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Diffstat (limited to 'include/mbg_gps166.h')
| -rw-r--r-- | include/mbg_gps166.h | 1195 |
1 files changed, 814 insertions, 381 deletions
diff --git a/include/mbg_gps166.h b/include/mbg_gps166.h index 974deba..b9b3d77 100644 --- a/include/mbg_gps166.h +++ b/include/mbg_gps166.h @@ -39,206 +39,459 @@ #define MBG_GPS166_H -/***************************************************************************/ -/* */ -/* File: GPSSERIO.H 4.1 */ -/* */ -/* Project: Common C Library */ -/* */ -/* Compiler: Borland C++ */ -/* */ -/* Author: M. Burnicki, Meinberg Funkuhren */ -/* */ -/* */ -/* Description: */ -/* This file defines structures and codes to be used to access GPS166 */ -/* via its serial interface COM0. COM0 should be set to a high baud */ -/* rate, default is 19200. */ -/* */ -/* Standard GPS166 serial operation is to send a time string that is */ -/* compatible with Meinberg UA31 or PZF535 DCF77 radio remote clocks. */ -/* That string can be transmitted automatically once per second, once */ -/* per minute or on request per ASCII '?'. */ -/* */ -/* Parameter setup or parameter readout works using blocks of binary */ -/* data which have to be isolated from the standard string. A block of */ -/* data starts with a SOH code (ASCII Start Of Header, 0x01) followed */ -/* by a message header with constant length and a data portion with */ -/* variable length. The first field (cmd) of the message header holds */ -/* the command code rsp. the type of data to be transmitted. The next */ -/* field (len) gives the number of data bytes that are transmitted */ -/* after the header. This number ranges from 0 to sizeof( MSG_DATA ). */ -/* The third field (data_csum) holds a checksum of all data bytes and */ -/* the last field of the header finally holds the checksum of the. */ -/* header. */ -/* */ -/***************************************************************************/ - -/* the control codes defined below are to be or'ed with a command/type code */ - -#define GPS_REQACK 0x8000 /* to GPS166: request acknowledge */ -#define GPS_ACK 0x4000 /* from GPS166: acknowledge a command */ -#define GPS_NACK 0x2000 /* from GPS166: error receiving command */ - -#define GPS_CTRL_MSK 0xF000 /* masks control code from command */ - - -/* The codes below specify commands/types of data to be supplied to GPS166: */ - -/* GPS166 auto-message to host */ -/* þ host request, GPS166 response */ -/* þ þ host download to GPS166 */ -/* þ þ þ */ -enum { /* þ þ þ */ - /* system data */ - GPS_AUTO_ON = 0x000, /* þ þ þ X þ enable auto-messages from GPS166 */ - GPS_AUTO_OFF, /* þ þ þ X þ disable auto-messages from GPS166 */ - GPS_SW_REV, /* þ þ X þ þ request software revision */ - GPS_STAT, /* þ þ X þ þ request status of buffered variables */ - GPS_TIME, /* þ X þ þ X þ current time or capture or init board time */ - GPS_POS_XYZ, /* þ þ X þ X þ current position in ECEF coords */ - GPS_POS_LLA, /* þ þ X þ X þ current position in geographic coords */ - GPS_TZDL, /* þ þ X þ X þ time zone / daylight saving */ - GPS_PORT_PARM, /* þ þ X þ X þ parameters of the serial ports */ - GPS_SYNTH, /* þ þ X þ X þ synthesizer's frequency and phase */ - GPS_ANT_INFO, /* þ X þ X þ þ time diff after antenna disconnect */ - GPS_UCAP, /* þ X þ X þ þ user capture */ +/*************************************************************************** + * + * Definitions taken from Meinberg's gpsserio.h and gpsdefs.h files. + * + * Author: Martin Burnicki, Meinberg Funkuhren + * + * Copyright (c) Meinberg Funkuhren, Bad Pyrmont, Germany + * + * Description: + * Structures and codes to be used to access Meinberg GPS clocks via + * their serial interface COM0. COM0 should be set to a high baud rate, + * default is 19200. + * + * Standard Meinberg GPS serial operation is to send the Meinberg + * standard time string automatically once per second, once per + * minute, or on request per ASCII '?'. + * + * GPS parameter setup or parameter readout uses blocks of binary + * data which have to be isolated from the standard string. A block + * of data starts with a SOH code (ASCII Start Of Header, 0x01) + * followed by a message header with constant length and a block of + * data with variable length. + * + * The first field (cmd) of the message header holds the command + * code resp. the type of data to be transmitted. The next field (len) + * gives the number of data bytes that follow the header. This number + * ranges from 0 to sizeof( MSG_DATA ). The third field (data_csum) + * holds a checksum of all data bytes and the last field of the header + * finally holds the checksum of the header itself. + * + ***************************************************************************/ + +/** + * @brief GPS epoch bias from ordinary time_t epoch + * + * The Unix time_t epoch is usually 1970-01-01 00:00 whereas + * the GPS epoch is 1980-01-06 00:00, so the difference is 10 years, + * plus 2 days due to leap years (1972 and 1976), plus the difference + * of the day-of-month (6 - 1), so:<br> + * + * time_t t = ( gps_week * ::SECS_PER_WEEK ) + sec_of_week + ::GPS_SEC_BIAS + */ +#define GPS_SEC_BIAS 315964800UL // ( ( ( 10UL * 365UL ) + 2 + 5 ) * SECS_PER_DAY ) + + +#ifndef _COM_HS_DEFINED + /** + * @brief Enumeration of handshake modes + */ + enum COM_HANSHAKE_MODES { HS_NONE, HS_XONXOFF, HS_RTSCTS, N_COM_HS }; + #define _COM_HS_DEFINED +#endif + +#ifndef _COM_PARM_DEFINED + /** + * @brief A data type to configure a serial port's baud rate + * + * @see ::MBG_BAUD_RATES + */ + typedef int32_t BAUD_RATE; + + /** + * @brief Indices used to identify a parameter in the framing string + * + * @see ::MBG_FRAMING_STRS + */ + enum MBG_FRAMING_STR_IDXS { F_DBITS, F_PRTY, F_STBITS }; + + /** + * @brief A structure to store the configuration of a serial port + */ + typedef struct + { + BAUD_RATE baud_rate; ///< transmission speed, e.g. 19200L, see ::MBG_BAUD_RATES + char framing[4]; ///< ASCIIZ framing string, e.g. "8N1" or "7E2", see ::MBG_FRAMING_STRS + int16_t handshake; ///< handshake mode, yet only ::HS_NONE supported + + } COM_PARM; + + #define _COM_PARM_DEFINED +#endif + + +/** + * @brief Enumeration of modes supported for time string transmission + * + * This determines e.g. at which point in time a string starts + * to be transmitted via the serial port. + * Used with ::PORT_SETTINGS::mode. + * + * @see ::STR_MODE_MASKS + */ +enum STR_MODES +{ + STR_ON_REQ, ///< transmission on request by received '?' character only + STR_PER_SEC, ///< transmission automatically if second changes + STR_PER_MIN, ///< transmission automatically if minute changes + STR_AUTO, ///< transmission automatically if required, e.g. on capture event + STR_ON_REQ_SEC, ///< transmission if second changes and a request has been received before + N_STR_MODE ///< the number of known modes +}; + + +/** + * The number of serial ports which are at least available + * even with very old GPS receiver models. For devices providing + * a ::RECEIVER_INFO structure the number of provided COM ports + * is available in ::RECEIVER_INFO::n_com_ports. + */ +#define DEFAULT_N_COM 2 + + +/** + * @brief A The structure used to store the configuration of two serial ports + * + * @deprecated This structure is deprecated, ::PORT_SETTINGS and related structures + * should be used instead, if supported by the device. + */ +typedef struct +{ + COM_PARM com[DEFAULT_N_COM]; ///< COM0 and COM1 settings + uint8_t mode[DEFAULT_N_COM]; ///< COM0 and COM1 output mode + +} PORT_PARM; + + +/** + * @brief The type of a GPS command code + * + * @see ::GPS_CMD_CODES + */ +typedef uint16_t GPS_CMD; + + +/** + * @brief Control codes to be or'ed with a particular command/type code + */ +enum GPS_CMD_CTRL_CODES +{ + GPS_REQACK = 0x8000, ///< to device: request acknowledge + GPS_ACK = 0x4000, ///< from device: acknowledge a command + GPS_NACK = 0x2000, ///< from device: error evaluating a command +}; + +#define GPS_CTRL_MSK 0xF000 ///< bit mask of all ::GPS_CMD_CTRL_CODES + + +/** + * @brief Command codes for the binary protocol + * + * These codes specify commands and associated data types used by Meinberg's + * binary protocol to exchange data with a device via serial port, direct USB, + * or socket I/O. + * + * Some commands and associated data structures can be read (r) from a device, others + * can be written (w) to the device, and some can also be sent automatically (a) by + * a device after a ::GPS_AUTO_ON command has been sent to the device. + * The individual command codes are marked with (rwa) accordingly, where '-' is used + * to indicate that a particular mode is not supported. + * + * @note Not all command code are supported by all devices. + * See the hints for a particular command. + * + * @note If ::GPS_ALM, ::GPS_EPH or a code named ..._IDX is sent to retrieve + * some data from a device then an uint16_t parameter must be also supplied + * in order to specify the index number of the data set to be returned. + * The valid index range depends on the command code. + * For ::GPS_ALM and ::GPS_EPH the index is the SV number which may be 0 or + * ::MIN_SVNO_GPS to ::MAX_SVNO_GPS. If the number is 0 then all ::N_SVNO_GPS + * almanacs or ephemeris data structures are returned. + * + * @see ::GPS_CMD_CODES_TABLE + */ +enum GPS_CMD_CODES +{ /* system data */ + GPS_AUTO_ON = 0x000, ///< (-w-) no data, enable auto-msgs from device + GPS_AUTO_OFF, ///< (-w-) no data, disable auto-msgs from device + GPS_SW_REV, ///< (r--) deprecated, ::SW_REV, software revision, use only if ::GPS_RECEIVER_INFO not supp. + GPS_BVAR_STAT, ///< (r--) ::BVAR_STAT, status of buffered variables, only if ::GPS_MODEL_HAS_BVAR_STAT + GPS_TIME, ///< (-wa) ::TTM, current time or capture, or init board time + GPS_POS_XYZ, ///< (rw-) ::XYZ, current position in ECEF coordinates, only if ::GPS_MODEL_HAS_POS_XYZ + GPS_POS_LLA, ///< (rw-) ::LLA, current position in geographic coordinates, only if ::GPS_MODEL_HAS_POS_LLA + GPS_TZDL, ///< (rw-) ::TZDL, time zone / daylight saving, only if ::GPS_MODEL_HAS_TZDL + GPS_PORT_PARM, ///< (rw-) deprecated, ::PORT_PARM, use ::PORT_SETTINGS etc. if ::GPS_RECEIVER_INFO supported + GPS_SYNTH, ///< (rw-) ::SYNTH, synthesizer settings, only if ::GPS_HAS_SYNTH + GPS_ANT_INFO, ///< (r-a) ::ANT_INFO, time diff after antenna disconnect, only if ::GPS_MODEL_HAS_ANT_INFO + GPS_UCAP, ///< (r-a) ::TTM, user capture events, only if ::RECEIVER_INFO::n_ucaps > 0 /* GPS data */ - GPS_CFGH = 0x100, /* þ þ X þ X þ SVs' configuration and health codes */ - GPS_ALM, /* þ þ X þ X þ one SV's almanac */ - GPS_EPH, /* þ þ X þ X þ one SV's ephemeris */ - GPS_UTC, /* þ þ X þ X þ UTC correction parameters */ - GPS_IONO, /* þ þ X þ X þ ionospheric correction parameters */ - GPS_ASCII_MSG /* þ þ X þ þ the GPS ASCII message */ + GPS_CFGH = 0x100, ///< (rw-) ::CFGH, SVs' configuration and health codes + GPS_ALM, ///< (rw-) req: uint16_t SV num, ::SV_ALM, one SV's almanac + GPS_EPH, ///< (rw-) req: uint16_t SV num, ::SV_EPH, one SV's ephemeris + GPS_UTC, ///< (rw-) ::UTC, GPS %UTC correction parameters + GPS_IONO, ///< (rw-) ::IONO, GPS ionospheric correction parameters + GPS_ASCII_MSG ///< (r--) ::ASCII_MSG, the GPS ASCII message }; -/* - * modelled after GPSDEFS.H Revision 1.5 - */ -/***************************************************************************/ -/* */ -/* File: GPSDEFS.H 4.1 */ -/* */ -/* Project: Common C Library */ -/* */ -/* Compiler: Borland C++ */ -/* */ -/* Author: M. Burnicki, Meinberg Funkuhren */ -/* */ -/* */ -/* Description: */ -/* General definitions to be used with GPS166 */ -/* GPS166 Rev. 1.23 or above */ -/* */ -/* Modifications: see file GPSLIB.TXT */ -/* */ -/***************************************************************************/ -#define _GPSDEFS_H -/* the type of various checksums */ #ifndef _CSUM_DEFINED - typedef unsigned short CSUM; -# define _CSUM_DEFINED + typedef uint16_t CSUM; /* checksum used by some structures stored in non-volatile memory */ + #define _CSUM_DEFINED #endif -/* the message header */ -typedef struct { - unsigned short gps_cmd; - unsigned short gps_len; - unsigned short gps_data_csum; - unsigned short gps_hdr_csum; +/** + * @brief The header of a binary message. + */ +typedef struct +{ + GPS_CMD cmd; ///< see ::GPS_CMD_CODES + uint16_t len; ///< length of the data portion appended after the header + CSUM data_csum; ///< checksum of the data portion appended after the header + CSUM hdr_csum; ///< checksum of the preceding header bytes + } GPS_MSG_HDR; -/* a struct used to hold the software revision information */ -typedef struct { - unsigned short code; /* e.g. 0x0120 means rev. 1.20 */ - unsigned char name[17]; /* used to identify customized versions */ +#define GPS_ID_STR_LEN 16 +#define GPS_ID_STR_SIZE ( GPS_ID_STR_LEN + 1 ) + +/** + * @brief Software revision information + * + * Contains a software revision code, plus an optional + * identifier for a customized version. + */ +typedef struct +{ + uint16_t code; ///< Version number, e.g. 0x0120 means v1.20 + char name[GPS_ID_STR_SIZE]; ///< Optional string identifying a customized version + uint8_t reserved; ///< Reserved field to yield even structure size + } SW_REV; -/* GPS ASCII message */ -typedef struct { - CSUM csum; /* checksum of the remaining bytes */ - short valid; /* flag data are valid */ - char s[23]; /* 22 chars GPS ASCII message plus trailing zero */ -} ASCII_MSG; +/** + * @brief GNSS satellite numbers + * + * @todo: Check if MAX_SVNO_GLN is 94 instead of 95, and thus + * N_SVNO_GLN is 30 instead of 31, as reported by Wikipedia. + */ +enum GNSS_SVNOS +{ + MIN_SVNO_GPS = 1, ///< min. GPS satellite PRN number + MAX_SVNO_GPS = 32, ///< max. GPS satellite PRN number + N_SVNO_GPS = 32, ///< max. number of active GPS satellites + + MIN_SVNO_WAAS = 33, ///< min. WAAS satellite number + MAX_SVNO_WAAS = 64, ///< max. WAAS satellite number + N_SVNO_WAAS = 32, ///< max. number of active WAAS satellites + + MIN_SVNO_GLONASS = 65, ///< min. Glonass satellite number (64 + sat slot ID) + MAX_SVNO_GLONASS = 95, ///< max. Glonass satellite number (64 + sat slot ID) + N_SVNO_GLONASS = 31 ///< max. number of active Glonass satellites +}; + + +typedef uint16_t SVNO; ///< the number of an SV (Space Vehicle, i.e. satellite) +typedef uint16_t HEALTH; ///< an SV's 6 bit health code +typedef uint16_t CFG; ///< an SV's 4 bit configuration code +typedef uint16_t IOD; ///< Issue-Of-Data code + + +/** + * @brief Status flags of battery buffered data + * + * Related to data received from the satellites, or data derived thereof. + * + * All '0' means OK, single bits set to '1' indicate + * the associated type of GPS data is not available. + * + * @see ::BVAR_FLAGS + */ +typedef uint16_t BVAR_STAT; + +#define _mbg_swab_bvar_stat( _p ) _mbg_swab16( (_p) ) -#define MIN_SVNO 1 /* min. SV number */ -#define MAX_SVNO 32 /* max. SV number */ -#define N_SVNO ( MAX_SVNO - MIN_SVNO + 1) /* number of possibly active SVs */ +/** + * @brief Enumeration of flag bits used to define ::BVAR_FLAGS + * + * For each bit which is set this means the associated data set in + * non-volatile memory is not available, or incomplete. + * Most data sets will just be re-collected from the data streams sent + * by the satellites. However, the receiver position has usually been + * computed earlier during normal operation, and will be re-computed + * when a sufficient number of satellites can be received. + * + * @see ::BVAR_STAT + * @see ::BVAR_FLAGS + * @see ::BVAR_FLAG_NAMES + */ +enum BVAR_FLAG_BITS +{ + BVAR_BIT_CFGH_INVALID, ///< Satellite configuration and health parameters incomplete + BVAR_BIT_ALM_NOT_COMPLETE, ///< Almanac parameters incomplete + BVAR_BIT_UTC_INVALID, ///< %UTC offset parameters incomplete + BVAR_BIT_IONO_INVALID, ///< Ionospheric correction parameters incomplete + BVAR_BIT_RCVR_POS_INVALID, ///< No valid receiver position available + N_BVAR_BIT ///< number of defined ::BVAR_STAT bits +}; + + +/** + * @brief Bit masks associated with ::BVAR_FLAG_BITS + * + * Used with ::BVAR_STAT. + * + * @see ::BVAR_STAT + * @see ::BVAR_FLAG_BITS + * @see ::BVAR_FLAG_NAMES + */ +enum BVAR_FLAGS +{ + BVAR_CFGH_INVALID = ( 1UL << BVAR_BIT_CFGH_INVALID ), ///< see ::BVAR_BIT_CFGH_INVALID + BVAR_ALM_NOT_COMPLETE = ( 1UL << BVAR_BIT_ALM_NOT_COMPLETE ), ///< see ::BVAR_BIT_ALM_NOT_COMPLETE + BVAR_UTC_INVALID = ( 1UL << BVAR_BIT_UTC_INVALID ), ///< see ::BVAR_BIT_UTC_INVALID + BVAR_IONO_INVALID = ( 1UL << BVAR_BIT_IONO_INVALID ), ///< see ::BVAR_BIT_IONO_INVALID + BVAR_RCVR_POS_INVALID = ( 1UL << BVAR_BIT_RCVR_POS_INVALID ), ///< see ::BVAR_BIT_RCVR_POS_INVALID +}; -typedef short SVNO; /* the number of a SV */ -typedef unsigned short HEALTH; /* a SV's health code */ -typedef unsigned short CFG; /* a SV's configuration code */ -typedef unsigned short IOD; /* Issue-Of-Data code */ -/* Date and time referred to the linear time scale defined by GPS. */ -/* GPS time is defined by the number of weeks since midnight from */ -/* January 5, 1980 to January 6, 1980 plus the number of seconds of */ -/* the current week plus fractions of a second. GPS time differs from */ -/* UTC because UTC is corrected with leap seconds while GPS time scale */ -/* is continuous. */ +/** + * @brief A structure used to hold time in GPS format + * + * Date and time refer to the linear time scale defined by GPS, with + * the epoch starting at %UTC midnight at the beginning of January 6, 1980. + * + * GPS time is counted by the week numbers since the epoch, plus second + * of the week, plus fraction of the second. The week number transmitted + * by the satellites rolls over from 1023 to 0, but Meinberg devices + * just continue to count the weeks beyond the 1024 week limit to keep + * the receiver's internal time. + * + * %UTC time differs from GPS time since a number of leap seconds have + * been inserted in the %UTC time scale after the GPS epoche. The number + * of leap seconds is disseminated by the satellites using the ::UTC + * parameter set, which also provides info on pending leap seconds. + */ +typedef struct +{ + uint16_t wn; ///< the week number since GPS has been installed + uint32_t sec; ///< the second of that week + uint32_t tick; ///< fractions of a second, 1/::RECEIVER_INFO::ticks_per_sec units -typedef struct { - unsigned short wn; /* the week number since GPS has been installed */ - unsigned long sec; /* the second of that week */ - unsigned long tick; /* fractions of a second; scale: 1E-7 */ } T_GPS; -/* Local date and time computed from GPS time. The current number */ -/* of leap seconds have to be added to get UTC from GPS time. */ -/* Additional corrections could have been made according to the */ -/* time zone/daylight saving parameters (TZDL, see below) defined */ -/* by the user. The status field can be checked to see which corrections */ -/* have been applied. */ - -#ifndef GPS166_TM_DEFINED - typedef struct { - short year; /* 0..9999 */ - char month; /* 1..12 */ - char mday; /* 1..31 */ - short yday; /* 1..366 */ - char wday; /* 0..6 == Sun..Sat */ - char hour; /* 0..23 */ - char minute; /* 0..59 */ - char second; /* 0..59 */ - long frac; /* fractions of a second, scale 1E-7 */ - long offs_from_utc; /* local time's offset from UTC */ - unsigned short status; /* flags */ - } TM; - - /* status flags used with conversion from GPS time to local time */ - -# define TM_UTC 0x01 /* UTC correction has been made */ -# define TM_LOCAL 0x02 /* UTC has been converted to local time */ -# define TM_DL_ANN 0x04 /* state of daylight saving is going to change */ -# define TM_DL_ENB 0x08 /* daylight saving is enabled */ -# define TM_LS_ANN 0x10 /* leap second will be inserted */ -# define TM_LS_ENB 0x20 /* current second is leap second */ - -# define GPS166_TM_DEFINED -#endif +/** + * @brief Local date and time computed from GPS time + * + * The current number of leap seconds have to be added to get %UTC + * from GPS time. Additional corrections could have been made according + * to the time zone/daylight saving parameters ::TZDL defined by the user. + * The status field can be checked to see which corrections + * have actually been applied. + * + * @note Conversion from GPS time to %UTC and/or local time can only be + * done if some valid ::UTC correction parameters are available in the + * receiver's non-volatile memory. + */ +typedef struct +{ + int16_t year; ///< year number, 0..9999 + int8_t month; ///< month, 1..12 + int8_t mday; ///< day of month, 1..31 + int16_t yday; ///< day of year, 1..365, or 366 in case of leap year + int8_t wday; ///< day of week, 0..6 == Sun..Sat + int8_t hour; ///< hours, 0..23 + int8_t min; ///< minutes, 0..59 + int8_t sec; ///< seconds, 0..59, or 60 in case of inserted leap second + int32_t frac; ///< fractions of a second, 1/::RECEIVER_INFO::ticks_per_sec units + int32_t offs_from_utc; ///< local time offset from %UTC [sec] + uint16_t status; ///< status flags, see ::TM_GPS_STATUS_BIT_MASKS + +} TM_GPS; + + + +/** + * @brief Status flag bits used to define ::TM_GPS_STATUS_BIT_MASKS + * + * These bits report info on the time conversion from GPS time to %UTC + * and/or local time as well as device status info. + * + * @see ::TM_GPS_STATUS_BIT_MASKS + */ +enum TM_GPS_STATUS_BITS +{ + TM_BIT_UTC, ///< %UTC correction has been made + TM_BIT_LOCAL, ///< %UTC has been converted to local time according to ::TZDL settings + TM_BIT_DL_ANN, ///< state of daylight saving is going to change + TM_BIT_DL_ENB, ///< daylight saving is in effect + TM_BIT_LS_ANN, ///< leap second pending + TM_BIT_LS_ENB, ///< current second is leap second + TM_BIT_LS_ANN_NEG, ///< set in addition to ::TM_BIT_LS_ANN if leap sec is negative + TM_BIT_INVT, ///< invalid time, e.g. if RTC battery bas been empty + + TM_BIT_EXT_SYNC, ///< synchronized externally + TM_BIT_HOLDOVER, ///< in holdover mode after previous synchronization + TM_BIT_ANT_SHORT, ///< antenna cable short circuited + TM_BIT_NO_WARM, ///< OCXO has not warmed up + TM_BIT_ANT_DISCONN, ///< antenna currently disconnected + TM_BIT_SYN_FLAG, ///< TIME_SYN output is low + TM_BIT_NO_SYNC, ///< time sync actually not verified + TM_BIT_NO_POS ///< position actually not verified, LOCK LED off +}; -/* the status flags below are defined starting with rev. 1.32 */ +/** + * @brief Status flag masks used with ::TM_GPS::status + * + * These bits report info on the time conversion from GPS time to %UTC + * and/or local time as well as device status info. + * + * @see ::TM_GPS_STATUS_BITS + */ +enum TM_GPS_STATUS_BIT_MASKS +{ + TM_UTC = ( 1UL << TM_BIT_UTC ), ///< see ::TM_BIT_UTC + TM_LOCAL = ( 1UL << TM_BIT_LOCAL ), ///< see ::TM_BIT_LOCAL + TM_DL_ANN = ( 1UL << TM_BIT_DL_ANN ), ///< see ::TM_BIT_DL_ANN + TM_DL_ENB = ( 1UL << TM_BIT_DL_ENB ), ///< see ::TM_BIT_DL_ENB + TM_LS_ANN = ( 1UL << TM_BIT_LS_ANN ), ///< see ::TM_BIT_LS_ANN + TM_LS_ENB = ( 1UL << TM_BIT_LS_ENB ), ///< see ::TM_BIT_LS_ENB + TM_LS_ANN_NEG = ( 1UL << TM_BIT_LS_ANN_NEG ), ///< see ::TM_BIT_LS_ANN_NEG + TM_INVT = ( 1UL << TM_BIT_INVT ), ///< see ::TM_BIT_INVT + + TM_EXT_SYNC = ( 1UL << TM_BIT_EXT_SYNC ), ///< see ::TM_BIT_EXT_SYNC + TM_HOLDOVER = ( 1UL << TM_BIT_HOLDOVER ), ///< see ::TM_BIT_HOLDOVER + TM_ANT_SHORT = ( 1UL << TM_BIT_ANT_SHORT ), ///< see ::TM_BIT_ANT_SHORT + TM_NO_WARM = ( 1UL << TM_BIT_NO_WARM ), ///< see ::TM_BIT_NO_WARM + TM_ANT_DISCONN = ( 1UL << TM_BIT_ANT_DISCONN ), ///< see ::TM_BIT_ANT_DISCONN + TM_SYN_FLAG = ( 1UL << TM_BIT_SYN_FLAG ), ///< see ::TM_BIT_SYN_FLAG + TM_NO_SYNC = ( 1UL << TM_BIT_NO_SYNC ), ///< see ::TM_BIT_NO_SYNC + TM_NO_POS = ( 1UL << TM_BIT_NO_POS ) ///< see ::TM_BIT_NO_POS +}; -#define TM_ANT_DISCONN 0x1000 /* antenna currently disconnected */ -#define TM_SYN_FLAG 0x2000 /* TIME_SYN output is low */ -#define TM_NO_SYNC 0x4000 /* not sync'ed after reset */ -#define TM_NO_POS 0x8000 /* position not computed after reset, */ - /* LOCK LED off */ -/* a struct used to transmit information on date and time */ +/** + * @brief A structure used to transmit information on date and time + * + * This structure can be used to transfer the current time, in which + * case the channel field has to be set to -1, or an event capture time + * retrieved from the on-board FIFO, in which case the channel field + * contains the index of the time capture input, e.g. 0 or 1. + */ +typedef struct +{ + int16_t channel; ///< -1: the current on-board time; >= 0 the capture channel number + T_GPS t; ///< time in GPS scale and format + TM_GPS tm; ///< time converted to %UTC and/or local time according to ::TZDL settings -typedef struct { - short channel; /* -1: the current time; 0, 1: capture 0, 1 */ - T_GPS t; /* time in GPS format */ - TM tm; /* that time converted to local time */ } TTM; @@ -249,282 +502,462 @@ typedef struct { /* to geographic coordinates as defined by WGS84 (World Geodetic */ /* System from 1984). */ -#ifndef _XYZ_DEFINED - /* sequence and number of components of a cartesian position */ - enum { XP, YP, ZP, N_XYZ }; +/** + * @brief Sequence and number of components of a cartesian position + */ +enum XYZ_FIELDS { XP, YP, ZP, N_XYZ }; // x, y, z + +/** + * @brief A position in cartesian coordinates + * + * Usually earth centered, earth fixed (ECEF) coordinates, + * in [m]. + * + * @note In the original code this is an array of double. + * + * @see ::XYZ_FIELDS + */ +typedef l_fp XYZ[N_XYZ]; - /* a type of array holding a cartesian position */ - typedef l_fp XYZ[N_XYZ]; /* values are in [m] */ -# define _XYZ_DEFINED -#endif +/** + * @brief Sequence and number of components of a geographic position + */ +enum LLA_FIELDS { LAT, LON, ALT, N_LLA }; /* latitude, longitude, altitude */ +/** + * @brief A geographic position based on latitude, longitude, and altitude + * + * The geographic position associated to specific cartesian coordinates + * depends on the characteristics of the ellipsoid used for the computation, + * the so-called geographic datum. GPS uses the WGS84 (World Geodetic System + * from 1984) ellipsoid by default. + * + * lon, lat in [rad], alt in [m] + * + * @note In the original code this is an array of double. + * + * @see ::LLA_FIELDS + */ +typedef l_fp LLA[N_LLA]; -#ifndef _LLA_DEFINED - /* sequence and number of components of a geographic position */ - enum { LAT, LON, ALT, N_LLA }; /* latitude, longitude, altitude */ - /* a type of array holding a geographic position */ - typedef l_fp LLA[N_LLA]; /* lon, lat in [rad], alt in [m] */ +/** + * @defgroup group_synth Synthesizer parameters + * + * Synthesizer frequency is expressed as a + * four digit decimal number (freq) to be multiplied by 0.1 Hz and an + * base 10 exponent (range). If the effective frequency is less than + * 10 kHz its phase is synchronized corresponding to the variable phase. + * Phase may be in a range from -360 deg to +360 deg with a resolution + * of 0.1 deg, so the resulting numbers to be stored are in a range of + * -3600 to +3600. + * + * Example:<br> + * Assume the value of freq is 2345 (decimal) and the value of phase is 900. + * If range == 0 the effective frequency is 234.5 Hz with a phase of +90 deg. + * If range == 1 the synthesizer will generate a 2345 Hz output frequency + * and so on. + * + * Limitations:<br> + * If freq == 0 the synthesizer is disabled. If range == 0 the least + * significant digit of freq is limited to 0, 3, 5 or 6. The resulting + * frequency is shown in the examples below: + * - freq == 1230 --> 123.0 Hz + * - freq == 1233 --> 123 1/3 Hz (real 1/3 Hz, NOT 123.3 Hz) + * - freq == 1235 --> 123.5 Hz + * - freq == 1236 --> 123 2/3 Hz (real 2/3 Hz, NOT 123.6 Hz) + * + * If range == ::MAX_SYNTH_RANGE the value of freq must not exceed 1000, so + * the output frequency is limited to 10 MHz (see ::MAX_SYNTH_FREQ_VAL). + * + * @{ */ -# define _LLA_DEFINED -#endif +#define N_SYNTH_FREQ_DIGIT 4 ///< number of digits to edit +#define MAX_SYNTH_FREQ 1000 ///< if range == ::MAX_SYNTH_RANGE -/* Synthesizer parameters. Synthesizer frequency is expressed as a */ -/* four digit decimal number (freq) to be multiplied by 0.1 Hz and an */ -/* base 10 exponent (range). If the effective frequency is less than */ -/* 10 kHz its phase is synchronized corresponding to the variable phase. */ -/* Phase may be in a range from -360° to +360° with a resolution of 0.1°, */ -/* so the resulting numbers to be stored are in a range of -3600 to +3600. */ - -/* Example: */ -/* Assume the value of freq is 2345 (decimal) and the value of phase is 900. */ -/* If range == 0 the effective frequency is 234.5 Hz with a phase of +90°. */ -/* If range == 1 the synthesizer will generate a 2345 Hz output frequency */ -/* and so on. */ - -/* Limitations: */ -/* If freq == 0 the synthesizer is disabled. If range == 0 the least */ -/* significant digit of freq is limited to 0, 3, 5 or 6. The resulting */ -/* frequency is shown in the examples below: */ -/* freq == 1230 --> 123.0 Hz */ -/* freq == 1233 --> 123 1/3 Hz (real 1/3 Hz, NOT 123.3 Hz) */ -/* freq == 1235 --> 123.5 Hz */ -/* freq == 1236 --> 123 2/3 Hz (real 2/3 Hz, NOT 123.6 Hz) */ - -/* If range == MAX_RANGE the value of freq must not exceed 1200, so the */ -/* output frequency is limited to 12 MHz. */ - -/* Phase will be ignored if the resulting frequency is greater or equal */ -/* to 10 kHz. */ - -#define MAX_SYNTH_FREQ 1200 /* if range == MAX_SYNTH_RANGE */ #define MIN_SYNTH_RANGE 0 #define MAX_SYNTH_RANGE 5 -#define MAX_SYNTH_PHASE 3600 +#define N_SYNTH_RANGE ( MAX_SYNTH_RANGE - MIN_SYNTH_RANGE + 1 ) -typedef struct { - short freq; /* four digits used; scale: 0.1; e.g. 1234 -> 123.4 Hz */ - short range; /* scale factor for freq; 0..MAX_SYNTH_RANGE */ - short phase; /* -MAX_SYNTH_PHASE..+MAX_SYNTH_PHASE; >0 -> pulses later */ -} SYNTH; +#define N_SYNTH_PHASE_DIGIT 4 +#define MAX_SYNTH_PHASE 3600 +#define MAX_SYNTH_FREQ_EDIT 9999 ///< max sequence of digits when editing -/* Time zone/daylight saving parameters. */ -/* the name of a time zone, 5 characters plus trailing zero */ -typedef char TZ_NAME[6]; +/** + * @brief The maximum frequency that can be configured for the synthesizer + */ +#define MAX_SYNTH_FREQ_VAL 10000000UL ///< 10 MHz +/* == MAX_SYNTH_FREQ * 10^(MAX_SYNTH_RANGE-1) */ -typedef struct { - long offs; /* offset from UTC to local time [sec] */ - long offs_dl; /* additional offset if daylight saving enabled [sec] */ - TM tm_on; /* date/time when daylight saving starts */ - TM tm_off; /* date/time when daylight saving ends */ - TZ_NAME name[2]; /* names without and with daylight saving enabled */ -} TZDL; +/** + * @brief The synthesizer's phase is only be synchronized if the frequency is below this limit + */ +#define SYNTH_PHASE_SYNC_LIMIT 10000UL ///< 10 kHz -/* The constant below is defined beginning with software rev. 1.29. */ -/* If the year in tzdl.tmon and tzdl.tm_off is or'ed with that constant, */ -/* the receiver automatically generates daylight saving year by year. */ -/* See GPSLIB.TXT for more information. */ +/** + * A Macro used to determine the position of the decimal point + * when printing the synthesizer frequency as 4 digit value + */ +#define _synth_dp_pos_from_range( _r ) \ + ( ( ( N_SYNTH_RANGE - (_r) ) % ( N_SYNTH_FREQ_DIGIT - 1 ) ) + 1 ) + +/** + * @brief Synthesizer frequency units + * + * An initializer for commonly displayed synthesizer frequency units + * (::N_SYNTH_RANGE strings) + */ +#define DEFAULT_FREQ_RANGES \ +{ \ + "Hz", \ + "kHz", \ + "kHz", \ + "kHz", \ + "MHz", \ + "MHz", \ +} -#define DL_AUTO_FLAG 0x8000 -/* Example: */ -/* for automatic daylight saving enable/disable in Central Europe, */ -/* the variables are to be set as shown below: */ -/* offs = 3600L one hour from UTC */ -/* offs_dl = 3600L one additional hour if daylight saving enabled */ -/* tm_on = first Sunday from March 25, 02:00:00h ( year |= DL_AUTO_FLAG ) */ -/* tm_off = first Sunday from Sept 24, 03:00:00h ( year |= DL_AUTO_FLAG ) */ -/* name[0] == "MEZ " name if daylight saving not enabled */ -/* name[1] == "MESZ " name if daylight saving is enabled */ +/** + * @brief Synthesizer configuration parameters + */ +typedef struct +{ + int16_t freq; ///< four digits used; scale: 0.1 Hz; e.g. 1234 -> 123.4 Hz + int16_t range; ///< scale factor for freq; 0..::MAX_SYNTH_RANGE + int16_t phase; ///< -::MAX_SYNTH_PHASE..+::MAX_SYNTH_PHASE; >0 -> pulses later +} SYNTH; +#define _mbg_swab_synth( _p ) \ +{ \ + _mbg_swab16( &(_p)->freq ); \ + _mbg_swab16( &(_p)->range ); \ + _mbg_swab16( &(_p)->phase ); \ +} -/* the structure below was defined in rev. 1.31. It reflects the status */ -/* of the antenna, the times of last disconnect/reconnect and the boards */ -/* clock offset after the phase of disconnection. */ -typedef struct { - short status; /* current status of antenna */ - TM tm_disconn; /* time of antenna disconnect */ - TM tm_reconn; /* time of antenna reconnect */ - long delta_t; /* clock offset at reconnect time, units: TICKS_PER_SEC */ -} ANT_INFO; +/** + * @brief Enumeration of synthesizer states + */ +enum SYNTH_STATES +{ + SYNTH_DISABLED, ///< disbled by cfg, i.e. freq == 0.0 + SYNTH_OFF, ///< not enabled after power-up + SYNTH_FREE, ///< enabled, but not synchronized + SYNTH_DRIFTING, ///< has initially been sync'd, but now running free + SYNTH_SYNC, ///< fully synchronized + N_SYNTH_STATE ///< the number of known states +}; + +/** + * @brief A structure used to report the synthesizer state + */ +typedef struct +{ + uint8_t state; ///< state code as enumerated in ::SYNTH_STATES + uint8_t flags; ///< reserved, currently always 0 -/* the status field may be set to one of the values below: */ +} SYNTH_STATE; -enum { - ANT_INVALID, /* struct not set yet because ant. has not been disconn. */ - ANT_DISCONN, /* ant. now disconn., tm_reconn and delta_t not set */ - ANT_RECONN /* ant. has been disconn. and reconn., all fields valid */ -}; +#define _mbg_swab_synth_state( _p ) _nop_macro_fnc() +#define SYNTH_FLAG_PHASE_IGNORED 0x01 -/* Summary of configuration and health data of all SVs. */ +/** @} defgroup group_synth */ -typedef struct { - CSUM csum; /* checksum of the remaining bytes */ - short valid; /* flag data are valid */ - T_GPS tot_51; /* time of transmission, page 51 */ - T_GPS tot_63; /* time of transmission, page 63 */ - T_GPS t0a; /* complete reference time almanac */ - CFG cfg[N_SVNO]; /* SV configuration from page 63 */ - HEALTH health[N_SVNO]; /* SV health from pages 51, 63 */ -} CFGH; +/** + * @defgroup group_tzdl Time zone / daylight saving parameters + * + * Example: <br> + * For automatic daylight saving enable/disable in Central Europe, + * the variables are to be set as shown below: <br> + * - offs = 3600L one hour from %UTC + * - offs_dl = 3600L one additional hour if daylight saving enabled + * - tm_on = first Sunday from March 25, 02:00:00h ( year |= ::DL_AUTO_FLAG ) + * - tm_off = first Sunday from October 25, 03:00:00h ( year |= ::DL_AUTO_FLAG ) + * - name[0] == "CET " name if daylight saving not enabled + * - name[1] == "CEST " name if daylight saving is enabled + * + * @{ */ + +/** + * @brief The name of a time zone + * + * @note Up to 5 printable characters, plus trailing zero + */ +typedef char TZ_NAME[6]; +/** + * @brief Time zone / daylight saving parameters + * + * This structure is used to specify how a device converts on-board %UTC + * to local time, including computation of beginning and end of daylight + * saving time (DST), if required. + * + * @note The ::TZDL structure contains members of type ::TM_GPS to specify + * the times for beginning and end of DST. However, the ::TM_GPS::frac, + * ::TM_GPS::offs_from_utc, and ::TM_GPS::status fields of these ::TZDL::tm_on + * and ::TZDL::tm_off members are ignored for the conversion to local time, + * and thus should be 0. + */ +typedef struct +{ + int32_t offs; ///< standard offset from %UTC to local time [sec] + int32_t offs_dl; ///< additional offset if daylight saving enabled [sec] + TM_GPS tm_on; ///< date/time when daylight saving starts + TM_GPS tm_off; ///< date/time when daylight saving ends + TZ_NAME name[2]; ///< names without and with daylight saving enabled +} TZDL; + +/** + * @brief A flag indicating automatic computation of DST + * + * If this flag is or'ed to the year numbers in ::TZDL::tm_on and ::TZDL::tm_off + * then daylight saving is computed automatically year by year. + */ +#define DL_AUTO_FLAG 0x8000 -/* UTC correction parameters */ +/** @} defgroup group_tzdl */ -typedef struct { - CSUM csum; /* checksum of the remaining bytes */ - short valid; /* flag data are valid */ - T_GPS t0t; /* Reference Time UTC Parameters [sec] */ - l_fp A0; /* ± Clock Correction Coefficient 0 [sec] */ - l_fp A1; /* ± Clock Correction Coefficient 1 [sec/sec] */ - u_short WNlsf; /* week number of nearest leap second */ - short DNt; /* the day number at the end of which LS is inserted */ - char delta_tls; /* */ - char delta_tlsf; /* */ +/** + * @brief Antenna status and error at reconnect information + * + * The structure below reflects the status of the antenna, + * the times of last disconnect/reconnect, and the board's + * clock offset when it has synchronized again after the + * disconnection interval. + * + * @note ::ANT_INFO::status changes back to ::ANT_RECONN only + * after the antenna has been reconnected <b>and</b> the + * receiver has re-synchronized to the satellite signal. + * In this case ::ANT_INFO::delta_t reports the time offset + * before resynchronization, i.e. how much the internal + * time has drifted while the antenna was disconnected. + */ +typedef struct +{ + int16_t status; ///< current status of antenna, see ::ANT_STATUS_CODES + TM_GPS tm_disconn; ///< time of antenna disconnect + TM_GPS tm_reconn; ///< time of antenna reconnect + int32_t delta_t; ///< clock offs at reconn. time in 1/::RECEIVER_INFO::ticks_per_sec units -} UTC; +} ANT_INFO; -/* a struct used to hold the settings of a serial port */ -#ifndef _COM_PARM_DEFINED - typedef long BAUD_RATE; +/** + * @brief Status code used with ::ANT_INFO::status + */ +enum ANT_STATUS_CODES +{ + ANT_INVALID, ///< No other fields valid since antenna has not yet been disconnected + ANT_DISCONN, ///< Antenna is disconnected, tm_reconn and delta_t not yet set + ANT_RECONN, ///< Antenna has been disconnect, and receiver sync. after reconnect, so all fields valid + N_ANT_STATUS_CODES ///< the number of known status codes +}; - /* indices used to identify a parameter in the framing string */ - enum { F_DBITS, F_PRTY, F_STBITS }; - /* types of handshake */ - enum { HS_NONE, HS_XONXOFF, HS_RTSCTS }; - typedef struct { - BAUD_RATE baud_rate; /* e.g. 19200L */ - char framing[4]; /* e.g. "8N1" */ - short handshake; /* a numeric value, only HS_NONE supported yet */ - } COM_PARM; +/** + * @brief Summary of configuration and health data of all satellites + */ +typedef struct +{ + CSUM csum; ///< checksum of the remaining bytes + int16_t valid; ///< flag data are valid + + T_GPS tot_51; ///< time of transmission, page 51 + T_GPS tot_63; ///< time of transmission, page 63 + T_GPS t0a; ///< complete reference time almanac + + CFG cfg[N_SVNO_GPS]; ///< 4 bit SV configuration code from page 63 + HEALTH health[N_SVNO_GPS]; ///< 6 bit SV health codes from pages 51, 63 + +} CFGH; + -#define _COM_PARM_DEFINED -#endif +/** + * @brief GPS %UTC correction parameters + * + * %UTC correction parameters basically as sent by the GPS satellites. + * + * The csum field is only used by the card's firmware to check the + * consistency of the structure in non-volatile memory. + * + * The field labeled valid indicates if the parameter set is valid, i.e. + * if it contains data received from the satellites. + * + * t0t, A0 and A1 contain fractional correction parameters for the current + * GPS-%UTC time offset in addition to the whole seconds. This is evaluated + * by the receivers' firmware to convert GPS time to %UTC time. + * + * The delta_tls field contains the current full seconds offset between + * GPS time and %UTC, which corresponds to the number of leap seconds inserted + * into the %UTC time scale since GPS was put into operation in January 1980. + * + * delta_tlfs holds the number of "future" leap seconds, i.e. the %UTC offset + * after the next leap second event defined by WNlsf and DNt. + * + * The fields WNlsf and DNt specify the GPS week number and the day number + * in that week for the end of which a leap second has been scheduled. + * + * @note: The satellites transmit WNlsf only as a signed 8 bit value, so it + * can only define a point in time which is +/- 127 weeks off the current time. + * The firmware tries to expand this based on the current week number, but + * the result is ambiguous if the leap second occurs or occurred more + * than 127 weeks in the future or past. + * + * So the leap second date should <b>only</b> be evaluated and displayed + * in a user interface if the fields delta_tls and delta_tlsf have + * different values, in which case there is indeed a leap second announcement + * inside the +/- 127 week range. + * + * @note In the original code the type of A0 and A1 is double. + */ +typedef struct +{ + CSUM csum; ///< Checksum of the remaining bytes + int16_t valid; ///< Flag indicating %UTC parameters are valid + T_GPS t0t; ///< Reference Time %UTC Parameters [wn|sec] + l_fp A0; ///< +- Clock Correction Coefficient 0 [sec] + l_fp A1; ///< +- Clock Correction Coefficient 1 [sec/sec] -/* the codes below define what has to comes out of the serial ports */ + uint16_t WNlsf; ///< Week number of nearest leap second + int16_t DNt; ///< The day number at the end of which a leap second occurs + int8_t delta_tls; ///< Current %UTC offset to GPS system time [sec] + int8_t delta_tlsf; ///< Future %UTC offset to GPS system time after next leap second transition [sec] -enum { STR_ON_REQ, STR_PER_SEC, - STR_PER_MIN, N_STR_MODE_0, /* COM0 and COM1 */ - STR_UCAP = N_STR_MODE_0, - STR_UCAP_REQ, N_STR_MODE_1 /* COM1 only */ - }; +} UTC; -#define N_COM 2 /* the number of serial ports */ +/** + * @brief GPS ASCII message + */ +typedef struct +{ + CSUM csum; ///< checksum of the remaining bytes */ + int16_t valid; ///< flag data are valid + char s[23]; ///< 22 chars GPS ASCII message plus trailing zero -/* the structure used to store the modes of both serial ports */ +} ASCII_MSG; -typedef struct { - COM_PARM com[N_COM]; /* COM0 and COM1 settings */ - u_char mode[N_COM]; /* COM0 and COM1 output mode */ -} PORT_PARM; -/* Ephemeris parameters of one specific SV. Needed to compute the position */ -/* of a satellite at a given time with high precision. Valid for an */ -/* interval of 4 to 6 hours from start of transmission. */ - -typedef struct { - CSUM csum; /* checksum of the remaining bytes */ - short valid; /* flag data are valid */ - - HEALTH health; /* health indication of transmitting SV [---] */ - IOD IODC; /* Issue Of Data, Clock */ - IOD IODE2; /* Issue of Data, Ephemeris (Subframe 2) */ - IOD IODE3; /* Issue of Data, Ephemeris (Subframe 3) */ - T_GPS tt; /* time of transmission */ - T_GPS t0c; /* Reference Time Clock [---] */ - T_GPS t0e; /* Reference Time Ephemeris [---] */ - - l_fp sqrt_A; /* Square Root of semi-major Axis [sqrt(m)] */ - l_fp e; /* Eccentricity [---] */ - l_fp M0; /* ± Mean Anomaly at Ref. Time [rad] */ - l_fp omega; /* ± Argument of Perigee [rad] */ - l_fp OMEGA0; /* ± Longit. of Asc. Node of orbit plane [rad] */ - l_fp OMEGADOT; /* ± Rate of Right Ascension [rad/sec] */ - l_fp deltan; /* ± Mean Motion Diff. from computed value [rad/sec] */ - l_fp i0; /* ± Inclination Angle [rad] */ - l_fp idot; /* ± Rate of Inclination Angle [rad/sec] */ - l_fp crc; /* ± Cosine Corr. Term to Orbit Radius [m] */ - l_fp crs; /* ± Sine Corr. Term to Orbit Radius [m] */ - l_fp cuc; /* ± Cosine Corr. Term to Arg. of Latitude [rad] */ - l_fp cus; /* ± Sine Corr. Term to Arg. of Latitude [rad] */ - l_fp cic; /* ± Cosine Corr. Term to Inclination Angle [rad] */ - l_fp cis; /* ± Sine Corr. Term to Inclination Angle [rad] */ - - l_fp af0; /* ± Clock Correction Coefficient 0 [sec] */ - l_fp af1; /* ± Clock Correction Coefficient 1 [sec/sec] */ - l_fp af2; /* ± Clock Correction Coefficient 2 [sec/sec²] */ - l_fp tgd; /* ± estimated group delay differential [sec] */ - - u_short URA; /* predicted User Range Accuracy */ - - u_char L2code; /* code on L2 channel [---] */ - u_char L2flag; /* L2 P data flag [---] */ +/** + * @brief Ephemeris parameters of one specific satellite + * + * Needed to compute the position of a satellite at a given time with + * high precision. Valid for an interval of 4 to 6 hours from start + * of transmission. + */ +typedef struct +{ + CSUM csum; ///< checksum of the remaining bytes + int16_t valid; ///< flag data are valid + + HEALTH health; ///< health indication of transmitting SV [---] + IOD IODC; ///< Issue Of Data, Clock + IOD IODE2; ///< Issue of Data, Ephemeris (Subframe 2) + IOD IODE3; ///< Issue of Data, Ephemeris (Subframe 3) + T_GPS tt; ///< time of transmission + T_GPS t0c; ///< Reference Time Clock [---] + T_GPS t0e; ///< Reference Time Ephemeris [---] + + l_fp sqrt_A; ///< Square Root of semi-major Axis [sqrt(m)] + l_fp e; ///< Eccentricity [---] + l_fp M0; ///< +- Mean Anomaly at Ref. Time [rad] + l_fp omega; ///< +- Argument of Perigee [rad] + l_fp OMEGA0; ///< +- Longit. of Asc. Node of orbit plane [rad] + l_fp OMEGADOT; ///< +- Rate of Right Ascension [rad/sec] + l_fp deltan; ///< +- Mean Motion Diff. from computed value [rad/sec] + l_fp i0; ///< +- Inclination Angle [rad] + l_fp idot; ///< +- Rate of Inclination Angle [rad/sec] + l_fp crc; ///< +- Cosine Corr. Term to Orbit Radius [m] + l_fp crs; ///< +- Sine Corr. Term to Orbit Radius [m] + l_fp cuc; ///< +- Cosine Corr. Term to Arg. of Latitude [rad] + l_fp cus; ///< +- Sine Corr. Term to Arg. of Latitude [rad] + l_fp cic; ///< +- Cosine Corr. Term to Inclination Angle [rad] + l_fp cis; ///< +- Sine Corr. Term to Inclination Angle [rad] + + l_fp af0; ///< +- Clock Correction Coefficient 0 [sec] + l_fp af1; ///< +- Clock Correction Coefficient 1 [sec/sec] + l_fp af2; ///< +- Clock Correction Coefficient 2 [sec/sec^2] + l_fp tgd; ///< +- estimated group delay differential [sec] + + uint16_t URA; ///< predicted User Range Accuracy + + uint8_t L2code; ///< code on L2 channel [---] + uint8_t L2flag; ///< L2 P data flag [---] } EPH; -/* Almanac parameters of one specific SV. A reduced precision set of */ -/* parameters used to check if a satellite is in view at a given time. */ -/* Valid for an interval of more than 7 days from start of transmission. */ -typedef struct { - CSUM csum; /* checksum of the remaining bytes */ - short valid; /* flag data are valid */ - HEALTH health; /* [---] */ - T_GPS t0a; /* Reference Time Almanac [sec] */ +/** + * @brief Almanac parameters of one specific satellite + * + * A reduced precision set of parameters used to check if a satellite + * is in view at a given time. Valid for an interval of more than 7 days + * from start of transmission. + */ +typedef struct +{ + CSUM csum; ///< checksum of the remaining bytes + int16_t valid; ///< flag data are valid + + HEALTH health; ///< [---] + T_GPS t0a; ///< Reference Time Almanac [sec] + + l_fp sqrt_A; ///< Square Root of semi-major Axis [sqrt(m)] + l_fp e; ///< Eccentricity [---] - l_fp sqrt_A; /* Square Root of semi-major Axis [sqrt(m)] */ - l_fp e; /* Eccentricity [---] */ + l_fp M0; ///< +- Mean Anomaly at Ref. Time [rad] + l_fp omega; ///< +- Argument of Perigee [rad] + l_fp OMEGA0; ///< +- Longit. of Asc. Node of orbit plane [rad] + l_fp OMEGADOT; ///< +- Rate of Right Ascension [rad/sec] + l_fp deltai; ///< +- [rad] + l_fp af0; ///< +- Clock Correction Coefficient 0 [sec] + l_fp af1; ///< +- Clock Correction Coefficient 1 [sec/sec] - l_fp M0; /* ± Mean Anomaly at Ref. Time [rad] */ - l_fp omega; /* ± Argument of Perigee [rad] */ - l_fp OMEGA0; /* ± Longit. of Asc. Node of orbit plane [rad] */ - l_fp OMEGADOT; /* ± Rate of Right Ascension [rad/sec] */ - l_fp deltai; /* ± [rad] */ - l_fp af0; /* ± Clock Correction Coefficient 0 [sec] */ - l_fp af1; /* ± Clock Correction Coefficient 1 [sec/sec] */ } ALM; -/* ionospheric correction parameters */ -typedef struct { - CSUM csum; /* checksum of the remaining bytes */ - short valid; /* flag data are valid */ +/** + * @brief Ionospheric correction parameters + */ +typedef struct +{ + CSUM csum; ///< checksum of the remaining bytes + int16_t valid; ///< flag data are valid - l_fp alpha_0; /* Ionosph. Corr. Coeff. Alpha 0 [sec] */ - l_fp alpha_1; /* Ionosph. Corr. Coeff. Alpha 1 [sec/deg] */ - l_fp alpha_2; /* Ionosph. Corr. Coeff. Alpha 2 [sec/deg^2] */ - l_fp alpha_3; /* Ionosph. Corr. Coeff. Alpha 3 [sec/deg^3] */ + l_fp alpha_0; ///< Ionosph. Corr. Coeff. Alpha 0 [sec] + l_fp alpha_1; ///< Ionosph. Corr. Coeff. Alpha 1 [sec/deg] + l_fp alpha_2; ///< Ionosph. Corr. Coeff. Alpha 2 [sec/deg^2] + l_fp alpha_3; ///< Ionosph. Corr. Coeff. Alpha 3 [sec/deg^3] - l_fp beta_0; /* Ionosph. Corr. Coeff. Beta 0 [sec] */ - l_fp beta_1; /* Ionosph. Corr. Coeff. Beta 1 [sec/deg] */ - l_fp beta_2; /* Ionosph. Corr. Coeff. Beta 2 [sec/deg^2] */ - l_fp beta_3; /* Ionosph. Corr. Coeff. Beta 3 [sec/deg^3] */ + l_fp beta_0; ///< Ionosph. Corr. Coeff. Beta 0 [sec] + l_fp beta_1; ///< Ionosph. Corr. Coeff. Beta 1 [sec/deg] + l_fp beta_2; ///< Ionosph. Corr. Coeff. Beta 2 [sec/deg^2] + l_fp beta_3; ///< Ionosph. Corr. Coeff. Beta 3 [sec/deg^3] } IONO; -void mbg_tm_str (char **, TM *, int); + + +void mbg_tm_str (char **, TM_GPS *, int, int); void mbg_tgps_str (char **, T_GPS *, int); void get_mbg_header (unsigned char **, GPS_MSG_HDR *); void put_mbg_header (unsigned char **, GPS_MSG_HDR *); @@ -534,7 +967,7 @@ void get_mbg_svno (unsigned char **, SVNO *); void get_mbg_health (unsigned char **, HEALTH *); void get_mbg_cfg (unsigned char **, CFG *); void get_mbg_tgps (unsigned char **, T_GPS *); -void get_mbg_tm (unsigned char **, TM *); +void get_mbg_tm (unsigned char **, TM_GPS *); void get_mbg_ttm (unsigned char **, TTM *); void get_mbg_synth (unsigned char **, SYNTH *); void get_mbg_tzdl (unsigned char **, TZDL *); @@ -548,7 +981,7 @@ void get_mbg_eph (unsigned char **, EPH *); void get_mbg_alm (unsigned char **, ALM *); void get_mbg_iono (unsigned char **, IONO *); -unsigned long mbg_csum (unsigned char *, unsigned int); +CSUM mbg_csum (unsigned char *, unsigned int); #endif /* |