1: /* @(#) $Header: /usr/local/www/users/anoncvs/cvs/embedaddon/ntp/ntpd/jupiter.h,v 1.1.1.1 2012/05/29 12:08:37 misho Exp $ (LBL) */
2:
3: /*
4: * Rockwell Jupiter GPS receiver definitions
5: *
6: * This is all based on the "Zodiac GPS Receiver Family Designer's
7: * Guide" (dated 12/96)
8: */
9:
10: #define JUPITER_SYNC 0x81ff /* sync word (book says 0xff81 !?!?) */
11: #define JUPITER_ALL 0xffff /* disable all output messages */
12:
13: /* Output messages (sent by the Jupiter board) */
14: #define JUPITER_O_GPOS 1000 /* geodetic position status */
15: #define JUPITER_O_EPOS 1001 /* ECEF position status */
16: #define JUPITER_O_CHAN 1002 /* channel summary */
17: #define JUPITER_O_VIS 1003 /* visible satellites */
18: #define JUPITER_O_DGPS 1005 /* differential GPS status */
19: #define JUPITER_O_MEAS 1007 /* channel measurement */
20: #define JUPITER_O_ID 1011 /* receiver id */
21: #define JUPITER_O_USER 1012 /* user-settings output */
22: #define JUPITER_O_TEST 1100 /* built-in test results */
23: #define JUPITER_O_MARK 1102 /* measurement time mark */
24: #define JUPITER_O_PULSE 1108 /* UTC time mark pulse output */
25: #define JUPITER_O_PORT 1130 /* serial port com parameters in use */
26: #define JUPITER_O_EUP 1135 /* EEPROM update */
27: #define JUPITER_O_ESTAT 1136 /* EEPROM status */
28:
29: /* Input messages (sent to the Jupiter board) */
30: #define JUPITER_I_PVTINIT 1200 /* geodetic position and velocity */
31: #define JUPITER_I_USER 1210 /* user-defined datum */
32: #define JUPITER_I_MAPSEL 1211 /* map datum select */
33: #define JUPITER_I_ELEV 1212 /* satellite elevation mask control */
34: #define JUPITER_I_CAND 1213 /* satellite candidate select */
35: #define JUPITER_I_DGPS 1214 /* differential GPS control */
36: #define JUPITER_I_COLD 1216 /* cold start control */
37: #define JUPITER_I_VALID 1217 /* solution validity criteria */
38: #define JUPITER_I_ALT 1219 /* user-entered altitude input */
39: #define JUPITER_I_PLAT 1220 /* application platform control */
40: #define JUPITER_I_NAV 1221 /* nav configuration */
41: #define JUPITER_I_TEST 1300 /* preform built-in test command */
42: #define JUPITER_I_RESTART 1303 /* restart command */
43: #define JUPITER_I_PORT 1330 /* serial port com parameters */
44: #define JUPITER_I_PROTO 1331 /* message protocol control */
45: #define JUPITER_I_RDGPS 1351 /* raw DGPS RTCM SC-104 data */
46:
47: struct jheader {
48: u_short sync; /* (JUPITER_SYNC) */
49: u_short id; /* message id */
50: u_short len; /* number of data short wordss (w/o cksum) */
51: u_char reqid; /* JUPITER_REQID_MASK bits available as id */
52: u_char flags; /* flags */
53: u_short hsum; /* header cksum */
54: };
55:
56: #define JUPITER_REQID_MASK 0x3f /* bits available as id */
57: #define JUPITER_FLAG_NAK 0x01 /* negative acknowledgement */
58: #define JUPITER_FLAG_ACK 0x02 /* acknowledgement */
59: #define JUPITER_FLAG_REQUEST 0x04 /* request ACK or NAK */
60: #define JUPITER_FLAG_QUERY 0x08 /* request one shot output message */
61: #define JUPITER_FLAG_LOG 0x20 /* request periodic output message */
62: #define JUPITER_FLAG_CONN 0x40 /* enable periodic message */
63: #define JUPITER_FLAG_DISC 0x80 /* disable periodic message */
64:
65: #define JUPITER_H_FLAG_BITS \
66: "\020\1NAK\2ACK\3REQUEST\4QUERY\5MBZ\6LOG\7CONN\10DISC"
67:
68: /* Log request messages (data payload when using JUPITER_FLAG_LOG) */
69: struct jrequest {
70: u_short trigger; /* if 0, trigger on time trigger on
71: update (e.g. new almanac) */
72: u_short interval; /* frequency in seconds */
73: u_short offset; /* offset into minute */
74: u_short dsum; /* checksum */
75: };
76:
77: /* JUPITER_O_GPOS (1000) */
78: struct jgpos {
79: u_short stime[2]; /* set time (10 ms ticks) */
80: u_short seq; /* sequence number */
81: u_short sseq; /* sat measurement sequence number */
82: u_short navval; /* navigation soltuion validity */
83: u_short navtype; /* navigation solution type */
84: u_short nmeas; /* # of measurements used in solution */
85: u_short polar; /* if 1 then polar navigation */
86: u_short gweek; /* GPS week number */
87: u_short sweek[2]; /* GPS seconds into week */
88: u_short nsweek[2]; /* GPS nanoseconds into second */
89: u_short utcday; /* 1 to 31 */
90: u_short utcmon; /* 1 to 12 */
91: u_short utcyear; /* 1980 to 2079 */
92: u_short utchour; /* 0 to 23 */
93: u_short utcmin; /* 0 to 59 */
94: u_short utcsec; /* 0 to 59 */
95: u_short utcnsec[2]; /* 0 to 999999999 */
96: u_short lat[2]; /* latitude (radians) */
97: u_short lon[2]; /* longitude (radians) */
98: u_short height[2]; /* height (meters) */
99: u_short gsep; /* geoidal separation */
100: u_short speed[2]; /* ground speed (meters/sec) */
101: u_short course; /* true course (radians) */
102: u_short mvar;
103: u_short climb;
104: u_short mapd;
105: u_short herr[2];
106: u_short verr[2];
107: u_short terr[2];
108: u_short hverr;
109: u_short bias[2];
110: u_short biassd[2];
111: u_short drift[2];
112: u_short driftsd[2];
113: u_short dsum; /* checksum */
114: };
115: #define JUPITER_O_GPOS_NAV_NOALT 0x01 /* altitude used */
116: #define JUPITER_O_GPOS_NAV_NODGPS 0x02 /* no differential GPS */
117: #define JUPITER_O_GPOS_NAV_NOSAT 0x04 /* not enough satellites */
118: #define JUPITER_O_GPOS_NAV_MAXH 0x08 /* exceeded max EHPE */
119: #define JUPITER_O_GPOS_NAV_MAXV 0x10 /* exceeded max EVPE */
120:
121: /* JUPITER_O_CHAN (1002) */
122: struct jchan {
123: u_short stime[2]; /* set time (10 ms ticks) */
124: u_short seq; /* sequence number */
125: u_short sseq; /* sat measurement sequence number */
126: u_short gweek; /* GPS week number */
127: u_short sweek[2]; /* GPS seconds into week */
128: u_short gpsns[2]; /* GPS nanoseconds from epoch */
129: struct jchan2 {
130: u_short flags; /* flags */
131: u_short prn; /* satellite PRN */
132: u_short chan; /* channel number */
133: } sat[12];
134: u_short dsum;
135: };
136:
137: /* JUPITER_O_VIS (1003) */
138: struct jvis {
139: u_short stime[2]; /* set time (10 ms ticks) */
140: u_short seq; /* sequence number */
141: u_short gdop; /* best possible GDOP */
142: u_short pdop; /* best possible PDOP */
143: u_short hdop; /* best possible HDOP */
144: u_short vdop; /* best possible VDOP */
145: u_short tdop; /* best possible TDOP */
146: u_short nvis; /* number of visible satellites */
147: struct jvis2 {
148: u_short prn; /* satellite PRN */
149: u_short azi; /* satellite azimuth (radians) */
150: u_short elev; /* satellite elevation (radians) */
151: } sat[12];
152: u_short dsum; /* checksum */
153: };
154:
155: /* JUPITER_O_ID (1011) */
156: struct jid {
157: u_short stime[2]; /* set time (10 ms ticks) */
158: u_short seq; /* sequence number */
159: char chans[20]; /* number of channels (ascii) */
160: char vers[20]; /* software version (ascii) */
161: char date[20]; /* software date (ascii) */
162: char opts[20]; /* software options (ascii) */
163: char reserved[20];
164: u_short dsum; /* checksum */
165: };
166:
167: /* JUPITER_O_USER (1012) */
168: struct juser {
169: u_short stime[2]; /* set time (10 ms ticks) */
170: u_short seq; /* sequence number */
171: u_short status; /* operatinoal status */
172: u_short coldtmo; /* cold start time-out */
173: u_short dgpstmo; /* DGPS correction time-out*/
174: u_short emask; /* elevation mask */
175: u_short selcand[2]; /* selected candidate */
176: u_short solflags; /* solution validity criteria */
177: u_short nsat; /* number of satellites in track */
178: u_short herr[2]; /* minimum expected horizontal error */
179: u_short verr[2]; /* minimum expected vertical error */
180: u_short platform; /* application platform */
181: u_short dsum; /* checksum */
182: };
183:
184: /* JUPITER_O_PULSE (1108) */
185: struct jpulse {
186: u_short stime[2]; /* set time (10 ms ticks) */
187: u_short seq; /* sequence number */
188: u_short reserved[5];
189: u_short sweek[2]; /* GPS seconds into week */
190: short offs; /* GPS to UTC time offset (seconds) */
191: u_short offns[2]; /* GPS to UTC offset (nanoseconds) */
192: u_short flags; /* flags */
193: u_short dsum; /* checksum */
194: };
195: #define JUPITER_O_PULSE_VALID 0x1 /* time mark validity */
196: #define JUPITER_O_PULSE_UTC 0x2 /* GPS/UTC sync */
197:
198: /* JUPITER_O_EUP (1135) */
199: struct jeup {
200: u_short stime[2]; /* set time (10 ms ticks) */
201: u_short seq; /* sequence number */
202: u_char dataid; /* data id */
203: u_char prn; /* satellite PRN */
204: u_short dsum; /* checksum */
205: };
206:
207: /* JUPITER_I_RESTART (1303) */
208: struct jrestart {
209: u_short seq; /* sequence number */
210: u_short flags;
211: u_short dsum; /* checksum */
212: };
213: #define JUPITER_I_RESTART_INVRAM 0x01
214: #define JUPITER_I_RESTART_INVEEPROM 0x02
215: #define JUPITER_I_RESTART_INVRTC 0x04
216: #define JUPITER_I_RESTART_COLD 0x80
217:
218: /* JUPITER_I_PVTINIT (1200) */
219: struct jpvtinit {
220: u_short flags;
221: u_short gweek; /* GPS week number */
222: u_short sweek[2]; /* GPS seconds into week */
223: u_short utcday; /* 1 to 31 */
224: u_short utcmon; /* 1 to 12 */
225: u_short utcyear; /* 1980 to 2079 */
226: u_short utchour; /* 0 to 23 */
227: u_short utcmin; /* 0 to 59 */
228: u_short utcsec; /* 0 to 59 */
229: u_short lat[2]; /* latitude (radians) */
230: u_short lon[2]; /* longitude (radians) */
231: u_short height[2]; /* height (meters) */
232: u_short speed[2]; /* ground speed (meters/sec) */
233: u_short course; /* true course (radians) */
234: u_short climb;
235: u_short dsum;
236: };
237: #define JUPITER_I_PVTINIT_FORCE 0x01
238: #define JUPITER_I_PVTINIT_GPSVAL 0x02
239: #define JUPITER_I_PVTINIT_UTCVAL 0x04
240: #define JUPITER_I_PVTINIT_POSVAL 0x08
241: #define JUPITER_I_PVTINIT_ALTVAL 0x10
242: #define JUPITER_I_PVTINIT_SPDVAL 0x12
243: #define JUPITER_I_PVTINIT_MAGVAL 0x14
244: #define JUPITER_I_PVTINIT_CLIMBVAL 0x18
245:
246: /* JUPITER_I_PLAT (1220) */
247: struct jplat {
248: u_short seq; /* sequence number */
249: u_short platform; /* application platform */
250: u_short dsum;
251: };
252: #define JUPITER_I_PLAT_DEFAULT 0 /* default dynamics */
253: #define JUPITER_I_PLAT_LOW 2 /* pedestrian */
254: #define JUPITER_I_PLAT_MED 5 /* land (e.g. automobile) */
255: #define JUPITER_I_PLAT_HIGH 6 /* air */
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