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Diffstat (limited to 'src/fsm/ubx.h')
| -rw-r--r-- | src/fsm/ubx.h | 193 |
1 files changed, 0 insertions, 193 deletions
diff --git a/src/fsm/ubx.h b/src/fsm/ubx.h deleted file mode 100644 index e80464e..0000000 --- a/src/fsm/ubx.h +++ /dev/null @@ -1,193 +0,0 @@ -/* - * 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; - -#define GPSFIX_3D 0x3 - -// UBX messages to enable these messages on the I2C port -#define UBX_ENABLE_NAV_SOL \ - 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, \ - 0x01, 0x06, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, \ - 0x17, 0xDB - -#define UBX_ENABLE_NAV_TIMEUTC \ - 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, \ - 0x01, 0x21, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, \ - 0x32, 0x98 - -#define UBX_ENABLE_TIM_TM2 \ - 0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, \ - 0x0D, 0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, \ - 0x20, 0x26 - -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 - |