1/* 2 * /src/NTP/REPOSITORY/ntp4-dev/include/mbg_gps166.h,v 4.7 2006/06/22 18:41:43 kardel RELEASE_20060622_A 3 * 4 * mbg_gps166.h,v 4.7 2006/06/22 18:41:43 kardel RELEASE_20060622_A 5 * 6 * $Created: Sun Jul 20 09:20:50 1997 $ 7 * 8 * File GPSSERIO.H Copyright (c) by Meinberg Funkuhren (www.meinberg.de) 9 * 10 * Linkage to PARSE: 11 * Copyright (c) 1997-2005 by Frank Kardel <kardel <AT> ntp.org> 12 * 13 * Redistribution and use in source and binary forms, with or without 14 * modification, are permitted provided that the following conditions 15 * are met: 16 * 1. Redistributions of source code must retain the above copyright 17 * notice, this list of conditions and the following disclaimer. 18 * 2. Redistributions in binary form must reproduce the above copyright 19 * notice, this list of conditions and the following disclaimer in the 20 * documentation and/or other materials provided with the distribution. 21 * 3. Neither the name of the author nor the names of its contributors 22 * may be used to endorse or promote products derived from this software 23 * without specific prior written permission. 24 * 25 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND 26 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 28 * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS 31 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 32 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 34 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 35 * SUCH DAMAGE. 36 * 37 */ 38#ifndef MBG_GPS166_H 39#define MBG_GPS166_H 40 41 42/*************************************************************************** 43 * 44 * Definitions taken from Meinberg's gpsserio.h and gpsdefs.h files. 45 * 46 * Author: Martin Burnicki, Meinberg Funkuhren 47 * 48 * Copyright (c) Meinberg Funkuhren, Bad Pyrmont, Germany 49 * 50 * Description: 51 * Structures and codes to be used to access Meinberg GPS clocks via 52 * their serial interface COM0. COM0 should be set to a high baud rate, 53 * default is 19200. 54 * 55 * Standard Meinberg GPS serial operation is to send the Meinberg 56 * standard time string automatically once per second, once per 57 * minute, or on request per ASCII '?'. 58 * 59 * GPS parameter setup or parameter readout uses blocks of binary 60 * data which have to be isolated from the standard string. A block 61 * of data starts with a SOH code (ASCII Start Of Header, 0x01) 62 * followed by a message header with constant length and a block of 63 * data with variable length. 64 * 65 * The first field (cmd) of the message header holds the command 66 * code resp. the type of data to be transmitted. The next field (len) 67 * gives the number of data bytes that follow the header. This number 68 * ranges from 0 to sizeof( MSG_DATA ). The third field (data_csum) 69 * holds a checksum of all data bytes and the last field of the header 70 * finally holds the checksum of the header itself. 71 * 72 ***************************************************************************/ 73 74/** 75 * @brief GPS epoch bias from ordinary time_t epoch 76 * 77 * The Unix time_t epoch is usually 1970-01-01 00:00 whereas 78 * the GPS epoch is 1980-01-06 00:00, so the difference is 10 years, 79 * plus 2 days due to leap years (1972 and 1976), plus the difference 80 * of the day-of-month (6 - 1), so:<br> 81 * 82 * time_t t = ( gps_week * ::SECS_PER_WEEK ) + sec_of_week + ::GPS_SEC_BIAS 83 */ 84#define GPS_SEC_BIAS 315964800UL // ( ( ( 10UL * 365UL ) + 2 + 5 ) * SECS_PER_DAY ) 85 86 87#ifndef _COM_HS_DEFINED 88 /** 89 * @brief Enumeration of handshake modes 90 */ 91 enum COM_HANSHAKE_MODES { HS_NONE, HS_XONXOFF, HS_RTSCTS, N_COM_HS }; 92 #define _COM_HS_DEFINED 93#endif 94 95#ifndef _COM_PARM_DEFINED 96 /** 97 * @brief A data type to configure a serial port's baud rate 98 * 99 * @see ::MBG_BAUD_RATES 100 */ 101 typedef int32_t BAUD_RATE; 102 103 /** 104 * @brief Indices used to identify a parameter in the framing string 105 * 106 * @see ::MBG_FRAMING_STRS 107 */ 108 enum MBG_FRAMING_STR_IDXS { F_DBITS, F_PRTY, F_STBITS }; 109 110 /** 111 * @brief A structure to store the configuration of a serial port 112 */ 113 typedef struct 114 { 115 BAUD_RATE baud_rate; ///< transmission speed, e.g. 19200L, see ::MBG_BAUD_RATES 116 char framing[4]; ///< ASCIIZ framing string, e.g. "8N1" or "7E2", see ::MBG_FRAMING_STRS 117 int16_t handshake; ///< handshake mode, yet only ::HS_NONE supported 118 119 } COM_PARM; 120 121 #define _COM_PARM_DEFINED 122#endif 123 124 125/** 126 * @brief Enumeration of modes supported for time string transmission 127 * 128 * This determines e.g. at which point in time a string starts 129 * to be transmitted via the serial port. 130 * Used with ::PORT_SETTINGS::mode. 131 * 132 * @see ::STR_MODE_MASKS 133 */ 134enum STR_MODES 135{ 136 STR_ON_REQ, ///< transmission on request by received '?' character only 137 STR_PER_SEC, ///< transmission automatically if second changes 138 STR_PER_MIN, ///< transmission automatically if minute changes 139 STR_AUTO, ///< transmission automatically if required, e.g. on capture event 140 STR_ON_REQ_SEC, ///< transmission if second changes and a request has been received before 141 N_STR_MODE ///< the number of known modes 142}; 143 144 145/** 146 * The number of serial ports which are at least available 147 * even with very old GPS receiver models. For devices providing 148 * a ::RECEIVER_INFO structure the number of provided COM ports 149 * is available in ::RECEIVER_INFO::n_com_ports. 150 */ 151#define DEFAULT_N_COM 2 152 153 154/** 155 * @brief A The structure used to store the configuration of two serial ports 156 * 157 * @deprecated This structure is deprecated, ::PORT_SETTINGS and related structures 158 * should be used instead, if supported by the device. 159 */ 160typedef struct 161{ 162 COM_PARM com[DEFAULT_N_COM]; ///< COM0 and COM1 settings 163 uint8_t mode[DEFAULT_N_COM]; ///< COM0 and COM1 output mode 164 165} PORT_PARM; 166 167 168/** 169 * @brief The type of a GPS command code 170 * 171 * @see ::GPS_CMD_CODES 172 */ 173typedef uint16_t GPS_CMD; 174 175 176/** 177 * @brief Control codes to be or'ed with a particular command/type code 178 */ 179enum GPS_CMD_CTRL_CODES 180{ 181 GPS_REQACK = 0x8000, ///< to device: request acknowledge 182 GPS_ACK = 0x4000, ///< from device: acknowledge a command 183 GPS_NACK = 0x2000, ///< from device: error evaluating a command 184}; 185 186#define GPS_CTRL_MSK 0xF000 ///< bit mask of all ::GPS_CMD_CTRL_CODES 187 188 189/** 190 * @brief Command codes for the binary protocol 191 * 192 * These codes specify commands and associated data types used by Meinberg's 193 * binary protocol to exchange data with a device via serial port, direct USB, 194 * or socket I/O. 195 * 196 * Some commands and associated data structures can be read (r) from a device, others 197 * can be written (w) to the device, and some can also be sent automatically (a) by 198 * a device after a ::GPS_AUTO_ON command has been sent to the device. 199 * The individual command codes are marked with (rwa) accordingly, where '-' is used 200 * to indicate that a particular mode is not supported. 201 * 202 * @note Not all command code are supported by all devices. 203 * See the hints for a particular command. 204 * 205 * @note If ::GPS_ALM, ::GPS_EPH or a code named ..._IDX is sent to retrieve 206 * some data from a device then an uint16_t parameter must be also supplied 207 * in order to specify the index number of the data set to be returned. 208 * The valid index range depends on the command code. 209 * For ::GPS_ALM and ::GPS_EPH the index is the SV number which may be 0 or 210 * ::MIN_SVNO_GPS to ::MAX_SVNO_GPS. If the number is 0 then all ::N_SVNO_GPS 211 * almanacs or ephemeris data structures are returned. 212 * 213 * @see ::GPS_CMD_CODES_TABLE 214 */ 215enum GPS_CMD_CODES 216{ /* system data */ 217 GPS_AUTO_ON = 0x000, ///< (-w-) no data, enable auto-msgs from device 218 GPS_AUTO_OFF, ///< (-w-) no data, disable auto-msgs from device 219 GPS_SW_REV, ///< (r--) deprecated, ::SW_REV, software revision, use only if ::GPS_RECEIVER_INFO not supp. 220 GPS_BVAR_STAT, ///< (r--) ::BVAR_STAT, status of buffered variables, only if ::GPS_MODEL_HAS_BVAR_STAT 221 GPS_TIME, ///< (-wa) ::TTM, current time or capture, or init board time 222 GPS_POS_XYZ, ///< (rw-) ::XYZ, current position in ECEF coordinates, only if ::GPS_MODEL_HAS_POS_XYZ 223 GPS_POS_LLA, ///< (rw-) ::LLA, current position in geographic coordinates, only if ::GPS_MODEL_HAS_POS_LLA 224 GPS_TZDL, ///< (rw-) ::TZDL, time zone / daylight saving, only if ::GPS_MODEL_HAS_TZDL 225 GPS_PORT_PARM, ///< (rw-) deprecated, ::PORT_PARM, use ::PORT_SETTINGS etc. if ::GPS_RECEIVER_INFO supported 226 GPS_SYNTH, ///< (rw-) ::SYNTH, synthesizer settings, only if ::GPS_HAS_SYNTH 227 GPS_ANT_INFO, ///< (r-a) ::ANT_INFO, time diff after antenna disconnect, only if ::GPS_MODEL_HAS_ANT_INFO 228 GPS_UCAP, ///< (r-a) ::TTM, user capture events, only if ::RECEIVER_INFO::n_ucaps > 0 229 230 /* GPS data */ 231 GPS_CFGH = 0x100, ///< (rw-) ::CFGH, SVs' configuration and health codes 232 GPS_ALM, ///< (rw-) req: uint16_t SV num, ::SV_ALM, one SV's almanac 233 GPS_EPH, ///< (rw-) req: uint16_t SV num, ::SV_EPH, one SV's ephemeris 234 GPS_UTC, ///< (rw-) ::UTC, GPS %UTC correction parameters 235 GPS_IONO, ///< (rw-) ::IONO, GPS ionospheric correction parameters 236 GPS_ASCII_MSG ///< (r--) ::ASCII_MSG, the GPS ASCII message 237}; 238 239 240#ifndef _CSUM_DEFINED 241 typedef uint16_t CSUM; /* checksum used by some structures stored in non-volatile memory */ 242 #define _CSUM_DEFINED 243#endif 244 245 246/** 247 * @brief The header of a binary message. 248 */ 249typedef struct 250{ 251 GPS_CMD cmd; ///< see ::GPS_CMD_CODES 252 uint16_t len; ///< length of the data portion appended after the header 253 CSUM data_csum; ///< checksum of the data portion appended after the header 254 CSUM hdr_csum; ///< checksum of the preceding header bytes 255 256} GPS_MSG_HDR; 257 258 259#define GPS_ID_STR_LEN 16 260#define GPS_ID_STR_SIZE ( GPS_ID_STR_LEN + 1 ) 261 262/** 263 * @brief Software revision information 264 * 265 * Contains a software revision code, plus an optional 266 * identifier for a customized version. 267 */ 268typedef struct 269{ 270 uint16_t code; ///< Version number, e.g. 0x0120 means v1.20 271 char name[GPS_ID_STR_SIZE]; ///< Optional string identifying a customized version 272 uint8_t reserved; ///< Reserved field to yield even structure size 273 274} SW_REV; 275 276 277/** 278 * @brief GNSS satellite numbers 279 * 280 * @todo: Check if MAX_SVNO_GLN is 94 instead of 95, and thus 281 * N_SVNO_GLN is 30 instead of 31, as reported by Wikipedia. 282 */ 283enum GNSS_SVNOS 284{ 285 MIN_SVNO_GPS = 1, ///< min. GPS satellite PRN number 286 MAX_SVNO_GPS = 32, ///< max. GPS satellite PRN number 287 N_SVNO_GPS = 32, ///< max. number of active GPS satellites 288 289 MIN_SVNO_WAAS = 33, ///< min. WAAS satellite number 290 MAX_SVNO_WAAS = 64, ///< max. WAAS satellite number 291 N_SVNO_WAAS = 32, ///< max. number of active WAAS satellites 292 293 MIN_SVNO_GLONASS = 65, ///< min. Glonass satellite number (64 + sat slot ID) 294 MAX_SVNO_GLONASS = 95, ///< max. Glonass satellite number (64 + sat slot ID) 295 N_SVNO_GLONASS = 31 ///< max. number of active Glonass satellites 296}; 297 298 299typedef uint16_t SVNO; ///< the number of an SV (Space Vehicle, i.e. satellite) 300typedef uint16_t HEALTH; ///< an SV's 6 bit health code 301typedef uint16_t CFG; ///< an SV's 4 bit configuration code 302typedef uint16_t IOD; ///< Issue-Of-Data code 303 304 305/** 306 * @brief Status flags of battery buffered data 307 * 308 * Related to data received from the satellites, or data derived thereof. 309 * 310 * All '0' means OK, single bits set to '1' indicate 311 * the associated type of GPS data is not available. 312 * 313 * @see ::BVAR_FLAGS 314 */ 315typedef uint16_t BVAR_STAT; 316 317#define _mbg_swab_bvar_stat( _p ) _mbg_swab16( (_p) ) 318 319 320/** 321 * @brief Enumeration of flag bits used to define ::BVAR_FLAGS 322 * 323 * For each bit which is set this means the associated data set in 324 * non-volatile memory is not available, or incomplete. 325 * Most data sets will just be re-collected from the data streams sent 326 * by the satellites. However, the receiver position has usually been 327 * computed earlier during normal operation, and will be re-computed 328 * when a sufficient number of satellites can be received. 329 * 330 * @see ::BVAR_STAT 331 * @see ::BVAR_FLAGS 332 * @see ::BVAR_FLAG_NAMES 333 */ 334enum BVAR_FLAG_BITS 335{ 336 BVAR_BIT_CFGH_INVALID, ///< Satellite configuration and health parameters incomplete 337 BVAR_BIT_ALM_NOT_COMPLETE, ///< Almanac parameters incomplete 338 BVAR_BIT_UTC_INVALID, ///< %UTC offset parameters incomplete 339 BVAR_BIT_IONO_INVALID, ///< Ionospheric correction parameters incomplete 340 BVAR_BIT_RCVR_POS_INVALID, ///< No valid receiver position available 341 N_BVAR_BIT ///< number of defined ::BVAR_STAT bits 342}; 343 344 345/** 346 * @brief Bit masks associated with ::BVAR_FLAG_BITS 347 * 348 * Used with ::BVAR_STAT. 349 * 350 * @see ::BVAR_STAT 351 * @see ::BVAR_FLAG_BITS 352 * @see ::BVAR_FLAG_NAMES 353 */ 354enum BVAR_FLAGS 355{ 356 BVAR_CFGH_INVALID = ( 1UL << BVAR_BIT_CFGH_INVALID ), ///< see ::BVAR_BIT_CFGH_INVALID 357 BVAR_ALM_NOT_COMPLETE = ( 1UL << BVAR_BIT_ALM_NOT_COMPLETE ), ///< see ::BVAR_BIT_ALM_NOT_COMPLETE 358 BVAR_UTC_INVALID = ( 1UL << BVAR_BIT_UTC_INVALID ), ///< see ::BVAR_BIT_UTC_INVALID 359 BVAR_IONO_INVALID = ( 1UL << BVAR_BIT_IONO_INVALID ), ///< see ::BVAR_BIT_IONO_INVALID 360 BVAR_RCVR_POS_INVALID = ( 1UL << BVAR_BIT_RCVR_POS_INVALID ), ///< see ::BVAR_BIT_RCVR_POS_INVALID 361}; 362 363 364/** 365 * @brief A structure used to hold time in GPS format 366 * 367 * Date and time refer to the linear time scale defined by GPS, with 368 * the epoch starting at %UTC midnight at the beginning of January 6, 1980. 369 * 370 * GPS time is counted by the week numbers since the epoch, plus second 371 * of the week, plus fraction of the second. The week number transmitted 372 * by the satellites rolls over from 1023 to 0, but Meinberg devices 373 * just continue to count the weeks beyond the 1024 week limit to keep 374 * the receiver's internal time. 375 * 376 * %UTC time differs from GPS time since a number of leap seconds have 377 * been inserted in the %UTC time scale after the GPS epoche. The number 378 * of leap seconds is disseminated by the satellites using the ::UTC 379 * parameter set, which also provides info on pending leap seconds. 380 */ 381typedef struct 382{ 383 uint16_t wn; ///< the week number since GPS has been installed 384 uint32_t sec; ///< the second of that week 385 uint32_t tick; ///< fractions of a second, 1/::RECEIVER_INFO::ticks_per_sec units 386 387} T_GPS; 388 389 390/** 391 * @brief Local date and time computed from GPS time 392 * 393 * The current number of leap seconds have to be added to get %UTC 394 * from GPS time. Additional corrections could have been made according 395 * to the time zone/daylight saving parameters ::TZDL defined by the user. 396 * The status field can be checked to see which corrections 397 * have actually been applied. 398 * 399 * @note Conversion from GPS time to %UTC and/or local time can only be 400 * done if some valid ::UTC correction parameters are available in the 401 * receiver's non-volatile memory. 402 */ 403typedef struct 404{ 405 int16_t year; ///< year number, 0..9999 406 int8_t month; ///< month, 1..12 407 int8_t mday; ///< day of month, 1..31 408 int16_t yday; ///< day of year, 1..365, or 366 in case of leap year 409 int8_t wday; ///< day of week, 0..6 == Sun..Sat 410 int8_t hour; ///< hours, 0..23 411 int8_t min; ///< minutes, 0..59 412 int8_t sec; ///< seconds, 0..59, or 60 in case of inserted leap second 413 int32_t frac; ///< fractions of a second, 1/::RECEIVER_INFO::ticks_per_sec units 414 int32_t offs_from_utc; ///< local time offset from %UTC [sec] 415 uint16_t status; ///< status flags, see ::TM_GPS_STATUS_BIT_MASKS 416 417} TM_GPS; 418 419 420 421/** 422 * @brief Status flag bits used to define ::TM_GPS_STATUS_BIT_MASKS 423 * 424 * These bits report info on the time conversion from GPS time to %UTC 425 * and/or local time as well as device status info. 426 * 427 * @see ::TM_GPS_STATUS_BIT_MASKS 428 */ 429enum TM_GPS_STATUS_BITS 430{ 431 TM_BIT_UTC, ///< %UTC correction has been made 432 TM_BIT_LOCAL, ///< %UTC has been converted to local time according to ::TZDL settings 433 TM_BIT_DL_ANN, ///< state of daylight saving is going to change 434 TM_BIT_DL_ENB, ///< daylight saving is in effect 435 TM_BIT_LS_ANN, ///< leap second pending 436 TM_BIT_LS_ENB, ///< current second is leap second 437 TM_BIT_LS_ANN_NEG, ///< set in addition to ::TM_BIT_LS_ANN if leap sec is negative 438 TM_BIT_INVT, ///< invalid time, e.g. if RTC battery bas been empty 439 440 TM_BIT_EXT_SYNC, ///< synchronized externally 441 TM_BIT_HOLDOVER, ///< in holdover mode after previous synchronization 442 TM_BIT_ANT_SHORT, ///< antenna cable short circuited 443 TM_BIT_NO_WARM, ///< OCXO has not warmed up 444 TM_BIT_ANT_DISCONN, ///< antenna currently disconnected 445 TM_BIT_SYN_FLAG, ///< TIME_SYN output is low 446 TM_BIT_NO_SYNC, ///< time sync actually not verified 447 TM_BIT_NO_POS ///< position actually not verified, LOCK LED off 448}; 449 450 451/** 452 * @brief Status flag masks used with ::TM_GPS::status 453 * 454 * These bits report info on the time conversion from GPS time to %UTC 455 * and/or local time as well as device status info. 456 * 457 * @see ::TM_GPS_STATUS_BITS 458 */ 459enum TM_GPS_STATUS_BIT_MASKS 460{ 461 TM_UTC = ( 1UL << TM_BIT_UTC ), ///< see ::TM_BIT_UTC 462 TM_LOCAL = ( 1UL << TM_BIT_LOCAL ), ///< see ::TM_BIT_LOCAL 463 TM_DL_ANN = ( 1UL << TM_BIT_DL_ANN ), ///< see ::TM_BIT_DL_ANN 464 TM_DL_ENB = ( 1UL << TM_BIT_DL_ENB ), ///< see ::TM_BIT_DL_ENB 465 TM_LS_ANN = ( 1UL << TM_BIT_LS_ANN ), ///< see ::TM_BIT_LS_ANN 466 TM_LS_ENB = ( 1UL << TM_BIT_LS_ENB ), ///< see ::TM_BIT_LS_ENB 467 TM_LS_ANN_NEG = ( 1UL << TM_BIT_LS_ANN_NEG ), ///< see ::TM_BIT_LS_ANN_NEG 468 TM_INVT = ( 1UL << TM_BIT_INVT ), ///< see ::TM_BIT_INVT 469 470 TM_EXT_SYNC = ( 1UL << TM_BIT_EXT_SYNC ), ///< see ::TM_BIT_EXT_SYNC 471 TM_HOLDOVER = ( 1UL << TM_BIT_HOLDOVER ), ///< see ::TM_BIT_HOLDOVER 472 TM_ANT_SHORT = ( 1UL << TM_BIT_ANT_SHORT ), ///< see ::TM_BIT_ANT_SHORT 473 TM_NO_WARM = ( 1UL << TM_BIT_NO_WARM ), ///< see ::TM_BIT_NO_WARM 474 TM_ANT_DISCONN = ( 1UL << TM_BIT_ANT_DISCONN ), ///< see ::TM_BIT_ANT_DISCONN 475 TM_SYN_FLAG = ( 1UL << TM_BIT_SYN_FLAG ), ///< see ::TM_BIT_SYN_FLAG 476 TM_NO_SYNC = ( 1UL << TM_BIT_NO_SYNC ), ///< see ::TM_BIT_NO_SYNC 477 TM_NO_POS = ( 1UL << TM_BIT_NO_POS ) ///< see ::TM_BIT_NO_POS 478}; 479 480 481/** 482 * @brief A structure used to transmit information on date and time 483 * 484 * This structure can be used to transfer the current time, in which 485 * case the channel field has to be set to -1, or an event capture time 486 * retrieved from the on-board FIFO, in which case the channel field 487 * contains the index of the time capture input, e.g. 0 or 1. 488 */ 489typedef struct 490{ 491 int16_t channel; ///< -1: the current on-board time; >= 0 the capture channel number 492 T_GPS t; ///< time in GPS scale and format 493 TM_GPS tm; ///< time converted to %UTC and/or local time according to ::TZDL settings 494 495} TTM; 496 497 498 499/* Two types of variables used to store a position. Type XYZ is */ 500/* used with a position in earth centered, earth fixed (ECEF) */ 501/* coordinates whereas type LLA holds such a position converted */ 502/* to geographic coordinates as defined by WGS84 (World Geodetic */ 503/* System from 1984). */ 504 505/** 506 * @brief Sequence and number of components of a cartesian position 507 */ 508enum XYZ_FIELDS { XP, YP, ZP, N_XYZ }; // x, y, z 509 510/** 511 * @brief A position in cartesian coordinates 512 * 513 * Usually earth centered, earth fixed (ECEF) coordinates, 514 * in [m]. 515 * 516 * @note In the original code this is an array of double. 517 * 518 * @see ::XYZ_FIELDS 519 */ 520typedef l_fp XYZ[N_XYZ]; 521 522 523/** 524 * @brief Sequence and number of components of a geographic position 525 */ 526enum LLA_FIELDS { LAT, LON, ALT, N_LLA }; /* latitude, longitude, altitude */ 527 528/** 529 * @brief A geographic position based on latitude, longitude, and altitude 530 * 531 * The geographic position associated to specific cartesian coordinates 532 * depends on the characteristics of the ellipsoid used for the computation, 533 * the so-called geographic datum. GPS uses the WGS84 (World Geodetic System 534 * from 1984) ellipsoid by default. 535 * 536 * lon, lat in [rad], alt in [m] 537 * 538 * @note In the original code this is an array of double. 539 * 540 * @see ::LLA_FIELDS 541 */ 542typedef l_fp LLA[N_LLA]; 543 544 545/** 546 * @defgroup group_synth Synthesizer parameters 547 * 548 * Synthesizer frequency is expressed as a 549 * four digit decimal number (freq) to be multiplied by 0.1 Hz and an 550 * base 10 exponent (range). If the effective frequency is less than 551 * 10 kHz its phase is synchronized corresponding to the variable phase. 552 * Phase may be in a range from -360 deg to +360 deg with a resolution 553 * of 0.1 deg, so the resulting numbers to be stored are in a range of 554 * -3600 to +3600. 555 * 556 * Example:<br> 557 * Assume the value of freq is 2345 (decimal) and the value of phase is 900. 558 * If range == 0 the effective frequency is 234.5 Hz with a phase of +90 deg. 559 * If range == 1 the synthesizer will generate a 2345 Hz output frequency 560 * and so on. 561 * 562 * Limitations:<br> 563 * If freq == 0 the synthesizer is disabled. If range == 0 the least 564 * significant digit of freq is limited to 0, 3, 5 or 6. The resulting 565 * frequency is shown in the examples below: 566 * - freq == 1230 --> 123.0 Hz 567 * - freq == 1233 --> 123 1/3 Hz (real 1/3 Hz, NOT 123.3 Hz) 568 * - freq == 1235 --> 123.5 Hz 569 * - freq == 1236 --> 123 2/3 Hz (real 2/3 Hz, NOT 123.6 Hz) 570 * 571 * If range == ::MAX_SYNTH_RANGE the value of freq must not exceed 1000, so 572 * the output frequency is limited to 10 MHz (see ::MAX_SYNTH_FREQ_VAL). 573 * 574 * @{ */ 575 576#define N_SYNTH_FREQ_DIGIT 4 ///< number of digits to edit 577#define MAX_SYNTH_FREQ 1000 ///< if range == ::MAX_SYNTH_RANGE 578 579#define MIN_SYNTH_RANGE 0 580#define MAX_SYNTH_RANGE 5 581#define N_SYNTH_RANGE ( MAX_SYNTH_RANGE - MIN_SYNTH_RANGE + 1 ) 582 583#define N_SYNTH_PHASE_DIGIT 4 584#define MAX_SYNTH_PHASE 3600 585 586 587#define MAX_SYNTH_FREQ_EDIT 9999 ///< max sequence of digits when editing 588 589 590/** 591 * @brief The maximum frequency that can be configured for the synthesizer 592 */ 593#define MAX_SYNTH_FREQ_VAL 10000000UL ///< 10 MHz 594/* == MAX_SYNTH_FREQ * 10^(MAX_SYNTH_RANGE-1) */ 595 596/** 597 * @brief The synthesizer's phase is only be synchronized if the frequency is below this limit 598 */ 599#define SYNTH_PHASE_SYNC_LIMIT 10000UL ///< 10 kHz 600 601/** 602 * A Macro used to determine the position of the decimal point 603 * when printing the synthesizer frequency as 4 digit value 604 */ 605#define _synth_dp_pos_from_range( _r ) \ 606 ( ( ( N_SYNTH_RANGE - (_r) ) % ( N_SYNTH_FREQ_DIGIT - 1 ) ) + 1 ) 607 608/** 609 * @brief Synthesizer frequency units 610 * 611 * An initializer for commonly displayed synthesizer frequency units 612 * (::N_SYNTH_RANGE strings) 613 */ 614#define DEFAULT_FREQ_RANGES \ 615{ \ 616 "Hz", \ 617 "kHz", \ 618 "kHz", \ 619 "kHz", \ 620 "MHz", \ 621 "MHz", \ 622} 623 624 625 626/** 627 * @brief Synthesizer configuration parameters 628 */ 629typedef struct 630{ 631 int16_t freq; ///< four digits used; scale: 0.1 Hz; e.g. 1234 -> 123.4 Hz 632 int16_t range; ///< scale factor for freq; 0..::MAX_SYNTH_RANGE 633 int16_t phase; ///< -::MAX_SYNTH_PHASE..+::MAX_SYNTH_PHASE; >0 -> pulses later 634 635} SYNTH; 636 637#define _mbg_swab_synth( _p ) \ 638{ \ 639 _mbg_swab16( &(_p)->freq ); \ 640 _mbg_swab16( &(_p)->range ); \ 641 _mbg_swab16( &(_p)->phase ); \ 642} 643 644 645/** 646 * @brief Enumeration of synthesizer states 647 */ 648enum SYNTH_STATES 649{ 650 SYNTH_DISABLED, ///< disbled by cfg, i.e. freq == 0.0 651 SYNTH_OFF, ///< not enabled after power-up 652 SYNTH_FREE, ///< enabled, but not synchronized 653 SYNTH_DRIFTING, ///< has initially been sync'd, but now running free 654 SYNTH_SYNC, ///< fully synchronized 655 N_SYNTH_STATE ///< the number of known states 656}; 657 658 659/** 660 * @brief A structure used to report the synthesizer state 661 */ 662typedef struct 663{ 664 uint8_t state; ///< state code as enumerated in ::SYNTH_STATES 665 uint8_t flags; ///< reserved, currently always 0 666 667} SYNTH_STATE; 668 669#define _mbg_swab_synth_state( _p ) _nop_macro_fnc() 670 671#define SYNTH_FLAG_PHASE_IGNORED 0x01 672 673/** @} defgroup group_synth */ 674 675 676 677/** 678 * @defgroup group_tzdl Time zone / daylight saving parameters 679 * 680 * Example: <br> 681 * For automatic daylight saving enable/disable in Central Europe, 682 * the variables are to be set as shown below: <br> 683 * - offs = 3600L one hour from %UTC 684 * - offs_dl = 3600L one additional hour if daylight saving enabled 685 * - tm_on = first Sunday from March 25, 02:00:00h ( year |= ::DL_AUTO_FLAG ) 686 * - tm_off = first Sunday from October 25, 03:00:00h ( year |= ::DL_AUTO_FLAG ) 687 * - name[0] == "CET " name if daylight saving not enabled 688 * - name[1] == "CEST " name if daylight saving is enabled 689 * 690 * @{ */ 691 692/** 693 * @brief The name of a time zone 694 * 695 * @note Up to 5 printable characters, plus trailing zero 696 */ 697typedef char TZ_NAME[6]; 698 699/** 700 * @brief Time zone / daylight saving parameters 701 * 702 * This structure is used to specify how a device converts on-board %UTC 703 * to local time, including computation of beginning and end of daylight 704 * saving time (DST), if required. 705 * 706 * @note The ::TZDL structure contains members of type ::TM_GPS to specify 707 * the times for beginning and end of DST. However, the ::TM_GPS::frac, 708 * ::TM_GPS::offs_from_utc, and ::TM_GPS::status fields of these ::TZDL::tm_on 709 * and ::TZDL::tm_off members are ignored for the conversion to local time, 710 * and thus should be 0. 711 */ 712typedef struct 713{ 714 int32_t offs; ///< standard offset from %UTC to local time [sec] 715 int32_t offs_dl; ///< additional offset if daylight saving enabled [sec] 716 TM_GPS tm_on; ///< date/time when daylight saving starts 717 TM_GPS tm_off; ///< date/time when daylight saving ends 718 TZ_NAME name[2]; ///< names without and with daylight saving enabled 719 720} TZDL; 721 722/** 723 * @brief A flag indicating automatic computation of DST 724 * 725 * If this flag is or'ed to the year numbers in ::TZDL::tm_on and ::TZDL::tm_off 726 * then daylight saving is computed automatically year by year. 727 */ 728#define DL_AUTO_FLAG 0x8000 729 730/** @} defgroup group_tzdl */ 731 732 733 734/** 735 * @brief Antenna status and error at reconnect information 736 * 737 * The structure below reflects the status of the antenna, 738 * the times of last disconnect/reconnect, and the board's 739 * clock offset when it has synchronized again after the 740 * disconnection interval. 741 * 742 * @note ::ANT_INFO::status changes back to ::ANT_RECONN only 743 * after the antenna has been reconnected <b>and</b> the 744 * receiver has re-synchronized to the satellite signal. 745 * In this case ::ANT_INFO::delta_t reports the time offset 746 * before resynchronization, i.e. how much the internal 747 * time has drifted while the antenna was disconnected. 748 */ 749typedef struct 750{ 751 int16_t status; ///< current status of antenna, see ::ANT_STATUS_CODES 752 TM_GPS tm_disconn; ///< time of antenna disconnect 753 TM_GPS tm_reconn; ///< time of antenna reconnect 754 int32_t delta_t; ///< clock offs at reconn. time in 1/::RECEIVER_INFO::ticks_per_sec units 755 756} ANT_INFO; 757 758 759/** 760 * @brief Status code used with ::ANT_INFO::status 761 */ 762enum ANT_STATUS_CODES 763{ 764 ANT_INVALID, ///< No other fields valid since antenna has not yet been disconnected 765 ANT_DISCONN, ///< Antenna is disconnected, tm_reconn and delta_t not yet set 766 ANT_RECONN, ///< Antenna has been disconnect, and receiver sync. after reconnect, so all fields valid 767 N_ANT_STATUS_CODES ///< the number of known status codes 768}; 769 770 771 772/** 773 * @brief Summary of configuration and health data of all satellites 774 */ 775typedef struct 776{ 777 CSUM csum; ///< checksum of the remaining bytes 778 int16_t valid; ///< flag data are valid 779 780 T_GPS tot_51; ///< time of transmission, page 51 781 T_GPS tot_63; ///< time of transmission, page 63 782 T_GPS t0a; ///< complete reference time almanac 783 784 CFG cfg[N_SVNO_GPS]; ///< 4 bit SV configuration code from page 63 785 HEALTH health[N_SVNO_GPS]; ///< 6 bit SV health codes from pages 51, 63 786 787} CFGH; 788 789 790 791/** 792 * @brief GPS %UTC correction parameters 793 * 794 * %UTC correction parameters basically as sent by the GPS satellites. 795 * 796 * The csum field is only used by the card's firmware to check the 797 * consistency of the structure in non-volatile memory. 798 * 799 * The field labeled valid indicates if the parameter set is valid, i.e. 800 * if it contains data received from the satellites. 801 * 802 * t0t, A0 and A1 contain fractional correction parameters for the current 803 * GPS-%UTC time offset in addition to the whole seconds. This is evaluated 804 * by the receivers' firmware to convert GPS time to %UTC time. 805 * 806 * The delta_tls field contains the current full seconds offset between 807 * GPS time and %UTC, which corresponds to the number of leap seconds inserted 808 * into the %UTC time scale since GPS was put into operation in January 1980. 809 * 810 * delta_tlfs holds the number of "future" leap seconds, i.e. the %UTC offset 811 * after the next leap second event defined by WNlsf and DNt. 812 * 813 * The fields WNlsf and DNt specify the GPS week number and the day number 814 * in that week for the end of which a leap second has been scheduled. 815 * 816 * @note: The satellites transmit WNlsf only as a signed 8 bit value, so it 817 * can only define a point in time which is +/- 127 weeks off the current time. 818 * The firmware tries to expand this based on the current week number, but 819 * the result is ambiguous if the leap second occurs or occurred more 820 * than 127 weeks in the future or past. 821 * 822 * So the leap second date should <b>only</b> be evaluated and displayed 823 * in a user interface if the fields delta_tls and delta_tlsf have 824 * different values, in which case there is indeed a leap second announcement 825 * inside the +/- 127 week range. 826 * 827 * @note In the original code the type of A0 and A1 is double. 828 */ 829typedef struct 830{ 831 CSUM csum; ///< Checksum of the remaining bytes 832 int16_t valid; ///< Flag indicating %UTC parameters are valid 833 834 T_GPS t0t; ///< Reference Time %UTC Parameters [wn|sec] 835 l_fp A0; ///< +- Clock Correction Coefficient 0 [sec] 836 l_fp A1; ///< +- Clock Correction Coefficient 1 [sec/sec] 837 838 uint16_t WNlsf; ///< Week number of nearest leap second 839 int16_t DNt; ///< The day number at the end of which a leap second occurs 840 int8_t delta_tls; ///< Current %UTC offset to GPS system time [sec] 841 int8_t delta_tlsf; ///< Future %UTC offset to GPS system time after next leap second transition [sec] 842 843} UTC; 844 845 846/** 847 * @brief GPS ASCII message 848 */ 849typedef struct 850{ 851 CSUM csum; ///< checksum of the remaining bytes */ 852 int16_t valid; ///< flag data are valid 853 char s[23]; ///< 22 chars GPS ASCII message plus trailing zero 854 855} ASCII_MSG; 856 857 858/** 859 * @brief Ephemeris parameters of one specific satellite 860 * 861 * Needed to compute the position of a satellite at a given time with 862 * high precision. Valid for an interval of 4 to 6 hours from start 863 * of transmission. 864 */ 865typedef struct 866{ 867 CSUM csum; ///< checksum of the remaining bytes 868 int16_t valid; ///< flag data are valid 869 870 HEALTH health; ///< health indication of transmitting SV [---] 871 IOD IODC; ///< Issue Of Data, Clock 872 IOD IODE2; ///< Issue of Data, Ephemeris (Subframe 2) 873 IOD IODE3; ///< Issue of Data, Ephemeris (Subframe 3) 874 T_GPS tt; ///< time of transmission 875 T_GPS t0c; ///< Reference Time Clock [---] 876 T_GPS t0e; ///< Reference Time Ephemeris [---] 877 878 l_fp sqrt_A; ///< Square Root of semi-major Axis [sqrt(m)] 879 l_fp e; ///< Eccentricity [---] 880 l_fp M0; ///< +- Mean Anomaly at Ref. Time [rad] 881 l_fp omega; ///< +- Argument of Perigee [rad] 882 l_fp OMEGA0; ///< +- Longit. of Asc. Node of orbit plane [rad] 883 l_fp OMEGADOT; ///< +- Rate of Right Ascension [rad/sec] 884 l_fp deltan; ///< +- Mean Motion Diff. from computed value [rad/sec] 885 l_fp i0; ///< +- Inclination Angle [rad] 886 l_fp idot; ///< +- Rate of Inclination Angle [rad/sec] 887 l_fp crc; ///< +- Cosine Corr. Term to Orbit Radius [m] 888 l_fp crs; ///< +- Sine Corr. Term to Orbit Radius [m] 889 l_fp cuc; ///< +- Cosine Corr. Term to Arg. of Latitude [rad] 890 l_fp cus; ///< +- Sine Corr. Term to Arg. of Latitude [rad] 891 l_fp cic; ///< +- Cosine Corr. Term to Inclination Angle [rad] 892 l_fp cis; ///< +- Sine Corr. Term to Inclination Angle [rad] 893 894 l_fp af0; ///< +- Clock Correction Coefficient 0 [sec] 895 l_fp af1; ///< +- Clock Correction Coefficient 1 [sec/sec] 896 l_fp af2; ///< +- Clock Correction Coefficient 2 [sec/sec^2] 897 l_fp tgd; ///< +- estimated group delay differential [sec] 898 899 uint16_t URA; ///< predicted User Range Accuracy 900 901 uint8_t L2code; ///< code on L2 channel [---] 902 uint8_t L2flag; ///< L2 P data flag [---] 903 904} EPH; 905 906 907 908/** 909 * @brief Almanac parameters of one specific satellite 910 * 911 * A reduced precision set of parameters used to check if a satellite 912 * is in view at a given time. Valid for an interval of more than 7 days 913 * from start of transmission. 914 */ 915typedef struct 916{ 917 CSUM csum; ///< checksum of the remaining bytes 918 int16_t valid; ///< flag data are valid 919 920 HEALTH health; ///< [---] 921 T_GPS t0a; ///< Reference Time Almanac [sec] 922 923 l_fp sqrt_A; ///< Square Root of semi-major Axis [sqrt(m)] 924 l_fp e; ///< Eccentricity [---] 925 926 l_fp M0; ///< +- Mean Anomaly at Ref. Time [rad] 927 l_fp omega; ///< +- Argument of Perigee [rad] 928 l_fp OMEGA0; ///< +- Longit. of Asc. Node of orbit plane [rad] 929 l_fp OMEGADOT; ///< +- Rate of Right Ascension [rad/sec] 930 l_fp deltai; ///< +- [rad] 931 l_fp af0; ///< +- Clock Correction Coefficient 0 [sec] 932 l_fp af1; ///< +- Clock Correction Coefficient 1 [sec/sec] 933 934} ALM; 935 936 937 938/** 939 * @brief Ionospheric correction parameters 940 */ 941typedef struct 942{ 943 CSUM csum; ///< checksum of the remaining bytes 944 int16_t valid; ///< flag data are valid 945 946 l_fp alpha_0; ///< Ionosph. Corr. Coeff. Alpha 0 [sec] 947 l_fp alpha_1; ///< Ionosph. Corr. Coeff. Alpha 1 [sec/deg] 948 l_fp alpha_2; ///< Ionosph. Corr. Coeff. Alpha 2 [sec/deg^2] 949 l_fp alpha_3; ///< Ionosph. Corr. Coeff. Alpha 3 [sec/deg^3] 950 951 l_fp beta_0; ///< Ionosph. Corr. Coeff. Beta 0 [sec] 952 l_fp beta_1; ///< Ionosph. Corr. Coeff. Beta 1 [sec/deg] 953 l_fp beta_2; ///< Ionosph. Corr. Coeff. Beta 2 [sec/deg^2] 954 l_fp beta_3; ///< Ionosph. Corr. Coeff. Beta 3 [sec/deg^3] 955 956} IONO; 957 958 959 960void mbg_tm_str (char **, TM_GPS *, int, int); 961void mbg_tgps_str (char **, T_GPS *, int); 962void get_mbg_header (unsigned char **, GPS_MSG_HDR *); 963void put_mbg_header (unsigned char **, GPS_MSG_HDR *); 964void get_mbg_sw_rev (unsigned char **, SW_REV *); 965void get_mbg_ascii_msg (unsigned char **, ASCII_MSG *); 966void get_mbg_svno (unsigned char **, SVNO *); 967void get_mbg_health (unsigned char **, HEALTH *); 968void get_mbg_cfg (unsigned char **, CFG *); 969void get_mbg_tgps (unsigned char **, T_GPS *); 970void get_mbg_tm (unsigned char **, TM_GPS *); 971void get_mbg_ttm (unsigned char **, TTM *); 972void get_mbg_synth (unsigned char **, SYNTH *); 973void get_mbg_tzdl (unsigned char **, TZDL *); 974void get_mbg_antinfo (unsigned char **, ANT_INFO *); 975void get_mbg_cfgh (unsigned char **, CFGH *); 976void get_mbg_utc (unsigned char **, UTC *); 977void get_mbg_lla (unsigned char **, LLA); 978void get_mbg_xyz (unsigned char **, XYZ); 979void get_mbg_portparam (unsigned char **, PORT_PARM *); 980void get_mbg_eph (unsigned char **, EPH *); 981void get_mbg_alm (unsigned char **, ALM *); 982void get_mbg_iono (unsigned char **, IONO *); 983 984CSUM mbg_csum (unsigned char *, unsigned int); 985 986#endif 987/* 988 * History: 989 * 990 * mbg_gps166.h,v 991 * Revision 4.7 2006/06/22 18:41:43 kardel 992 * clean up signedness (gcc 4) 993 * 994 * Revision 4.6 2005/10/07 22:11:56 kardel 995 * bounded buffer implementation 996 * 997 * Revision 4.5.2.1 2005/09/25 10:23:48 kardel 998 * support bounded buffers 999 * 1000 * Revision 4.5 2005/06/25 10:58:45 kardel 1001 * add missing log keywords 1002 * 1003 * Revision 4.1 1998/06/12 15:07:30 kardel 1004 * fixed prototyping 1005 * 1006 * Revision 4.0 1998/04/10 19:50:42 kardel 1007 * Start 4.0 release version numbering 1008 * 1009 * Revision 1.1 1998/04/10 19:27:34 kardel 1010 * initial NTP VERSION 4 integration of PARSE with GPS166 binary support 1011 * 1012 * Revision 1.1 1997/10/06 20:55:38 kardel 1013 * new parse structure 1014 * 1015 */ 1016