skytraq.h

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/* Copyright 2013-2014, Peter A. Bigot
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice,
 *   this list of conditions and the following disclaimer.
 *
 * * 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.
 *
 * * Neither the name of the software 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 COPYRIGHT HOLDERS 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 COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef BSP430_SENSORS_SKYTRAQ_H
#define BSP430_SENSORS_SKYTRAQ_H

#include <bsp430/core.h>

typedef enum eSkyTraqMessageID {
  eSkyTraqMID_NMEA = 71,                  
  /* Input System Messages */
  eSkyTraqMIDin_RESTART = 1,              
  eSkyTraqMIDin_QRY_SW_VERSION = 2,       
  eSkyTraqMIDin_QRY_SW_CRC = 3,           
  eSkyTraqMIDin_SET_FACTORY_DEFAULTS = 4, 
  eSkyTraqMIDin_CFG_SERIAL = 7,           
  eSkyTraqMIDin_CFG_NMEA = 8,             
  eSkyTraqMIDin_CFG_FORMAT = 9,           
  eSkyTraqMIDin_CFG_POWER = 12,           
  eSkyTraqMIDin_CFG_PUR = 14,             
  eSkyTraqMIDin_QRY_PUR = 16,             
  /* Input GPS messages */
  eSkyTraqMIDin_CFG_DATUM = 41,           
  eSkyTraqMIDin_QRY_DATUM = 45,           
  eSkyTraqMIDin_GET_EPHEMERIS = 48,       
  eSkyTraqMIDin_SET_EPHEMERIS = 49,       
  eSkyTraqMIDin_CFG_WAAS = 55,            
  eSkyTraqMIDin_QRY_WAAS = 56,            
  eSkyTraqMIDin_CFG_PPIN = 57,            
  eSkyTraqMIDin_QRY_PPIN = 58,            
  eSkyTraqMIDin_CFG_PPIN_PARAM = 59,      
  eSkyTraqMIDin_CFG_NAV_MODE = 60,        
  eSkyTraqMIDin_QRY_NAV_MODE = 61,        
  eSkyTraqMIDin_CFG_1PPS = 62,            
  eSkyTraqMIDin_QRY_1PPS = 63,            
  /* Output System Messages */
  eSkyTraqMIDout_SW_VERSION = 128,        
  eSkyTraqMIDout_SW_CRC = 129,            
  eSkyTraqMIDout_ACK = 131,               
  eSkyTraqMIDout_NACK = 132,              
  eSkyTraqMIDout_PUR = 134,               
  /* Output GPS Messages */
  eSkyTraqMIDout_NAV_DATA = 168,         
  eSkyTraqMIDout_DATUM = 174,            
  eSkyTraqMIDout_WAAS = 179,             
  eSkyTraqMIDout_PPIN = 180,             
  eSkyTraqMIDout_NAV_MODE = 181,         
  eSkyTraqMIDout_1PPS = 182,             
} eSkyTraqMessageID;

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsg_GENERIC)
{
  uint8_t mid;                  
  uint8_t payload[1];           
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgIn_RESTART)
{
  uint8_t mid;                  
  uint8_t mode;                 
  uint16_t year_be;             
  uint8_t mon;                  
  uint8_t mday;                 
  uint8_t hour;                 
  uint8_t min;                  
  uint8_t sec;                  
  int16_t lat_cdeg_be;          
  int16_t lon_cdeg_be;          
  int16_t alt_m_be;             
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgIn_SW_VERSION)
{
  uint8_t mid;                  
  uint8_t type;                 
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgIn_SW_CRC)
{
  uint8_t mid;                  
  uint8_t type;                 
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgIn_FACTORY_DEFAULTS)
{
  uint8_t mid;                  
  uint8_t type;                 
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgIn_CFG_SERIAL)
{
  uint8_t mid;                  
  uint8_t port;                 
  uint8_t baud_idx;             
  uint8_t attributes;           
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgIn_CFG_NMEA)
{
  uint8_t mid;                  
  uint8_t gga_s;                
  uint8_t gsa_s;                
  uint8_t gsv_s;                
  uint8_t gll_s;                
  uint8_t rmc_s;                
  uint8_t vtg_s;                
  uint8_t zda_s;                
  uint8_t attributes;           
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgIn_CFG_FORMAT)
{
  uint8_t mid;                  
  uint8_t type;                 
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgOut_SW_VERSION)
{
  uint8_t mid;                  
  uint8_t type;                 
  uint32_t kernel;              
  uint32_t odm;                 
  uint32_t revision;            
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgOut_ACK)
{
  uint8_t mid;                  
  uint8_t in_mid;               
};

BSP430_CORE_PACKED_STRUCT(sSkyTraqMsgOut_NAV_DATA)
{
  uint8_t mid;                  
  uint8_t fix_mode;             
  uint8_t nsv;                  
  uint16_t gps_week_be;         
  uint32_t gps_tow_cs_be;       
  int32_t lat_xdeg_be;          
  int32_t lon_xdeg_be;          
  uint32_t ell_alt_cm_be;       
  uint32_t msl_alt_cm_be;       
  uint16_t gdop_pc_be;          
  uint16_t pdop_pc_be;          
  uint16_t hdop_pc_be;          
  uint16_t vdop_pc_be;          
  uint16_t tdop_pc_be;          
  int32_t ecef_x_cm_be;         
  int32_t ecef_y_cm_be;         
  int32_t ecef_z_cm_be;         
  int32_t ecef_vx_cm_be;        
  int32_t ecef_vy_cm_be;        
  int32_t ecef_vz_cm_be;        
};

typedef union uSkyTraqMsgIn {
  struct sSkyTraqMsg_GENERIC generic; 
  struct sSkyTraqMsgIn_RESTART restart;
  struct sSkyTraqMsgIn_SW_VERSION sw_version;
  struct sSkyTraqMsgIn_FACTORY_DEFAULTS factory_defaults;
  struct sSkyTraqMsgIn_CFG_SERIAL cfg_serial;
  struct sSkyTraqMsgIn_CFG_NMEA cfg_nmea;
  struct sSkyTraqMsgIn_CFG_FORMAT cfg_format;
} uSkyTraqMsgIn;

typedef union uSkyTraqMsgOut {
  struct sSkyTraqMsg_GENERIC generic; 
  struct sSkyTraqMsgOut_SW_VERSION sw_version;
  struct sSkyTraqMsgOut_ACK ack;
  struct sSkyTraqMsgOut_ACK nack;
  struct sSkyTraqMsgOut_NAV_DATA nav_data;
} uSkyTraqMsgOut;

typedef union uSkyTraqMsg {
  struct sSkyTraqMsg_GENERIC generic; 
  char nmea[1];                       
  uSkyTraqMsgIn in;                   
  uSkyTraqMsgOut out;                 
} uSkyTraqMsg;

#ifndef SKYTRAQ_NMEA_RX_POOL_SIZE
#define SKYTRAQ_NMEA_RX_POOL_SIZE 100
#endif /* SKYTRAQ_NMEA_RX_POOL_SIZE */

#ifndef SKYTRAQ_NMEA_RX_POOL_FRAGMENTS
#define SKYTRAQ_NMEA_RX_POOL_FRAGMENTS 4
#endif /* SKYTRAQ_NMEA_RX_POOL_FRAGMENTS */

#endif /* BSP430_SENSORS_SKYTRAQ_H */