/* gps.h -- interface of the libgps library */ #ifndef gps_h #define gps_h 1 #ifdef __cplusplus extern "C" { #endif #include #include #include #include #include #include #ifndef S_SPLINT_S #include /* pacifies OpenBSD's compiler */ #endif #define MAXTAGLEN 8 /* maximum length of sentence tag name */ #define MAXCHANNELS 14 /* maximum GPS channels (*not* satellites!) */ #define SIRF_CHANNELS 12 /* max channels allowed in SiRF format */ /* * The structure describing an uncertainty volume in kinematic space. * This is what GPSes are meant to produce; all the other info is * technical impedimenta. * * All double values use NAN to indicate data not available. * * Usually all the information in this structure was considered valid * by the GPS at the time of update. This will be so if you are using * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary. * This covers over 80% of GPS products in early 2005. * * If you are using a chipset that speaks NMEA, this structure is updated * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL * (lat/lon), and GPGSA (eph, epv). Most NMEA GPSes take a single fix * at the beginning of a 1-second cycle and report the same timestamp in * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly * synced to the time member, but you'll get different stages of the same * update depending on where in the cycle you poll. A very few GPSes, * like the Garmin 48, take a new fix before more than one of of * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different * timestamps and some data in this structure can be up to 1 cycle (usually * 1 second) older than the fix time. * * Error estimates are at 95% confidence. */ struct gps_fix_t { double time; /* Time of update, seconds since Unix epoch */ int mode; /* Mode of fix */ #define MODE_NOT_SEEN 0 /* mode update not seen yet */ #define MODE_NO_FIX 1 /* none */ #define MODE_2D 2 /* good for latitude/longitude */ #define MODE_3D 3 /* good for altitude/climb too */ double ept; /* Expected time uncertainty */ double latitude; /* Latitude in degrees (valid if mode >= 2) */ double longitude; /* Longitude in degrees (valid if mode >= 2) */ double eph; /* Horizontal position uncertainty, meters */ double altitude; /* Altitude in meters (valid if mode == 3) */ double epv; /* Vertical position uncertainty, meters */ double track; /* Course made good (relative to true north) */ double epd; /* Track uncertainty, degrees */ double speed; /* Speed over ground, meters/sec */ double eps; /* Speed uncertainty, meters/sec */ double climb; /* Vertical speed, meters/sec */ double epc; /* Vertical speed uncertainty */ double pitch; /* Pitch angle in degrees */ double roll; /* Roll angle in degrees */ double dip; /* Dip angle in degrees */ }; /* * From the RCTM104 standard: * * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz * transmission rate provides a convenient timing capability where the * times of word boundaries are a rational multiple of 0.6 seconds." * * "Each frame is N+2 words long, where N is the number of message data * words. For example, a filler message (type 6 or 34) with no message * data will have N=0, and will consist only of two header words. The * maximum number of data words allowed by the format is 31, so that * the longest possible message will have a total of 33 words." */ #define RTCM_WORDS_MAX 33 #define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */ #define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */ /* RTCM104 doesn't specify this, so give it the largest reasonable value */ #define MAXHEALTH (RTCM_WORDS_MAX-2) /* * 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. */ typedef /*@unsignedintegraltype@*/ unsigned int isgps30bits_t; struct rtcm_t { /* header contents */ unsigned type; /* RTCM message type */ unsigned length; /* length (words) */ double zcount; /* time within hour: GPS time, no leap secs */ unsigned refstaid; /* reference station ID */ unsigned seqnum; /* nessage sequence number (modulo 8) */ unsigned stathlth; /* station health */ /* message data in decoded form */ union { struct { unsigned int nentries; struct rangesat_t { /* data from messages 1 & 9 */ unsigned ident; /* satellite ID */ unsigned udre; /* user diff. range error */ unsigned issuedata; /* issue of data */ double rangerr; /* range error */ double rangerate; /* range error rate */ } sat[MAXCORRECTIONS]; } ranges; struct { /* data for type 3 messages */ bool valid; /* is message well-formed? */ double x, y, z; } ecef; struct { /* data from type 4 messages */ bool valid; /* is message well-formed? */ enum {gps, glonass, unknown} system; enum {local, global, invalid} sense; char datum[6]; double dx, dy, dz; } reference; struct { /* data from type 5 messages */ unsigned int nentries; struct consat_t { unsigned ident; /* satellite ID */ bool iodl; /* issue of data */ unsigned int health; /* is satellite healthy? */ #define HEALTH_NORMAL (0) /* Radiobeacon operation normal */ #define HEALTH_UNMONITORED (1) /* No integrity monitor operating */ #define HEALTH_NOINFO (2) /* No information available */ #define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */ int snr; /* signal-to-noise ratio, dB */ #define SNR_BAD -1 /* not reported */ unsigned int health_en; /* health enabled */ bool new_data; /* new data? */ bool los_warning; /* line-of-sight warning */ unsigned int tou; /* time to unhealth, seconds */ } sat[MAXHEALTH]; } conhealth; struct { /* data from type 7 messages */ unsigned int nentries; struct station_t { double latitude, longitude; /* location */ unsigned int range; /* range in km */ double frequency; /* broadcast freq */ unsigned int health; /* station health */ unsigned int station_id; /* of the transmitter */ unsigned int bitrate; /* of station transmissions */ } station[MAXSTATIONS]; } almanac; /* data from type 16 messages */ char message[(RTCM_WORDS_MAX-2) * sizeof(isgps30bits_t)]; /* data from messages of unknown type */ isgps30bits_t words[RTCM_WORDS_MAX-2]; } msg_data; }; typedef /*@unsignedintegraltype@*/ unsigned int gps_mask_t; struct gps_data_t { gps_mask_t set; /* has field been set since this was last cleared? */ #define ONLINE_SET 0x00000001u #define TIME_SET 0x00000002u #define TIMERR_SET 0x00000004u #define LATLON_SET 0x00000008u #define ALTITUDE_SET 0x00000010u #define SPEED_SET 0x00000020u #define TRACK_SET 0x00000040u #define CLIMB_SET 0x00000080u #define STATUS_SET 0x00000100u #define MODE_SET 0x00000200u #define HDOP_SET 0x00000400u #define VDOP_SET 0x00000800u #define PDOP_SET 0x00001000u #define TDOP_SET 0x00002000u #define GDOP_SET 0x00004000u #define DOP_SET (HDOP_SET|VDOP_SET|PDOP_SET|TDOP_SET|GDOP_SET) #define HERR_SET 0x00008000u #define VERR_SET 0x00010000u #define PERR_SET 0x00020000u #define SATELLITE_SET 0x00040000u #define PSEUDORANGE_SET 0x00080000u #define USED_SET 0x00100000u #define SPEEDERR_SET 0x00200000u #define TRACKERR_SET 0x00400000u #define CLIMBERR_SET 0x00800000u #define DEVICE_SET 0x01000000u #define DEVICELIST_SET 0x02000000u #define DEVICEID_SET 0x04000000u #define ERROR_SET 0x08000000u #define CYCLE_START_SET 0x10000000u #define RTCM_SET 0x20000000u #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. * * Note: gpsd clears this flag when sentences * fail to show up within the GPS's normal * send cycle time. If the host-to-GPS * link is lossy enough to drop entire * sentences, this flag will be * prone to false negatives. */ struct gps_fix_t fix; /* accumulated PVT data */ struct gps_fix_t newdata; /* PVT data from last packet */ double separation; /* Geoidal separation, MSL - WGS84 (Meters) */ /* GPS status -- always valid */ int status; /* Do we have a fix? */ #define STATUS_NO_FIX 0 /* no */ #define STATUS_FIX 1 /* yes, without DGPS */ #define STATUS_DGPS_FIX 2 /* yes, with DGPS */ /* precision of fix -- valid if satellites_used > 0 */ int satellites_used; /* Number of satellites used in solution */ int used[MAXCHANNELS]; /* PRNs of satellites used in solution */ double pdop, hdop, vdop, tdop, gdop; /* Dilution of precision */ /* redundant with the estimate elments in the fix structure */ double epe; /* spherical position error, 95% confidence (meters) */ /* satellite status -- valid when satellites > 0 */ int satellites; /* # of satellites in view */ int PRN[MAXCHANNELS]; /* PRNs of satellite */ int elevation[MAXCHANNELS]; /* elevation of satellite */ int azimuth[MAXCHANNELS]; /* azimuth */ int ss[MAXCHANNELS]; /* signal strength */ #if 0 /* not yet used or filled in */ /* measurement data */ double pseudorange[MAXCHANNELS]; /* meters */ double deltarange[MAXCHANNELS]; /* meters/sec */ double doppler[MAXCHANNELS]; /* Hz */ unsigned satstat[MAXCHANNELS]; /* tracking status */ #define SAT_ACQUIRED 0x01 /* satellite acquired */ #define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */ #define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */ #define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */ #define SAT_FRAME_SYNC 0x10 /* frame synchronization done */ #define SAT_EPHEMERIS 0x20 /* ephemeris collected */ #define SAT_FIX_USED 0x40 /* used for position fix */ #endif /* compass status */ char headingStatus; char pitchStatus; char rollStatus; double horzField; /* Magnitude of horizontal magnetic field */ /* where and what gpsd thinks the device is */ char gps_device[PATH_MAX]; /* only valid if non-null. */ char *gps_id; /* only valid if non-null. */ unsigned int baudrate, parity, stopbits; /* RS232 link parameters */ unsigned int driver_mode; /* whether driver is in native mode or not */ /* RTCM-104 data */ struct rtcm_t rtcm; /* device list */ int ndevices; /* count of available devices */ char **devicelist; /* list of pathnames */ /* profiling data for last sentence */ bool profiling; /* profiling enabled? */ char tag[MAXTAGLEN+1]; /* tag of last sentence processed */ size_t sentence_length; /* character count of last sentence */ double sentence_time; /* sentence timestamp */ double d_xmit_time; /* beginning of sentence transmission */ double d_recv_time; /* daemon receipt time (-> E1+T1) */ double d_decode_time; /* daemon end-of-decode time (-> D1) */ double poll_time; /* daemon poll time (-> W) */ double emit_time; /* emission time (-> E2) */ double c_recv_time; /* client receipt time (-> T2) */ double c_decode_time; /* client end-of-decode time (-> D2) */ double cycle, mincycle; /* refresh cycle time in seconds */ /* these members are private */ int gps_fd; /* socket or file descriptor to GPS */ void (*raw_hook)(struct gps_data_t *, char *, size_t len, int level);/* Raw-mode hook for GPS data. */ void (*thread_hook)(struct gps_data_t *, char *, size_t len, int level);/* Thread-callback hook for GPS data. */ }; extern struct gps_data_t *gps_open(const char *host, const char *port); int gps_close(struct gps_data_t *); int gps_query(struct gps_data_t *gpsdata, const char *requests); int gps_poll(struct gps_data_t *gpsdata); void gps_set_raw_hook(struct gps_data_t *gpsdata, void (*hook)(struct gps_data_t *sentence, char *buf, size_t len, int level)); int gps_set_callback(struct gps_data_t *gpsdata, void (*callback)(struct gps_data_t *sentence, char *buf, size_t len, int level), pthread_t *handler); int gps_del_callback(struct gps_data_t *gpsdata, pthread_t *handler); extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *); extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *, gps_mask_t, /*@ in @*/struct gps_fix_t *); extern time_t mkgmtime(register struct tm *); extern double timestamp(void); extern double iso8601_to_unix(char *); extern /*@observer@*/char *unix_to_iso8601(double t, /*@ out @*/char[], int len); extern double gpstime_to_unix(int, double); extern void unix_to_gpstime(double, /*@out@*/int *, /*@out@*/double *); extern double earth_distance(double, double, double, double); extern double wgs84_separation(double, double); extern int gpsd_units(void); /* some multipliers for interpreting GPS output */ #define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */ #define METERS_TO_MILES 0.00062137119 /* Meters to miles */ #define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */ #define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */ #define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */ #define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */ #define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */ #define MPS_TO_KNOTS 1.9437 /* Meters per second to knots */ /* miles and knots are both the international standard versions of the units */ /* angle conversion multipliers */ #define PI 3.1415926535897932384626433832795029 #define RAD_2_DEG 57.2957795130823208767981548141051703 #define DEG_2_RAD 0.0174532925199432957692369076848861271 /* gps_open() errno return values */ #define NL_NOSERVICE -1 /* can't get service entry */ #define NL_NOHOST -2 /* can't get host entry */ #define NL_NOPROTO -3 /* can't get protocol entry */ #define NL_NOSOCK -4 /* can't create socket */ #define NL_NOSOCKOPT -5 /* error SETSOCKOPT SO_REUSEADDR */ #define NL_NOCONNECT -6 /* can't connect to host */ #define DEFAULT_GPSD_PORT "2947" /* IANA assignment */ #define DEFAULT_RTCM_PORT "2101" /* IANA assignment */ #ifdef __cplusplus } /* End of the 'extern "C"' block */ #endif #endif /* gps_h */ /* gps.h ends here */