software/arduino/libraries/gps_ublox/ubx_protocol.h

   1 // -*- coding: utf-8 -*-
   2 // LICENSE
   3 //
   4 // This file is part of ruwai.
   5 //
   6 // If you use ruwai in any program or publication, please inform and
   7 // acknowledge its author Stefan Mertl (stefan@mertl-research.at).
   8 //
   9 // pSysmon is free software: you can redistribute it and/or modify
  10 // it under the terms of the GNU General Public License as published by
  11 // the Free Software Foundation, either version 3 of the License, or
  12 // (at your option) any later version.
  13 //
  14 // This program is distributed in the hope that it will be useful,
  15 // but WITHOUT ANY WARRANTY; without even the implied warranty of
  16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  17 // GNU General Public License for more details.
  18 //
  19 // You should have received a copy of the GNU General Public License
  20 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
  21
  22 #ifndef ubloxprotocol_h
  23 #define ubloxprotocol_h
  24
  25 #include <Arduino.h>
  26
  27 // Used to pack the structures to remove eventual byte overhead.
  28 #ifndef PACKED
  29     #define PACKED __attribute__((packed))
  30 #endif
  31
  32
  33 #define SYNC_CHAR_1 0xB5
  34 #define SYNC_CHAR_2 0x62
  35
  36 #define TIMEPULSE  0
  37 #define TIMEPULSE2 1
  38
  39 #define UBX_CFG_TP5_SCALING 4294967296
  40
  41
  42 /*! Compute the checksum values of a UBX paket. */
  43 void update_ubx_checksum(uint8_t* payload, uint8_t length, uint8_t &ck_a, uint8_t &ck_b);
  44
  45
  46 //! The UBX class IDs.
  47 typedef enum ubx_msg_class_e {
  48     UBX_CLASS_NAV = 0x01,
  49     UBX_CLASS_RXM = 0x02,
  50     UBX_CLASS_INF = 0x04,
  51     UBX_CLASS_ACK = 0x05,
  52     UBX_CLASS_CFG = 0x06,
  53     UBX_CLASS_MON = 0x0A,
  54     UBX_CLASSS_AID = 0x0B,
  55     UBX_CLASS_TIM = 0x0D,
  56     UBX_CLASS_ESF = 0x10
  57 } ubx_msg_class_t;
  58
  59 //! The UBX CFG class message IDs.
  60 typedef enum cfg_msg_id_e {
  61     UBX_CFG_ID_PRT = 0x00,
  62     UBX_CFG_ID_MSG = 0x01,
  63     UBX_CFG_ID_INF = 0x02,
  64     UBX_CFG_ID_TP5 = 0x31
  65 } cfg_msg_id_t;
  66
  67 //! The UBX NAV class message IDs.
  68 typedef enum nav_msg_id_e {
  69     UBX_NAV_ID_POSLLH = 0x02,
  70     UBX_NAV_ID_STATUS = 0x03,
  71     UBX_NAV_ID_TIMEUTC = 0x21
  72 } nav_msg_id_t;
  73
  74 //! The UBX ACK class message IDs.
  75 typedef enum ack_msg_id_e {
  76     UBX_ACK_ID_NAK = 0x00,
  77     UBX_ACK_ID_ACK = 0x01
  78 } ack_msg_id_t;
  79
  80 //! The UBX TIM class message IDs.
  81 typedef enum tim_msg_id_e {
  82     UBX_TIM_ID_TP = 0x01
  83 } tim_msg_id_t;
  84
  85 //! The NMEA class IDs.
  86 typedef enum nmea_msg_class_e {
  87     NMEA_CLASS_STD = 0xF0,
  88     NMEA_CLASS_UBX = 0xF1
  89 } nmea_msg_class_t;
  90
  91 //! The NMEA message IDs.
  92 typedef enum nmea_std_msg_id_e {
  93     NMEA_STD_ID_DTM = 0x0A,
  94     NMEA_STD_ID_GBS = 0x09,
  95     NMEA_STD_ID_GGA = 0x00,
  96     NMEA_STD_ID_GLL = 0x01,
  97     NMEA_STD_ID_GPQ = 0x40,
  98     NMEA_STD_ID_GRS = 0x06,
  99     NMEA_STD_ID_GSA = 0x02,
 100     NMEA_STD_ID_GST = 0x07,
 101     NMEA_STD_ID_GSV = 0x03,
 102     NMEA_STD_ID_RMC = 0x04,
 103     NMEA_STD_ID_THS = 0x0E,
 104     NMEA_STD_ID_TXT = 0x41,
 105     NMEA_STD_ID_VTG = 0x05,
 106     NMEA_STD_ID_ZDA = 0x08
 107 } nmea_std_msg_id_t;
 108
 109 //! The UBX paket header.
 110 typedef struct PACKED ubx_header_s {
 111     uint8_t sync_char1;
 112     uint8_t sync_char2;
 113     uint8_t msg_class;
 114     uint8_t msg_id;
 115     uint16_t payload_length;
 116 } ubx_header_t;
 117
 118 //! The UBX CFG-MSG poll message.
 119 typedef struct PACKED ubx_cfg_msg_rate_poll_s {
 120     uint8_t msg_class;
 121     uint8_t msg_id;
 122 } ubx_cfg_msg_rate_poll_t;
 123
 124 //! The UBX CFG-MSG set current target message.
 125 typedef struct PACKED ubx_cfg_msg_rate_s {
 126     uint8_t msg_class;
 127     uint8_t msg_id;
 128     uint8_t rate;
 129 } ubx_cfg_msg_rate_t;
 130
 131 //! The UBX CFG-TP5 poll message.
 132 typedef struct PACKED ubx_cfg_tp5_poll_s {
 133     uint8_t tp_idx;
 134 } ubx_cfg_tp5_poll_t;
 135
 136
 137 // The UBX CFG-TP5 flags bitfield.
 138 typedef struct PACKED ubx_cfg_tp5_flags_s {
 139     uint8_t active : 1;
 140     uint8_t lock_gps_freq : 1;
 141     uint8_t locked_other_set : 1;
 142     uint8_t is_freq : 1;
 143     uint8_t is_length : 1;
 144     uint8_t align_to_tow : 1;
 145     uint8_t polarity : 1;
 146     uint8_t grid_utc_gps : 1;
 147     uint32_t reserved : 24;
 148 } ubx_cfg_tp5_flags_t;
 149
 150
 151 //! The UBX CFG-TP5 message.
 152 typedef struct PACKED ubx_cfg_tp5_s {
 153     uint8_t tp_idx;
 154     uint8_t reserved0;
 155     uint16_t reserved1;
 156     int16_t ant_cable_delay;
 157     int16_t rf_group_delay;
 158     uint32_t freq_period;
 159     uint32_t freq_period_lock;
 160     uint32_t pulse_len_ratio;
 161     uint32_t pulse_len_ratio_lock;
 162     int32_t user_config_delay;
 163     ubx_cfg_tp5_flags_t flags;
 164 } ubx_cfg_tp5_t;
 165
 166
 167 //! The UBX CFG-PRT txready bitfield.
 168 typedef struct PACKED ubx_cfg_prt_txready_s {
 169     uint8_t en      : 1;
 170     uint8_t pol     : 1;
 171     uint8_t pin     : 5;
 172     uint16_t thres   : 9;
 173 } ubx_cfg_prt_txready_t;
 174
 175 //! The UBX CFG-PRT mode bitfield.
 176 typedef struct PACKED ubx_cfg_prt_mode_s {
 177     uint8_t unused0     : 4;
 178     uint8_t reserved1   : 1;
 179     uint8_t unused1     : 1;
 180     uint8_t charlen     : 2;
 181     uint8_t unused2     : 1;
 182     uint8_t parity      : 3;
 183     uint8_t nstopbits   : 2;
 184     uint32_t unused3    : 18;
 185 } ubx_cfg_prt_mode_t;
 186
 187 //! The UBX CFG-PRT inProtoMask bitfield.
 188 typedef struct PACKED ubx_cfg_prt_inprotomask_s {
 189     uint8_t ubx         : 1;
 190     uint8_t nmea        : 1;
 191     uint8_t rtcm        : 1;
 192     uint16_t unused0    : 13;
 193 } ubx_cfg_prt_inprotomask_t;
 194
 195 //! The UBX CFG-PRT outProtoMask bitfield.
 196 typedef struct PACKED ubx_cfg_prt_outprotomask_s {
 197     uint8_t ubx         : 1;
 198     uint8_t nmea        : 1;
 199     uint8_t rtcm        : 1;
 200     uint16_t unused0    : 13;
 201 } ubx_cfg_prt_outprotomask_t;
 202
 203 //! The UBX CFG-PRT message.
 204 typedef struct PACKED ubx_cfg_prt_uart_s {
 205     uint8_t prt_id;
 206     uint8_t reserved0;
 207     ubx_cfg_prt_txready_t tx_ready;
 208     ubx_cfg_prt_mode_t mode;
 209     uint32_t baud_rate;
 210     ubx_cfg_prt_inprotomask_t in_proto_mask;
 211     ubx_cfg_prt_outprotomask_t out_proto_mask;
 212     uint16_t reserved4;
 213     uint16_t reserved5;
 214 } ubx_cfg_prt_uart_t;
 215
 216
 217 //! The UBX NAV-STATUS flags bitfield.
 218 typedef struct PACKED ubx_nav_status_flags_s {
 219     uint8_t gps_fix_ok : 1;
 220     uint8_t diff_so_in : 1;
 221     uint8_t wkn_set : 1;
 222     uint8_t tow_set : 1;
 223     uint8_t reserved : 4;
 224 } ubx_nav_status_flags_t;
 225
 226 //! THE UBX NAV-STATUS fixStat bitfield.
 227 typedef struct PACKED ubx_nav_status_fixstat_s {
 228     uint8_t dgps_i_stat : 1;
 229     uint8_t reserved : 5;
 230     uint8_t map_matching : 2;
 231 } ubx_nav_status_fixstat_t;
 232
 233 //! The UBX NAV-STATUS flags2 bitfield.
 234 typedef struct PACKED ubx_nav_status_flags2_s {
 235     uint8_t psm_state : 2;
 236     uint8_t reserved : 6;
 237 } ubx_nav_status_flags2_t;
 238
 239 //! The UBX NAV-STATUS message.
 240 typedef struct PACKED ubx_nav_status_s {
 241     uint32_t i_tow;
 242     uint8_t gps_fix;
 243     ubx_nav_status_flags_t flags;
 244     ubx_nav_status_fixstat_t fix_stat;
 245     ubx_nav_status_flags2_t flags2;
 246     uint32_t ttff;
 247     uint32_t msss;
 248 } ubx_nav_status_t;
 249
 250 //! The UBX NAV-TIMEUTC valid bitfield.
 251 typedef struct PACKED ubx_nav_timeutc_valid_s {
 252     uint8_t validtow : 1;
 253     uint8_t validwkn : 1;
 254     uint8_t validutc : 1;
 255 } ubx_nav_timeutc_valid_t;
 256
 257
 258 //! The UBX NAV-TIMEUTC message.
 259 typedef struct PACKED ubx_nav_timeutc_s {
 260     uint32_t i_tow;
 261     uint32_t t_acc;
 262     int32_t nano;
 263     uint16_t year;
 264     uint8_t month;
 265     uint8_t day;
 266     uint8_t hour;
 267     uint8_t min;
 268     uint8_t sec;
 269     ubx_nav_timeutc_valid_t valid;
 270 } ubx_nav_timeutc_t;
 271
 272
 273 //! The UBX NAV-POSLLH message.
 274 typedef struct PACKED ubx_nav_posllh_s {
 275     uint32_t i_tow;
 276     int32_t lon;
 277     int32_t lat;
 278     int32_t height;
 279     int32_t h_msl;
 280     uint32_t h_acc;
 281     uint32_t v_acc;
 282 } ubx_nav_posllh_t;
 283
 284
 285 //! The UBX TIM-TP flags bitfield.
 286 typedef struct PACKED ubx_tim_tp_flags_s {
 287     uint8_t time_base : 1;
 288     uint8_t utc : 1;
 289     uint8_t reserved : 6;
 290 } ubx_tim_tp_flags_t;
 291
 292 //! The UBX TIM-TP message.
 293 typedef struct PACKED ubx_tim_tp_s {
 294     uint32_t tow_ms;
 295     uint32_t tow_sub_ms;
 296     int32_t q_err;
 297     uint16_t week;
 298     ubx_tim_tp_flags_t flags;
 299     uint8_t reserved1;
 300 } ubx_tim_tp_t;
 301
 302
 303 //! The UBX MON-HW flags bitfield.
 304 typedef struct PACKED ubx_mon_hw_flags_s {
 305     uint8_t rtccalib : 1;
 306     uint8_t safeboot : 1;
 307     uint8_t jamming_state: 2;
 308     uint8_t reserved : 4;
 309 } ubx_mon_hw_flags_t;
 310
 311
 312 //! The UBX MON-HW message.
 313 typedef struct PACKED ubx_mon_hw_s {
 314     uint32_t pin_sel;
 315     uint32_t pin_bank;
 316     uint32_t pin_dir;
 317     uint32_t pin_val;
 318     uint16_t noise_per_ms;
 319     uint16_t agc_cnt;
 320     uint8_t a_status;
 321     uint8_t a_power;
 322     ubx_mon_hw_flags_t flags;
 323     uint8_t reserved1;
 324     uint32_t used_mask;
 325     uint8_t vp[25];
 326     uint8_t jam_ind;
 327     uint16_t reserved3;
 328     uint32_t pin_irq;
 329     uint32_t pull_h;
 330     uint32_t pull_l;
 331 } ubx_mon_hw_t;
 332
 333
 334 //! The UBX ACK-ACK message.
 335 typedef struct PACKED ubx_ack_ack_s {
 336     uint8_t cls_id;
 337     uint8_t msg_id;
 338 } ubx_ack_ack_t;
 339
 340
 341 // The UBX CFG-INF target_mask bitfiedl.
 342 typedef struct PACKED ubx_cfg_inf_target_mask_s {
 343     uint8_t error    : 1;
 344     uint8_t warning  : 1;
 345     uint8_t notice   : 1;
 346     uint8_t debug    : 1;
 347     uint8_t test     : 1;
 348     uint8_t reserved : 3;
 349 } ubx_cfg_inf_target_mask_t;
 350
 351 // The UBX CFG-INF inf_msg_mask bitfield.
 352 typedef struct PACKED ubx_cfg_inf_inf_msg_mask_s {
 353     ubx_cfg_inf_target_mask_t ddc;
 354     ubx_cfg_inf_target_mask_t serial_1;
 355     ubx_cfg_inf_target_mask_t serial_2;
 356     ubx_cfg_inf_target_mask_t usb;
 357     ubx_cfg_inf_target_mask_t spi;
 358     ubx_cfg_inf_target_mask_t reserved;
 359 } ubx_cfg_inf_inf_msg_mask_t;
 360
 361 //! The UBX CFG-INF message.
 362 typedef struct PACKED ubx_cfg_inf_s {
 363     uint8_t protocol_id;
 364     uint8_t reserved_0;
 365     uint8_t reserved_1;
 366     ubx_cfg_inf_inf_msg_mask_t inf_msg_mask;
 367
 368 } ubx_cfg_inf_t;
 369 #endif