + // NAV + UBX_NAV_STATUS = 0x03, // Navigation status + UBX_NAV_SOL = 0x06, // Navigation solution + UBX_NAV_PVT = 0x07, // Navigation PVT solution + UBX_NAV_TIMEGPS = 0x20, // GPS time + UBX_NAV_TIMEUTC = 0x21, // UTC time + + // TIM + UBX_TIM_TM2 = 0x03, // timemark data +} app_ubx_id_t; //}}} + +// ubx parser state +typedef enum ubx_state_e +{ + UBXSTATE_SYNC1, + UBXSTATE_SYNC2, + UBXSTATE_CLASS, + UBXSTATE_ID, + UBXSTATE_LEN1, + UBXSTATE_LEN2, + UBXSTATE_DATA, + UBXSTATE_CKA, + UBXSTATE_CKB +} ubx_state_t; + + +typedef struct ubx_nav_sol_s +{ + uint32_t itow; // ms GPS Millisecond Time of Week + int32_t frac; // ns remainder of rounded ms above + int16_t week; // GPS week + uint8_t GPSfix; // GPSfix Type, range 0..6 + uint8_t Flags; // Navigation Status Flags + int32_t ECEF_X; // cm ECEF X coordinate + int32_t ECEF_Y; // cm ECEF Y coordinate + int32_t ECEF_Z; // cm ECEF Z coordinate + int32_t PAcc; // cm 3D Position Accuracy Estimate + int32_t ECEFVX; // cm/s ECEF X velocity + int32_t ECEFVY; // cm/s ECEF Y velocity + int32_t ECEFVZ; // cm/s ECEF Z velocity + uint32_t SAcc; // cm/s Speed Accuracy Estimate + uint16_t PDOP; // 0.01 Position DOP + uint8_t res1; // reserved + uint8_t numSV; // Number of SVs used in navigation solution + uint32_t res2; // reserved +} __attribute__((packed)) ubx_nav_sol_t; + + +typedef struct ubx_nav_velned_s +{ + uint32_t itow; // ms GPS Millisecond Time of Week + int32_t VEL_N; // cm/s NED north velocity + int32_t VEL_E; // cm/s NED east velocity + int32_t VEL_D; // cm/s NED down velocity + int32_t Speed; // cm/s Speed (3-D) + int32_t GSpeed; // cm/s Ground Speed (2-D) + int32_t Heading; // 1e-05 deg Heading 2-D + uint32_t SAcc; // cm/s Speed Accuracy Estimate + uint32_t CAcc; // deg Course / Heading Accuracy Estimate +} __attribute__((packed)) ubx_nav_velned_t; + +typedef struct ubx_nav_posllh_s +{ + uint32_t itow; // ms GPS Millisecond Time of Week + int32_t LON; // 1e-07 deg Longitude + int32_t LAT; // 1e-07 deg Latitude + int32_t HEIGHT; // mm Height above Ellipsoid + int32_t HMSL; // mm Height above mean sea level + uint32_t Hacc; // mm Horizontal Accuracy Estimate + uint32_t Vacc; // mm Vertical Accuracy Estimate +} __attribute__((packed)) ubx_nav_posllh_t; + +typedef struct ubx_tim_tm2_s +{ + uint8_t ch; // marker channel (0 or 1) + uint8_t flags; // bitmask + uint16_t count; // edge counter + uint16_t wnoR; // week number of last rising edge + uint16_t wnoF; // week number of last falling edge + uint32_t towMsR; // tow in ms of last rising edge [ms] + uint32_t towSubMsR; // millisecond fraction of tow of last rising edge [ns] + uint32_t towMsF; // tow in ms of last rising edge [ms] + uint32_t towSubMsF; // millisecond fraction of tow of last rising edge [ns] + uint32_t accEst; // accuracy estimate [ns] +} __attribute__((packed)) ubx_tim_tm2_t; + + +typedef struct ubx_nav_timeutc_s +{ + uint32_t itow; // GPS Millisecond Time of Week + uint32_t tacc; // time accuracy estimate [ns] + int32_t nano; // Nanoseconds of second + uint16_t year; // Year, range 1999..2099 (UTC) + uint8_t month; // Month, range 1..12 (UTC) + uint8_t day; // Day of Month, range 1..31 (UTC) + uint8_t hour; // Hour of Day, range 0..23 (UTC) + uint8_t min; // Minute of Hour, range 0..59 (UTC) + uint8_t sec; // Seconds of Minute, range 0..59 (UTC) + uint8_t valid; // validity flag +} __attribute__((packed)) ubx_nav_timeutc_t; + + +typedef struct ubx_callbacks_s +{ + void (*new_ubx_nav_sol)(ubx_nav_sol_t *sol); + void (*new_ubx_nav_timeutc)(ubx_nav_timeutc_t *timeutc); + void (*new_ubx_tim_tm2)(ubx_tim_tm2_t *posllh); +} ubx_callbacks_t; + +/* Register callbacks when a complete message was received */ +void ubx_register(const ubx_callbacks_t *cb); + +/* Parse a new incoming byte, calls the callbacks if a complete message + * was received. Returns the current parser state + */ +int ubx_parse(const uint8_t c); + +#endif + |