/* * /src/NTP/REPOSITORY/ntp4-dev/include/mbg_gps166.h,v 4.7 2006/06/22 18:41:43 kardel RELEASE_20060622_A * * mbg_gps166.h,v 4.7 2006/06/22 18:41:43 kardel RELEASE_20060622_A * * $Created: Sun Jul 20 09:20:50 1997 $ * * File GPSSERIO.H Copyright (c) by Meinberg Funkuhren (www.meinberg.de) * * Linkage to PARSE: * Copyright (c) 1997-2005 by Frank Kardel <kardel <AT> ntp.org> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * 3. Neither the name of the author nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF * SUCH DAMAGE. * */ #ifndef MBG_GPS166_H #define MBG_GPS166_H /*************************************************************************** * * 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, ///< (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 }; #ifndef _CSUM_DEFINED typedef uint16_t CSUM; /* checksum used by some structures stored in non-volatile memory */ #define _CSUM_DEFINED #endif /** * @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; #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; /** * @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) ) /** * @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 }; /** * @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 } T_GPS; /** * @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 }; /** * @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 }; /** * @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 } TTM; /* Two types of variables used to store a position. Type XYZ is */ /* used with a position in earth centered, earth fixed (ECEF) */ /* coordinates whereas type LLA holds such a position converted */ /* to geographic coordinates as defined by WGS84 (World Geodetic */ /* System from 1984). */ /** * @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]; /** * @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]; /** * @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 N_SYNTH_FREQ_DIGIT 4 ///< number of digits to edit #define MAX_SYNTH_FREQ 1000 ///< if range == ::MAX_SYNTH_RANGE #define MIN_SYNTH_RANGE 0 #define MAX_SYNTH_RANGE 5 #define N_SYNTH_RANGE ( MAX_SYNTH_RANGE - MIN_SYNTH_RANGE + 1 ) #define N_SYNTH_PHASE_DIGIT 4 #define MAX_SYNTH_PHASE 3600 #define MAX_SYNTH_FREQ_EDIT 9999 ///< max sequence of digits when editing /** * @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) */ /** * @brief The synthesizer's phase is only be synchronized if the frequency is below this limit */ #define SYNTH_PHASE_SYNC_LIMIT 10000UL ///< 10 kHz /** * 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", \ } /** * @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 ); \ } /** * @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 } SYNTH_STATE; #define _mbg_swab_synth_state( _p ) _nop_macro_fnc() #define SYNTH_FLAG_PHASE_IGNORED 0x01 /** @} defgroup group_synth */ /** * @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 /** @} defgroup group_tzdl */ /** * @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 } ANT_INFO; /** * @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 }; /** * @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; /** * @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] 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] } UTC; /** * @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 } ASCII_MSG; /** * @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; /** * @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 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; /** * @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 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_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 *); void get_mbg_sw_rev (unsigned char **, SW_REV *); void get_mbg_ascii_msg (unsigned char **, ASCII_MSG *); 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_GPS *); void get_mbg_ttm (unsigned char **, TTM *); void get_mbg_synth (unsigned char **, SYNTH *); void get_mbg_tzdl (unsigned char **, TZDL *); void get_mbg_antinfo (unsigned char **, ANT_INFO *); void get_mbg_cfgh (unsigned char **, CFGH *); void get_mbg_utc (unsigned char **, UTC *); void get_mbg_lla (unsigned char **, LLA); void get_mbg_xyz (unsigned char **, XYZ); void get_mbg_portparam (unsigned char **, PORT_PARM *); void get_mbg_eph (unsigned char **, EPH *); void get_mbg_alm (unsigned char **, ALM *); void get_mbg_iono (unsigned char **, IONO *); CSUM mbg_csum (unsigned char *, unsigned int); #endif /* * History: * * mbg_gps166.h,v * Revision 4.7 2006/06/22 18:41:43 kardel * clean up signedness (gcc 4) * * Revision 4.6 2005/10/07 22:11:56 kardel * bounded buffer implementation * * Revision 4.5.2.1 2005/09/25 10:23:48 kardel * support bounded buffers * * Revision 4.5 2005/06/25 10:58:45 kardel * add missing log keywords * * Revision 4.1 1998/06/12 15:07:30 kardel * fixed prototyping * * Revision 4.0 1998/04/10 19:50:42 kardel * Start 4.0 release version numbering * * Revision 1.1 1998/04/10 19:27:34 kardel * initial NTP VERSION 4 integration of PARSE with GPS166 binary support * * Revision 1.1 1997/10/06 20:55:38 kardel * new parse structure * */