gps_sirf.h File Reference

Sirf protocol specific code. More...

#include "std.h"
#include "mcu_periph/link_device.h"
#include "mcu_periph/uart.h"

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Data Structures
struct	GpsSirf
struct	sirf_msg_2
	Message ID 2 from GPS. More...
struct	sirf_msg_41
	Message ID 41 from GPS. More...

Macros
#define	GPS_NB_CHANNELS   16
#define	SIRF_MAXLEN   255
#define	UNINIT   0
#define	GOT_A0   1
#define	GOT_A2   2
#define	GOT_B0   3
#define	Invert2Bytes(x)   ((x>>8) | (x<<8))
#define	Invert4Bytes(x)   ((x>>24) | ((x<<8) & 0x00FF0000) | ((x>>8) & 0x0000FF00) | (x<<24))

Functions
void	sirf_parse_char (uint8_t c)
void	sirf_parse_msg (void)
void	gps_sirf_msg (void)
static void	GpsEvent (void)

Variables
struct GpsSirf	gps_sirf

Detailed Description

Sirf protocol specific code.

Definition in file gps_sirf.h.

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Data Structure Documentation

struct GpsSirf

Definition at line 43 of file gps_sirf.h.

Data Fields
bool_t	msg_available
char	msg_buf[SIRF_MAXLEN]	buffer for storing one nmea-line
int	msg_len
bool_t	pos_available
int	read_state

struct sirf_msg_2

Message ID 2 from GPS.

Total payload length should be 41 bytes.

Definition at line 58 of file gps_sirf.h.

Data Fields
uint8_t	ch10prn
uint8_t	ch11prn
uint8_t	ch12prn
uint8_t	ch1prn	pseudo-random noise, 12 channels
uint8_t	ch2prn
uint8_t	ch3prn
uint8_t	ch4prn
uint8_t	ch5prn
uint8_t	ch6prn
uint8_t	ch7prn
uint8_t	ch8prn
uint8_t	ch9prn
uint8_t	hdop	horizontal dilution of precision *5 (0.2 precision)
uint8_t	mode1
uint8_t	mode2
uint8_t	msg_id	hex value 0x02 ( = decimal 2)
uint8_t	num_sat	Number of satellites in fix.
uint32_t	tow	time of week in seconds * 10^2
int16_t	vx	x-velocity * 8 in m/s
int16_t	vy	y-velocity * 8 in m/s
int16_t	vz	z-velocity * 8 in m/s
uint16_t	week
int32_t	x_pos	x-position in m
int32_t	y_pos	y-position in m
int32_t	z_pos	z-position in m

struct sirf_msg_41

Message ID 41 from GPS.

Total payload length should be 91 bytes.

Definition at line 88 of file gps_sirf.h.

Data Fields
uint8_t	add_info	Additional mode info.
int32_t	alt_ellipsoid	in meters *10^2
int32_t	alt_msl	in meters *10^2
int16_t	climb_rate	in m/s * 10^2
int32_t	clock_bias	in m * 10^2
uint32_t	clock_bias_err	in m * 10^2
int32_t	clock_drift	in m/s * 10^2
uint32_t	clock_drift_err	in m/s * 10^2
uint16_t	cog	course over ground, in degrees clockwise from true north * 10^2
uint8_t	day
uint32_t	distance	Distance traveled since reset in m.
uint16_t	distance_err	in meters
uint32_t	ehpe	estimated horizontal position error, in meters * 10^2
uint16_t	ehve	estimated horizontal velocity error in m/s * 10^2
uint32_t	ete	estimated time error, in seconds * 10^2
uint32_t	evpe	estimated vertical position error, in meters * 10^2
uint16_t	extended_week_number
uint8_t	hdop	Horizontal dilution of precision x 5 (0.2 precision)
uint16_t	heading_err	in degrees * 10^2
int16_t	heading_rate	in deg/s * 10^2
uint8_t	hour
int32_t	latitude	in degrees (+= North) *10^7
int32_t	longitude	in degrees (+= East) *10*7
int16_t	mag_var	not implemented
int8_t	map_datum
uint8_t	minute
uint8_t	month
uint8_t	msg_id	hex value 0x29 (= decimal 41)
uint16_t	nav_type
uint16_t	nav_valid	if equal to 0x0000, then navigation solution is valid
uint8_t	num_sat	Number of satellites used for solution.
uint32_t	sat_id	satellites used in solution. Each satellite corresponds with a bit, e.g. bit 1 ON = SV 1 is used in solution
uint16_t	second
uint16_t	sog	speed over ground, in m/s * 10^2
uint32_t	tow	time of week in seconds *10^3]
uint16_t	year

Macro Definition Documentation

#define GOT_A0   1

Definition at line 39 of file gps_sirf.h.

Referenced by sirf_parse_char().

#define GOT_A2   2

Definition at line 40 of file gps_sirf.h.

Referenced by sirf_parse_char().

#define GOT_B0   3

Definition at line 41 of file gps_sirf.h.

Referenced by sirf_parse_char().

#define GPS_NB_CHANNELS   16

Definition at line 34 of file gps_sirf.h.

#define Invert2Bytes

(

x

)

((x>>8) | (x<<8))

Definition at line 54 of file gps_sirf.h.

Referenced by sirf_parse_2(), and sirf_parse_41().

#define Invert4Bytes

(

x

)

((x>>24) | ((x<<8) & 0x00FF0000) | ((x>>8) & 0x0000FF00) | (x<<24))

Definition at line 55 of file gps_sirf.h.

Referenced by sirf_parse_2(), and sirf_parse_41().

#define SIRF_MAXLEN   255

Definition at line 35 of file gps_sirf.h.

#define UNINIT   0

Definition at line 38 of file gps_sirf.h.

Function Documentation

void gps_sirf_msg

(

void

)

Definition at line 51 of file gps_sirf.c.

References FALSE, GpsState::fix, get_sys_time_usec(), gps, GPS_FIX_3D, gps_sirf, GPS_SIRF_ID, GpsState::last_3dfix_ticks, GpsState::last_3dfix_time, GpsState::last_msg_ticks, GpsState::last_msg_time, GpsSirf::msg_available, sys_time::nb_sec, sys_time::nb_sec_rem, GpsSirf::pos_available, and sirf_parse_msg().

Referenced by GpsEvent().

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static void GpsEvent ( void  )

inlinestatic

Definition at line 137 of file gps_sirf.h.

References link_device::char_available, dev, link_device::get_byte, gps_sirf, gps_sirf_msg(), GpsSirf::msg_available, link_device::periph, and sirf_parse_char().

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void sirf_parse_char

(

uint8_t

c

)

Definition at line 68 of file gps_sirf.c.

References GOT_A0, GOT_A2, GOT_B0, gps_sirf, GpsSirf::msg_available, GpsSirf::msg_buf, GpsSirf::msg_len, GpsSirf::read_state, TRUE, and UNINIT.

Referenced by GpsEvent().

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void sirf_parse_msg

(

void

)

Definition at line 193 of file gps_sirf.c.

References FALSE, gps_sirf, GpsSirf::msg_buf, GpsSirf::msg_len, sys_time::nb_sec, GpsSirf::pos_available, sirf_parse_2(), sirf_parse_41(), start_time2, and ticks2.

Referenced by gps_sirf_msg().

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Variable Documentation

struct GpsSirf gps_sirf

Definition at line 39 of file gps_sirf.c.

Referenced by gps_impl_init(), gps_sirf_msg(), GpsEvent(), sirf_parse_2(), sirf_parse_41(), sirf_parse_char(), and sirf_parse_msg().