/* @(#) $Header$ (LBL) */ /* * Rockwell Jupiter GPS receiver definitions * * This is all based on the "Zodiac GPS Receiver Family Designer's * Guide" (dated 12/96) */ #define JUPITER_SYNC 0x81ff /* sync word (book says 0xff81 !?!?) */ #define JUPITER_ALL 0xffff /* disable all output messages */ /* Output messages (sent by the Jupiter board) */ #define JUPITER_O_GPOS 1000 /* geodetic position status */ #define JUPITER_O_EPOS 1001 /* ECEF position status */ #define JUPITER_O_CHAN 1002 /* channel summary */ #define JUPITER_O_VIS 1003 /* visible satellites */ #define JUPITER_O_DGPS 1005 /* differential GPS status */ #define JUPITER_O_MEAS 1007 /* channel measurement */ #define JUPITER_O_ID 1011 /* receiver id */ #define JUPITER_O_USER 1012 /* user-settings output */ #define JUPITER_O_TEST 1100 /* built-in test results */ #define JUPITER_O_MARK 1102 /* measurement time mark */ #define JUPITER_O_PULSE 1108 /* UTC time mark pulse output */ #define JUPITER_O_PORT 1130 /* serial port com parameters in use */ #define JUPITER_O_EUP 1135 /* EEPROM update */ #define JUPITER_O_ESTAT 1136 /* EEPROM status */ /* Input messages (sent to the Jupiter board) */ #define JUPITER_I_PVTINIT 1200 /* geodetic position and velocity */ #define JUPITER_I_USER 1210 /* user-defined datum */ #define JUPITER_I_MAPSEL 1211 /* map datum select */ #define JUPITER_I_ELEV 1212 /* satellite elevation mask control */ #define JUPITER_I_CAND 1213 /* satellite candidate select */ #define JUPITER_I_DGPS 1214 /* differential GPS control */ #define JUPITER_I_COLD 1216 /* cold start control */ #define JUPITER_I_VALID 1217 /* solution validity criteria */ #define JUPITER_I_ALT 1219 /* user-entered altitude input */ #define JUPITER_I_PLAT 1220 /* application platform control */ #define JUPITER_I_NAV 1221 /* nav configuration */ #define JUPITER_I_TEST 1300 /* preform built-in test command */ #define JUPITER_I_RESTART 1303 /* restart command */ #define JUPITER_I_PORT 1330 /* serial port com parameters */ #define JUPITER_I_PROTO 1331 /* message protocol control */ #define JUPITER_I_RDGPS 1351 /* raw DGPS RTCM SC-104 data */ struct jheader { u_short sync; /* (JUPITER_SYNC) */ u_short id; /* message id */ u_short len; /* number of data short wordss (w/o cksum) */ u_char reqid; /* JUPITER_REQID_MASK bits available as id */ u_char flags; /* flags */ u_short hsum; /* header cksum */ }; #define JUPITER_REQID_MASK 0x3f /* bits available as id */ #define JUPITER_FLAG_NAK 0x01 /* negative acknowledgement */ #define JUPITER_FLAG_ACK 0x02 /* acknowledgement */ #define JUPITER_FLAG_REQUEST 0x04 /* request ACK or NAK */ #define JUPITER_FLAG_QUERY 0x08 /* request one shot output message */ #define JUPITER_FLAG_LOG 0x20 /* request periodic output message */ #define JUPITER_FLAG_CONN 0x40 /* enable periodic message */ #define JUPITER_FLAG_DISC 0x80 /* disable periodic message */ #define JUPITER_H_FLAG_BITS \ "\020\1NAK\2ACK\3REQUEST\4QUERY\5MBZ\6LOG\7CONN\10DISC" /* Log request messages (data payload when using JUPITER_FLAG_LOG) */ struct jrequest { u_short trigger; /* if 0, trigger on time trigger on update (e.g. new almanac) */ u_short interval; /* frequency in seconds */ u_short offset; /* offset into minute */ u_short dsum; /* checksum */ }; /* JUPITER_O_GPOS (1000) */ struct jgpos { u_short stime[2]; /* set time (10 ms ticks) */ u_short seq; /* sequence number */ u_short sseq; /* sat measurement sequence number */ u_short navval; /* navigation soltuion validity */ u_short navtype; /* navigation solution type */ u_short nmeas; /* # of measurements used in solution */ u_short polar; /* if 1 then polar navigation */ u_short gweek; /* GPS week number */ u_short sweek[2]; /* GPS seconds into week */ u_short nsweek[2]; /* GPS nanoseconds into second */ u_short utcday; /* 1 to 31 */ u_short utcmon; /* 1 to 12 */ u_short utcyear; /* 1980 to 2079 */ u_short utchour; /* 0 to 23 */ u_short utcmin; /* 0 to 59 */ u_short utcsec; /* 0 to 59 */ u_short utcnsec[2]; /* 0 to 999999999 */ u_short lat[2]; /* latitude (radians) */ u_short lon[2]; /* longitude (radians) */ u_short height[2]; /* height (meters) */ u_short gsep; /* geoidal separation */ u_short speed[2]; /* ground speed (meters/sec) */ u_short course; /* true course (radians) */ u_short mvar; u_short climb; u_short mapd; u_short herr[2]; u_short verr[2]; u_short terr[2]; u_short hverr; u_short bias[2]; u_short biassd[2]; u_short drift[2]; u_short driftsd[2]; u_short dsum; /* checksum */ }; #define JUPITER_O_GPOS_NAV_NOALT 0x01 /* altitude used */ #define JUPITER_O_GPOS_NAV_NODGPS 0x02 /* no differential GPS */ #define JUPITER_O_GPOS_NAV_NOSAT 0x04 /* not enough satellites */ #define JUPITER_O_GPOS_NAV_MAXH 0x08 /* exceeded max EHPE */ #define JUPITER_O_GPOS_NAV_MAXV 0x10 /* exceeded max EVPE */ /* JUPITER_O_CHAN (1002) */ struct jchan { u_short stime[2]; /* set time (10 ms ticks) */ u_short seq; /* sequence number */ u_short sseq; /* sat measurement sequence number */ u_short gweek; /* GPS week number */ u_short sweek[2]; /* GPS seconds into week */ u_short gpsns[2]; /* GPS nanoseconds from epoch */ struct jchan2 { u_short flags; /* flags */ u_short prn; /* satellite PRN */ u_short chan; /* channel number */ } sat[12]; u_short dsum; }; /* JUPITER_O_VIS (1003) */ struct jvis { u_short stime[2]; /* set time (10 ms ticks) */ u_short seq; /* sequence number */ u_short gdop; /* best possible GDOP */ u_short pdop; /* best possible PDOP */ u_short hdop; /* best possible HDOP */ u_short vdop; /* best possible VDOP */ u_short tdop; /* best possible TDOP */ u_short nvis; /* number of visible satellites */ struct jvis2 { u_short prn; /* satellite PRN */ u_short azi; /* satellite azimuth (radians) */ u_short elev; /* satellite elevation (radians) */ } sat[12]; u_short dsum; /* checksum */ }; /* JUPITER_O_ID (1011) */ struct jid { u_short stime[2]; /* set time (10 ms ticks) */ u_short seq; /* sequence number */ char chans[20]; /* number of channels (ascii) */ char vers[20]; /* software version (ascii) */ char date[20]; /* software date (ascii) */ char opts[20]; /* software options (ascii) */ char reserved[20]; u_short dsum; /* checksum */ }; /* JUPITER_O_USER (1012) */ struct juser { u_short stime[2]; /* set time (10 ms ticks) */ u_short seq; /* sequence number */ u_short status; /* operatinoal status */ u_short coldtmo; /* cold start time-out */ u_short dgpstmo; /* DGPS correction time-out*/ u_short emask; /* elevation mask */ u_short selcand[2]; /* selected candidate */ u_short solflags; /* solution validity criteria */ u_short nsat; /* number of satellites in track */ u_short herr[2]; /* minimum expected horizontal error */ u_short verr[2]; /* minimum expected vertical error */ u_short platform; /* application platform */ u_short dsum; /* checksum */ }; /* JUPITER_O_PULSE (1108) */ struct jpulse { u_short stime[2]; /* set time (10 ms ticks) */ u_short seq; /* sequence number */ u_short reserved[5]; u_short sweek[2]; /* GPS seconds into week */ short offs; /* GPS to UTC time offset (seconds) */ u_short offns[2]; /* GPS to UTC offset (nanoseconds) */ u_short flags; /* flags */ u_short dsum; /* checksum */ }; #define JUPITER_O_PULSE_VALID 0x1 /* time mark validity */ #define JUPITER_O_PULSE_UTC 0x2 /* GPS/UTC sync */ /* JUPITER_O_EUP (1135) */ struct jeup { u_short stime[2]; /* set time (10 ms ticks) */ u_short seq; /* sequence number */ u_char dataid; /* data id */ u_char prn; /* satellite PRN */ u_short dsum; /* checksum */ }; /* JUPITER_I_RESTART (1303) */ struct jrestart { u_short seq; /* sequence number */ u_short flags; u_short dsum; /* checksum */ }; #define JUPITER_I_RESTART_INVRAM 0x01 #define JUPITER_I_RESTART_INVEEPROM 0x02 #define JUPITER_I_RESTART_INVRTC 0x04 #define JUPITER_I_RESTART_COLD 0x80 /* JUPITER_I_PVTINIT (1200) */ struct jpvtinit { u_short flags; u_short gweek; /* GPS week number */ u_short sweek[2]; /* GPS seconds into week */ u_short utcday; /* 1 to 31 */ u_short utcmon; /* 1 to 12 */ u_short utcyear; /* 1980 to 2079 */ u_short utchour; /* 0 to 23 */ u_short utcmin; /* 0 to 59 */ u_short utcsec; /* 0 to 59 */ u_short lat[2]; /* latitude (radians) */ u_short lon[2]; /* longitude (radians) */ u_short height[2]; /* height (meters) */ u_short speed[2]; /* ground speed (meters/sec) */ u_short course; /* true course (radians) */ u_short climb; u_short dsum; }; #define JUPITER_I_PVTINIT_FORCE 0x01 #define JUPITER_I_PVTINIT_GPSVAL 0x02 #define JUPITER_I_PVTINIT_UTCVAL 0x04 #define JUPITER_I_PVTINIT_POSVAL 0x08 #define JUPITER_I_PVTINIT_ALTVAL 0x10 #define JUPITER_I_PVTINIT_SPDVAL 0x12 #define JUPITER_I_PVTINIT_MAGVAL 0x14 #define JUPITER_I_PVTINIT_CLIMBVAL 0x18 /* JUPITER_I_PLAT (1220) */ struct jplat { u_short seq; /* sequence number */ u_short platform; /* application platform */ u_short dsum; }; #define JUPITER_I_PLAT_DEFAULT 0 /* default dynamics */ #define JUPITER_I_PLAT_LOW 2 /* pedestrian */ #define JUPITER_I_PLAT_MED 5 /* land (e.g. automobile) */ #define JUPITER_I_PLAT_HIGH 6 /* air */