contrib/ntp/ntpd/jupiter.h

   1 /* @(#) $Header$ (LBL) */
   2
   3 /*
   4  * Rockwell Jupiter GPS receiver definitions
   5  *
   6  * This is all based on the "Zodiac GPS Receiver Family Designer's
   7  * Guide" (dated 12/96)
   8  */
   9
  10 #define JUPITER_SYNC            0x81ff  /* sync word (book says 0xff81 !?!?) */
  11 #define JUPITER_ALL             0xffff  /* disable all output messages */
  12
  13 /* Output messages (sent by the Jupiter board) */
  14 #define JUPITER_O_GPOS          1000    /* geodetic position status */
  15 #define JUPITER_O_EPOS          1001    /* ECEF position status */
  16 #define JUPITER_O_CHAN          1002    /* channel summary */
  17 #define JUPITER_O_VIS           1003    /* visible satellites */
  18 #define JUPITER_O_DGPS          1005    /* differential GPS status */
  19 #define JUPITER_O_MEAS          1007    /* channel measurement */
  20 #define JUPITER_O_ID            1011    /* receiver id */
  21 #define JUPITER_O_USER          1012    /* user-settings output */
  22 #define JUPITER_O_TEST          1100    /* built-in test results */
  23 #define JUPITER_O_MARK          1102    /* measurement time mark */
  24 #define JUPITER_O_PULSE         1108    /* UTC time mark pulse output */
  25 #define JUPITER_O_PORT          1130    /* serial port com parameters in use */
  26 #define JUPITER_O_EUP           1135    /* EEPROM update */
  27 #define JUPITER_O_ESTAT         1136    /* EEPROM status */
  28
  29 /* Input messages (sent to the Jupiter board) */
  30 #define JUPITER_I_PVTINIT       1200    /* geodetic position and velocity */
  31 #define JUPITER_I_USER          1210    /* user-defined datum */
  32 #define JUPITER_I_MAPSEL        1211    /* map datum select */
  33 #define JUPITER_I_ELEV          1212    /* satellite elevation mask control */
  34 #define JUPITER_I_CAND          1213    /* satellite candidate select */
  35 #define JUPITER_I_DGPS          1214    /* differential GPS control */
  36 #define JUPITER_I_COLD          1216    /* cold start control */
  37 #define JUPITER_I_VALID         1217    /* solution validity criteria */
  38 #define JUPITER_I_ALT           1219    /* user-entered altitude input */
  39 #define JUPITER_I_PLAT          1220    /* application platform control */
  40 #define JUPITER_I_NAV           1221    /* nav configuration */
  41 #define JUPITER_I_TEST          1300    /* preform built-in test command */
  42 #define JUPITER_I_RESTART       1303    /* restart command */
  43 #define JUPITER_I_PORT          1330    /* serial port com parameters */
  44 #define JUPITER_I_PROTO         1331    /* message protocol control */
  45 #define JUPITER_I_RDGPS         1351    /* raw DGPS RTCM SC-104 data */
  46
  47 struct jheader {
  48         u_short sync;           /* (JUPITER_SYNC) */
  49         u_short id;             /* message id */
  50         u_short len;            /* number of data short wordss (w/o cksum) */
  51         u_char reqid;           /* JUPITER_REQID_MASK bits available as id */
  52         u_char flags;           /* flags */
  53         u_short hsum;           /* header cksum */
  54 };
  55
  56 #define JUPITER_REQID_MASK      0x3f    /* bits available as id */
  57 #define JUPITER_FLAG_NAK        0x01    /* negative acknowledgement */
  58 #define JUPITER_FLAG_ACK        0x02    /* acknowledgement */
  59 #define JUPITER_FLAG_REQUEST    0x04    /* request ACK or NAK */
  60 #define JUPITER_FLAG_QUERY      0x08    /* request one shot output message */
  61 #define JUPITER_FLAG_LOG        0x20    /* request periodic output message */
  62 #define JUPITER_FLAG_CONN       0x40    /* enable periodic message */
  63 #define JUPITER_FLAG_DISC       0x80    /* disable periodic message */
  64
  65 #define JUPITER_H_FLAG_BITS \
  66     "\020\1NAK\2ACK\3REQUEST\4QUERY\5MBZ\6LOG\7CONN\10DISC"
  67
  68 /* Log request messages (data payload when using JUPITER_FLAG_LOG) */
  69 struct jrequest {
  70         u_short trigger;                /* if 0, trigger on time trigger on
  71                                            update (e.g. new almanac) */
  72         u_short interval;               /* frequency in seconds */
  73         u_short offset;                 /* offset into minute */
  74         u_short dsum;                   /* checksum */
  75 };
  76
  77 /* JUPITER_O_GPOS (1000) */
  78 struct jgpos {
  79         u_short stime[2];               /* set time (10 ms ticks) */
  80         u_short seq;                    /* sequence number */
  81         u_short sseq;                   /* sat measurement sequence number */
  82         u_short navval;                 /* navigation soltuion validity */
  83         u_short navtype;                /* navigation solution type */
  84         u_short nmeas;                  /* # of measurements used in solution */
  85         u_short polar;                  /* if 1 then polar navigation */
  86         u_short gweek;                  /* GPS week number */
  87         u_short sweek[2];               /* GPS seconds into week */
  88         u_short nsweek[2];              /* GPS nanoseconds into second */
  89         u_short utcday;                 /* 1 to 31 */
  90         u_short utcmon;                 /* 1 to 12 */
  91         u_short utcyear;                /* 1980 to 2079 */
  92         u_short utchour;                /* 0 to 23 */
  93         u_short utcmin;                 /* 0 to 59 */
  94         u_short utcsec;                 /* 0 to 59 */
  95         u_short utcnsec[2];             /* 0 to 999999999 */
  96         u_short lat[2];                 /* latitude (radians) */
  97         u_short lon[2];                 /* longitude (radians) */
  98         u_short height[2];              /* height (meters) */
  99         u_short gsep;                   /* geoidal separation */
 100         u_short speed[2];               /* ground speed (meters/sec) */
 101         u_short course;                 /* true course (radians) */
 102         u_short mvar;
 103         u_short climb;
 104         u_short mapd;
 105         u_short herr[2];
 106         u_short verr[2];
 107         u_short terr[2];
 108         u_short hverr;
 109         u_short bias[2];
 110         u_short biassd[2];
 111         u_short drift[2];
 112         u_short driftsd[2];
 113         u_short dsum;                   /* checksum */
 114 };
 115 #define JUPITER_O_GPOS_NAV_NOALT        0x01    /* altitude used */
 116 #define JUPITER_O_GPOS_NAV_NODGPS       0x02    /* no differential GPS */
 117 #define JUPITER_O_GPOS_NAV_NOSAT        0x04    /* not enough satellites */
 118 #define JUPITER_O_GPOS_NAV_MAXH         0x08    /* exceeded max EHPE */
 119 #define JUPITER_O_GPOS_NAV_MAXV         0x10    /* exceeded max EVPE */
 120
 121 /* JUPITER_O_CHAN (1002) */
 122 struct jchan {
 123         u_short stime[2];               /* set time (10 ms ticks) */
 124         u_short seq;                    /* sequence number */
 125         u_short sseq;                   /* sat measurement sequence number */
 126         u_short gweek;                  /* GPS week number */
 127         u_short sweek[2];               /* GPS seconds into week */
 128         u_short gpsns[2];               /* GPS nanoseconds from epoch */
 129         struct jchan2 {
 130                 u_short flags;          /* flags */
 131                 u_short prn;            /* satellite PRN */
 132                 u_short chan;           /* channel number */
 133         } sat[12];
 134         u_short dsum;
 135 };
 136
 137 /* JUPITER_O_VIS (1003) */
 138 struct jvis {
 139         u_short stime[2];               /* set time (10 ms ticks) */
 140         u_short seq;                    /* sequence number */
 141         u_short gdop;                   /* best possible GDOP */
 142         u_short pdop;                   /* best possible PDOP */
 143         u_short hdop;                   /* best possible HDOP */
 144         u_short vdop;                   /* best possible VDOP */
 145         u_short tdop;                   /* best possible TDOP */
 146         u_short nvis;                   /* number of visible satellites */
 147         struct jvis2 {
 148                 u_short prn;            /* satellite PRN */
 149                 u_short azi;            /* satellite azimuth (radians) */
 150                 u_short elev;           /* satellite elevation (radians) */
 151         } sat[12];
 152         u_short dsum;                   /* checksum */
 153 };
 154
 155 /* JUPITER_O_ID (1011) */
 156 struct jid {
 157         u_short stime[2];               /* set time (10 ms ticks) */
 158         u_short seq;                    /* sequence number */
 159         char chans[20];                 /* number of channels (ascii) */
 160         char vers[20];                  /* software version (ascii) */
 161         char date[20];                  /* software date (ascii) */
 162         char opts[20];                  /* software options (ascii) */
 163         char reserved[20];
 164         u_short dsum;                   /* checksum */
 165 };
 166
 167 /* JUPITER_O_USER (1012) */
 168 struct juser {
 169         u_short stime[2];               /* set time (10 ms ticks) */
 170         u_short seq;                    /* sequence number */
 171         u_short status;                 /* operatinoal status */
 172         u_short coldtmo;                /* cold start time-out */
 173         u_short dgpstmo;                /* DGPS correction time-out*/
 174         u_short emask;                  /* elevation mask */
 175         u_short selcand[2];             /* selected candidate */
 176         u_short solflags;               /* solution validity criteria */
 177         u_short nsat;                   /* number of satellites in track */
 178         u_short herr[2];                /* minimum expected horizontal error */
 179         u_short verr[2];                /* minimum expected vertical error */
 180         u_short platform;               /* application platform */
 181         u_short dsum;                   /* checksum */
 182 };
 183
 184 /* JUPITER_O_PULSE (1108) */
 185 struct jpulse {
 186         u_short stime[2];               /* set time (10 ms ticks) */
 187         u_short seq;                    /* sequence number */
 188         u_short reserved[5];
 189         u_short sweek[2];               /* GPS seconds into week */
 190         short offs;                     /* GPS to UTC time offset (seconds) */
 191         u_short offns[2];               /* GPS to UTC offset (nanoseconds) */
 192         u_short flags;                  /* flags */
 193         u_short dsum;                   /* checksum */
 194 };
 195 #define JUPITER_O_PULSE_VALID           0x1     /* time mark validity */
 196 #define JUPITER_O_PULSE_UTC             0x2     /* GPS/UTC sync */
 197
 198 /* JUPITER_O_EUP (1135) */
 199 struct jeup {
 200         u_short stime[2];               /* set time (10 ms ticks) */
 201         u_short seq;                    /* sequence number */
 202         u_char dataid;                  /* data id */
 203         u_char prn;                     /* satellite PRN */
 204         u_short dsum;                   /* checksum */
 205 };
 206
 207 /* JUPITER_I_RESTART (1303) */
 208 struct jrestart {
 209         u_short seq;                    /* sequence number */
 210         u_short flags;
 211         u_short dsum;                   /* checksum */
 212 };
 213 #define JUPITER_I_RESTART_INVRAM        0x01
 214 #define JUPITER_I_RESTART_INVEEPROM     0x02
 215 #define JUPITER_I_RESTART_INVRTC        0x04
 216 #define JUPITER_I_RESTART_COLD          0x80
 217
 218 /* JUPITER_I_PVTINIT (1200) */
 219 struct jpvtinit {
 220         u_short flags;
 221         u_short gweek;                  /* GPS week number */
 222         u_short sweek[2];               /* GPS seconds into week */
 223         u_short utcday;                 /* 1 to 31 */
 224         u_short utcmon;                 /* 1 to 12 */
 225         u_short utcyear;                /* 1980 to 2079 */
 226         u_short utchour;                /* 0 to 23 */
 227         u_short utcmin;                 /* 0 to 59 */
 228         u_short utcsec;                 /* 0 to 59 */
 229         u_short lat[2];                 /* latitude (radians) */
 230         u_short lon[2];                 /* longitude (radians) */
 231         u_short height[2];              /* height (meters) */
 232         u_short speed[2];               /* ground speed (meters/sec) */
 233         u_short course;                 /* true course (radians) */
 234         u_short climb;
 235         u_short dsum;
 236 };
 237 #define JUPITER_I_PVTINIT_FORCE         0x01
 238 #define JUPITER_I_PVTINIT_GPSVAL        0x02
 239 #define JUPITER_I_PVTINIT_UTCVAL        0x04
 240 #define JUPITER_I_PVTINIT_POSVAL        0x08
 241 #define JUPITER_I_PVTINIT_ALTVAL        0x10
 242 #define JUPITER_I_PVTINIT_SPDVAL        0x12
 243 #define JUPITER_I_PVTINIT_MAGVAL        0x14
 244 #define JUPITER_I_PVTINIT_CLIMBVAL      0x18
 245
 246 /* JUPITER_I_PLAT (1220) */
 247 struct jplat {
 248         u_short seq;                    /* sequence number */
 249         u_short platform;               /* application platform */
 250         u_short dsum;
 251 };
 252 #define JUPITER_I_PLAT_DEFAULT          0       /* default dynamics */
 253 #define JUPITER_I_PLAT_LOW              2       /* pedestrian */
 254 #define JUPITER_I_PLAT_MED              5       /* land (e.g. automobile) */
 255 #define JUPITER_I_PLAT_HIGH             6       /* air */