diff options
Diffstat (limited to 'gps.h')
| -rw-r--r-- | gps.h | 9 |
1 files changed, 6 insertions, 3 deletions
@@ -94,7 +94,7 @@ struct gps_fix_t { /* * A nominally 30-bit word (24 bits of data, 6 bits of parity) * used both in the GPS downlink protocol described in IS-GPS-200 - * and in the format for DGPS corrections used in RTCM-104. + * and in the format for DGPS corrections used in RTCM-104v2. */ typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t; #endif /* S_SPLINT_S */ @@ -208,7 +208,8 @@ struct rtcm3_extended_rtk { struct rtcm3_t { /* header contents */ - unsigned type; /* RTCM message type */ + unsigned type; /* RTCM 3.x message type */ + unsigned length; /* payload length, exclusive of checksum */ /* message data in decoded form */ union { @@ -346,6 +347,7 @@ struct gps_data_t { #define ERROR_SET 0x08000000u #define CYCLE_START_SET 0x10000000u #define RTCM2_SET 0x20000000u +#define RTCM3_SET 0x40000000u #define FIX_SET (TIME_SET|MODE_SET|TIMERR_SET|LATLON_SET|HERR_SET|ALTITUDE_SET|VERR_SET|TRACK_SET|TRACKERR_SET|SPEED_SET|SPEEDERR_SET|CLIMB_SET|CLIMBERR_SET) double online; /* NZ if GPS is on line, 0 if not. * @@ -410,7 +412,8 @@ struct gps_data_t { unsigned int driver_mode; /* whether driver is in native mode or not */ /* RTCM-104 data */ - struct rtcm2_t rtcm; + struct rtcm2_t rtcm2; + struct rtcm3_t rtcm3; /* device list */ int ndevices; /* count of available devices */ |