256 lines
9.1 KiB
C
256 lines
9.1 KiB
C
/* @(#) $Header$ (LBL) */
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/*
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* Rockwell Jupiter GPS receiver definitions
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*
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* This is all based on the "Zodiac GPS Receiver Family Designer's
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* Guide" (dated 12/96)
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*/
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#define JUPITER_SYNC 0x81ff /* sync word (book says 0xff81 !?!?) */
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#define JUPITER_ALL 0xffff /* disable all output messages */
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/* Output messages (sent by the Jupiter board) */
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#define JUPITER_O_GPOS 1000 /* geodetic position status */
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#define JUPITER_O_EPOS 1001 /* ECEF position status */
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#define JUPITER_O_CHAN 1002 /* channel summary */
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#define JUPITER_O_VIS 1003 /* visible satellites */
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#define JUPITER_O_DGPS 1005 /* differential GPS status */
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#define JUPITER_O_MEAS 1007 /* channel measurement */
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#define JUPITER_O_ID 1011 /* receiver id */
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#define JUPITER_O_USER 1012 /* user-settings output */
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#define JUPITER_O_TEST 1100 /* built-in test results */
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#define JUPITER_O_MARK 1102 /* measurement time mark */
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#define JUPITER_O_PULSE 1108 /* UTC time mark pulse output */
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#define JUPITER_O_PORT 1130 /* serial port com parameters in use */
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#define JUPITER_O_EUP 1135 /* EEPROM update */
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#define JUPITER_O_ESTAT 1136 /* EEPROM status */
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/* Input messages (sent to the Jupiter board) */
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#define JUPITER_I_PVTINIT 1200 /* geodetic position and velocity */
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#define JUPITER_I_USER 1210 /* user-defined datum */
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#define JUPITER_I_MAPSEL 1211 /* map datum select */
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#define JUPITER_I_ELEV 1212 /* satellite elevation mask control */
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#define JUPITER_I_CAND 1213 /* satellite candidate select */
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#define JUPITER_I_DGPS 1214 /* differential GPS control */
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#define JUPITER_I_COLD 1216 /* cold start control */
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#define JUPITER_I_VALID 1217 /* solution validity criteria */
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#define JUPITER_I_ALT 1219 /* user-entered altitude input */
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#define JUPITER_I_PLAT 1220 /* application platform control */
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#define JUPITER_I_NAV 1221 /* nav configuration */
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#define JUPITER_I_TEST 1300 /* preform built-in test command */
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#define JUPITER_I_RESTART 1303 /* restart command */
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#define JUPITER_I_PORT 1330 /* serial port com parameters */
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#define JUPITER_I_PROTO 1331 /* message protocol control */
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#define JUPITER_I_RDGPS 1351 /* raw DGPS RTCM SC-104 data */
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struct jheader {
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u_short sync; /* (JUPITER_SYNC) */
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u_short id; /* message id */
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u_short len; /* number of data short wordss (w/o cksum) */
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u_char reqid; /* JUPITER_REQID_MASK bits available as id */
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u_char flags; /* flags */
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u_short hsum; /* header cksum */
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};
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#define JUPITER_REQID_MASK 0x3f /* bits available as id */
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#define JUPITER_FLAG_NAK 0x01 /* negative acknowledgement */
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#define JUPITER_FLAG_ACK 0x02 /* acknowledgement */
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#define JUPITER_FLAG_REQUEST 0x04 /* request ACK or NAK */
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#define JUPITER_FLAG_QUERY 0x08 /* request one shot output message */
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#define JUPITER_FLAG_LOG 0x20 /* request periodic output message */
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#define JUPITER_FLAG_CONN 0x40 /* enable periodic message */
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#define JUPITER_FLAG_DISC 0x80 /* disable periodic message */
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#define JUPITER_H_FLAG_BITS \
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"\020\1NAK\2ACK\3REQUEST\4QUERY\5MBZ\6LOG\7CONN\10DISC"
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/* Log request messages (data payload when using JUPITER_FLAG_LOG) */
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struct jrequest {
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u_short trigger; /* if 0, trigger on time trigger on
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update (e.g. new almanac) */
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u_short interval; /* frequency in seconds */
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u_short offset; /* offset into minute */
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u_short dsum; /* checksum */
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};
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/* JUPITER_O_GPOS (1000) */
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struct jgpos {
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u_short stime[2]; /* set time (10 ms ticks) */
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u_short seq; /* sequence number */
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u_short sseq; /* sat measurement sequence number */
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u_short navval; /* navigation soltuion validity */
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u_short navtype; /* navigation solution type */
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u_short nmeas; /* # of measurements used in solution */
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u_short polar; /* if 1 then polar navigation */
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u_short gweek; /* GPS week number */
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u_short sweek[2]; /* GPS seconds into week */
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u_short nsweek[2]; /* GPS nanoseconds into second */
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u_short utcday; /* 1 to 31 */
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u_short utcmon; /* 1 to 12 */
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u_short utcyear; /* 1980 to 2079 */
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u_short utchour; /* 0 to 23 */
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u_short utcmin; /* 0 to 59 */
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u_short utcsec; /* 0 to 59 */
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u_short utcnsec[2]; /* 0 to 999999999 */
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u_short lat[2]; /* latitude (radians) */
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u_short lon[2]; /* longitude (radians) */
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u_short height[2]; /* height (meters) */
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u_short gsep; /* geoidal separation */
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u_short speed[2]; /* ground speed (meters/sec) */
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u_short course; /* true course (radians) */
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u_short mvar;
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u_short climb;
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u_short mapd;
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u_short herr[2];
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u_short verr[2];
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u_short terr[2];
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u_short hverr;
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u_short bias[2];
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u_short biassd[2];
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u_short drift[2];
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u_short driftsd[2];
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u_short dsum; /* checksum */
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};
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#define JUPITER_O_GPOS_NAV_NOALT 0x01 /* altitude used */
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#define JUPITER_O_GPOS_NAV_NODGPS 0x02 /* no differential GPS */
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#define JUPITER_O_GPOS_NAV_NOSAT 0x04 /* not enough satellites */
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#define JUPITER_O_GPOS_NAV_MAXH 0x08 /* exceeded max EHPE */
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#define JUPITER_O_GPOS_NAV_MAXV 0x10 /* exceeded max EVPE */
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/* JUPITER_O_CHAN (1002) */
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struct jchan {
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u_short stime[2]; /* set time (10 ms ticks) */
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u_short seq; /* sequence number */
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u_short sseq; /* sat measurement sequence number */
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u_short gweek; /* GPS week number */
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u_short sweek[2]; /* GPS seconds into week */
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u_short gpsns[2]; /* GPS nanoseconds from epoch */
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struct jchan2 {
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u_short flags; /* flags */
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u_short prn; /* satellite PRN */
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u_short chan; /* channel number */
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} sat[12];
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u_short dsum;
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};
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/* JUPITER_O_VIS (1003) */
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struct jvis {
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u_short stime[2]; /* set time (10 ms ticks) */
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u_short seq; /* sequence number */
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u_short gdop; /* best possible GDOP */
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u_short pdop; /* best possible PDOP */
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u_short hdop; /* best possible HDOP */
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u_short vdop; /* best possible VDOP */
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u_short tdop; /* best possible TDOP */
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u_short nvis; /* number of visible satellites */
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struct jvis2 {
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u_short prn; /* satellite PRN */
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u_short azi; /* satellite azimuth (radians) */
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u_short elev; /* satellite elevation (radians) */
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} sat[12];
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u_short dsum; /* checksum */
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};
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/* JUPITER_O_ID (1011) */
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struct jid {
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u_short stime[2]; /* set time (10 ms ticks) */
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u_short seq; /* sequence number */
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char chans[20]; /* number of channels (ascii) */
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char vers[20]; /* software version (ascii) */
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char date[20]; /* software date (ascii) */
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char opts[20]; /* software options (ascii) */
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char reserved[20];
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u_short dsum; /* checksum */
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};
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/* JUPITER_O_USER (1012) */
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struct juser {
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u_short stime[2]; /* set time (10 ms ticks) */
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u_short seq; /* sequence number */
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u_short status; /* operatinoal status */
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u_short coldtmo; /* cold start time-out */
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u_short dgpstmo; /* DGPS correction time-out*/
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u_short emask; /* elevation mask */
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u_short selcand[2]; /* selected candidate */
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u_short solflags; /* solution validity criteria */
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u_short nsat; /* number of satellites in track */
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u_short herr[2]; /* minimum expected horizontal error */
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u_short verr[2]; /* minimum expected vertical error */
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u_short platform; /* application platform */
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u_short dsum; /* checksum */
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};
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/* JUPITER_O_PULSE (1108) */
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struct jpulse {
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u_short stime[2]; /* set time (10 ms ticks) */
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u_short seq; /* sequence number */
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u_short reserved[5];
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u_short sweek[2]; /* GPS seconds into week */
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short offs; /* GPS to UTC time offset (seconds) */
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u_short offns[2]; /* GPS to UTC offset (nanoseconds) */
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u_short flags; /* flags */
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u_short dsum; /* checksum */
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};
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#define JUPITER_O_PULSE_VALID 0x1 /* time mark validity */
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#define JUPITER_O_PULSE_UTC 0x2 /* GPS/UTC sync */
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/* JUPITER_O_EUP (1135) */
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struct jeup {
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u_short stime[2]; /* set time (10 ms ticks) */
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u_short seq; /* sequence number */
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u_char dataid; /* data id */
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u_char prn; /* satellite PRN */
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u_short dsum; /* checksum */
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};
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/* JUPITER_I_RESTART (1303) */
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struct jrestart {
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u_short seq; /* sequence number */
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u_short flags;
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u_short dsum; /* checksum */
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};
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#define JUPITER_I_RESTART_INVRAM 0x01
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#define JUPITER_I_RESTART_INVEEPROM 0x02
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#define JUPITER_I_RESTART_INVRTC 0x04
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#define JUPITER_I_RESTART_COLD 0x80
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/* JUPITER_I_PVTINIT (1200) */
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struct jpvtinit {
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u_short flags;
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u_short gweek; /* GPS week number */
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u_short sweek[2]; /* GPS seconds into week */
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u_short utcday; /* 1 to 31 */
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u_short utcmon; /* 1 to 12 */
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u_short utcyear; /* 1980 to 2079 */
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u_short utchour; /* 0 to 23 */
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u_short utcmin; /* 0 to 59 */
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u_short utcsec; /* 0 to 59 */
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u_short lat[2]; /* latitude (radians) */
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u_short lon[2]; /* longitude (radians) */
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u_short height[2]; /* height (meters) */
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u_short speed[2]; /* ground speed (meters/sec) */
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u_short course; /* true course (radians) */
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u_short climb;
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u_short dsum;
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};
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#define JUPITER_I_PVTINIT_FORCE 0x01
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#define JUPITER_I_PVTINIT_GPSVAL 0x02
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#define JUPITER_I_PVTINIT_UTCVAL 0x04
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#define JUPITER_I_PVTINIT_POSVAL 0x08
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#define JUPITER_I_PVTINIT_ALTVAL 0x10
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#define JUPITER_I_PVTINIT_SPDVAL 0x12
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#define JUPITER_I_PVTINIT_MAGVAL 0x14
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#define JUPITER_I_PVTINIT_CLIMBVAL 0x18
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/* JUPITER_I_PLAT (1220) */
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struct jplat {
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u_short seq; /* sequence number */
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u_short platform; /* application platform */
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u_short dsum;
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};
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#define JUPITER_I_PLAT_DEFAULT 0 /* default dynamics */
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#define JUPITER_I_PLAT_LOW 2 /* pedestrian */
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#define JUPITER_I_PLAT_MED 5 /* land (e.g. automobile) */
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#define JUPITER_I_PLAT_HIGH 6 /* air */
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