flight/modules/gpsp/inc/gps9protocol.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       gpsv9protocol.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
   6  * @brief      brief goes here.
   7  *             --
   8  * @see        The GNU Public License (GPL) Version 3
   9  *
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26 #ifndef GPSV9PROTOCOL_H_
  27 #define GPSV9PROTOCOL_H_
  28
  29 #include <openpilot.h>
  30 #include <pios_struct_helper.h>
  31 #include <pios_helpers.h>
  32 #include <ubx_utils.h>
  33
  34 #define UBX_CFG_CLASS                 0x06
  35 #define UBX_CFG_PRT                   0x00
  36 #define UBX_OP_CUST_CLASS             0x99
  37 #define UBX_OP_SYS                    0x01
  38 #define UBX_OP_MAG                    0x02
  39
  40
  41 #define SYS_DATA_OPTIONS_FLASH        0x01
  42 #define SYS_DATA_OPTIONS_MAG          0x02
  43
  44 #define CFG_PRT_DATA_PORTID_DDC       0x00
  45 #define CFG_PRT_DATA_TXREADI_DISABLED 0x00
  46 #define CFG_PRT_DATA_PORTID_DDC       0x00
  47 #define CFG_PRT_DATA_MODE_ADDR        (0x42 << 1)
  48 #define CFG_PRT_DATA_PROTO_UBX        0x01
  49 #define CFG_PRT_DATA_PROTO_NMEA       0x02
  50 #define CFG_PRT_DATA_PROTO_RTCM       0x04
  51 #define CFG_PRT_DATA_FLAGS_EXTTIMEOUT 0x02
  52
  53
  54 typedef struct {
  55     int16_t  X;
  56     int16_t  Y;
  57     int16_t  Z;
  58     uint16_t status;
  59 } __attribute__((packed)) MagData;
  60
  61 typedef union {
  62     struct {
  63         UBXHeader_t header;
  64         MagData     data;
  65         UBXFooter_t footer;
  66     } __attribute__((packed)) fragments;
  67     UBXPacket_t packet;
  68 } MagUbxPkt;
  69
  70 typedef struct {
  71     uint32_t flightTime;
  72     uint16_t options;
  73     uint8_t  board_type;
  74     uint8_t  board_revision;
  75     uint8_t  commit_tag_name[26];
  76     uint8_t  sha1sum[8];
  77 } __attribute__((packed)) SysData;
  78
  79 typedef union {
  80     struct {
  81         UBXHeader_t header;
  82         SysData     data;
  83         UBXFooter_t footer;
  84     } fragments;
  85     UBXPacket_t packet;
  86 } SysUbxPkt;
  87
  88
  89 typedef struct {
  90     uint8_t  portID;
  91     uint8_t  reserved0;
  92     uint16_t txReady;
  93     uint32_t mode;
  94     uint32_t reserved3;
  95     uint16_t inProtoMask;
  96     uint16_t outProtoMask;
  97     uint16_t flags;
  98     uint16_t reserved5;
  99 } __attribute__((packed)) CfgPrtData;
 100
 101 typedef union {
 102     struct {
 103         UBXHeader_t header;
 104         CfgPrtData  data;
 105         UBXFooter_t footer;
 106     } fragments;
 107     UBXPacket_t packet;
 108 } CfgPrtPkt;
 109
 110 #endif /* GPSV9PROTOCOL_H_ */