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driver_ubx.h
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driver_ubx.h
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/*
* This file is Copyright (c) 2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details
*/
#ifndef _GPSD_UBX_H_
#define _GPSD_UBX_H_
#define UBX_MESSAGE_BASE_SIZE 6
#define UBX_MESSAGE_DATA_OFFSET UBX_MESSAGE_BASE_SIZE
typedef enum {
UBX_CLASS_NAV = 0x01, /**< Navigation */
UBX_CLASS_RXM = 0x02, /**< Receiver Manager */
UBX_CLASS_INF = 0x04, /**< Informative text messages */
UBX_CLASS_ACK = 0x05, /**< (Not) Acknowledges for cfg messages */
UBX_CLASS_CFG = 0x06, /**< Configuration requests */
UBX_CLASS_UPD = 0x09, /**< Firmware updates */
UBX_CLASS_MON = 0x0a, /**< System monitoring */
UBX_CLASS_AID = 0x0b, /**< AGPS */
UBX_CLASS_TIM = 0x0d, /**< Time */
} ubx_classes_t;
#define UBX_MSGID(cls_, id_) (((cls_)<<8)|(id_))
typedef enum {
UBX_NAV_POSECEF = UBX_MSGID(UBX_CLASS_NAV, 0x01),
UBX_NAV_POSLLH = UBX_MSGID(UBX_CLASS_NAV, 0x02),
UBX_NAV_STATUS = UBX_MSGID(UBX_CLASS_NAV, 0x03),
UBX_NAV_DOP = UBX_MSGID(UBX_CLASS_NAV, 0x04),
UBX_NAV_SOL = UBX_MSGID(UBX_CLASS_NAV, 0x06),
UBX_NAV_PVT = UBX_MSGID(UBX_CLASS_NAV, 0x07),
UBX_NAV_POSUTM = UBX_MSGID(UBX_CLASS_NAV, 0x08),
UBX_NAV_VELECEF = UBX_MSGID(UBX_CLASS_NAV, 0x11),
UBX_NAV_VELNED = UBX_MSGID(UBX_CLASS_NAV, 0x12),
UBX_NAV_TIMEGPS = UBX_MSGID(UBX_CLASS_NAV, 0x20),
UBX_NAV_TIMEUTC = UBX_MSGID(UBX_CLASS_NAV, 0x21),
UBX_NAV_CLOCK = UBX_MSGID(UBX_CLASS_NAV, 0x22),
UBX_NAV_SVINFO = UBX_MSGID(UBX_CLASS_NAV, 0x30),
UBX_NAV_DGPS = UBX_MSGID(UBX_CLASS_NAV, 0x31),
UBX_NAV_SBAS = UBX_MSGID(UBX_CLASS_NAV, 0x32),
UBX_NAV_EKFSTATUS = UBX_MSGID(UBX_CLASS_NAV, 0x40),
UBX_RXM_RAW = UBX_MSGID(UBX_CLASS_RXM, 0x10),
UBX_RXM_SFRB = UBX_MSGID(UBX_CLASS_RXM, 0x11),
UBX_RXM_SVSI = UBX_MSGID(UBX_CLASS_RXM, 0x20),
UBX_RXM_ALM = UBX_MSGID(UBX_CLASS_RXM, 0x30),
UBX_RXM_EPH = UBX_MSGID(UBX_CLASS_RXM, 0x31),
UBX_RXM_POSREQ = UBX_MSGID(UBX_CLASS_RXM, 0x40),
UBX_INF_ERROR = UBX_MSGID(UBX_CLASS_INF, 0X00),
UBX_INF_WARNING = UBX_MSGID(UBX_CLASS_INF, 0X01),
UBX_INF_NOTICE = UBX_MSGID(UBX_CLASS_INF, 0x02),
UBX_INF_TEST = UBX_MSGID(UBX_CLASS_INF, 0x03),
UBX_INF_DEBUG = UBX_MSGID(UBX_CLASS_INF, 0x04),
UBX_INF_USER = UBX_MSGID(UBX_CLASS_INF, 0x07),
UBX_ACK_NAK = UBX_MSGID(UBX_CLASS_ACK, 0x00),
UBX_ACK_ACK = UBX_MSGID(UBX_CLASS_ACK, 0x01),
UBX_CFG_PRT = UBX_MSGID(UBX_CLASS_CFG, 0x00),
UBX_UPD_DOWNL = UBX_MSGID(UBX_CLASS_UPD, 0x01),
UBX_UPD_UPLOAD = UBX_MSGID(UBX_CLASS_UPD, 0x02),
UBX_UPD_EXEC = UBX_MSGID(UBX_CLASS_UPD, 0x03),
UBX_UPD_MEMCPY = UBX_MSGID(UBX_CLASS_UPD, 0x04),
UBX_MON_SCHED = UBX_MSGID(UBX_CLASS_MON, 0x01),
UBX_MON_IO = UBX_MSGID(UBX_CLASS_MON, 0x02),
UBX_MON_IPC = UBX_MSGID(UBX_CLASS_MON, 0x03),
UBX_MON_VER = UBX_MSGID(UBX_CLASS_MON, 0x04),
UBX_MON_EXCEPT = UBX_MSGID(UBX_CLASS_MON, 0x05),
UBX_MON_MSGPP = UBX_MSGID(UBX_CLASS_MON, 0x06),
UBX_MON_RXBUF = UBX_MSGID(UBX_CLASS_MON, 0x07),
UBX_MON_TXBUF = UBX_MSGID(UBX_CLASS_MON, 0x08),
UBX_MON_HW = UBX_MSGID(UBX_CLASS_MON, 0x09),
UBX_MON_USB = UBX_MSGID(UBX_CLASS_MON, 0x0a),
UBX_AID_REQ = UBX_MSGID(UBX_CLASS_AID, 0x00),
UBX_AID_INI = UBX_MSGID(UBX_CLASS_AID, 0x01),
UBX_AID_HUI = UBX_MSGID(UBX_CLASS_AID, 0x02),
UBX_AID_DATA = UBX_MSGID(UBX_CLASS_AID, 0x10),
UBX_AID_ALM = UBX_MSGID(UBX_CLASS_AID, 0x30),
UBX_AID_EPH = UBX_MSGID(UBX_CLASS_AID, 0x31),
UBX_TIM_TP = UBX_MSGID(UBX_CLASS_TIM, 0x01),
UBX_TIM_TM = UBX_MSGID(UBX_CLASS_TIM, 0x02),
UBX_TIM_TM2 = UBX_MSGID(UBX_CLASS_TIM, 0x03),
UBX_TIM_SVIN = UBX_MSGID(UBX_CLASS_TIM, 0x04),
} ubx_message_t;
typedef enum {
UBX_MODE_NOFIX = 0x00, /* no fix available */
UBX_MODE_DR = 0x01, /* Dead reckoning */
UBX_MODE_2D = 0x02, /* 2D fix */
UBX_MODE_3D = 0x03, /* 3D fix */
UBX_MODE_GPSDR = 0x04, /* GPS + dead reckoning */
UBX_MODE_TMONLY = 0x05, /* Time-only fix */
} ubx_mode_t;
#define UBX_SOL_FLAG_GPS_FIX_OK 0x01
#define UBX_SOL_FLAG_DGPS 0x02
#define UBX_SOL_VALID_WEEK 0x04
#define UBX_SOL_VALID_TIME 0x08
#define UBX_TIMEGPS_VALID_TIME 0x01
#define UBX_TIMEGPS_VALID_WEEK 0x02
#define UBX_TIMEGPS_VALID_LEAP_SECOND 0x04
/* from UBX_NAV_SVINFO */
#define UBX_SAT_USED 0x01
#define UBX_SAT_DGPS 0x02
#define UBX_SAT_EPHALM 0x04
#define UBX_SAT_EPHEM 0x08
#define UBX_SAT_UNHEALTHY 0x10
#define UBX_SIG_IDLE 0
#define UBX_SIG_SRCH1 1
#define UBX_SIG_SRCH2 2
#define UBX_SIG_DETECT 3
#define UBX_SIG_CDLK 4
#define UBX_SIG_CDCRLK1 5
#define UBX_SIG_CDCRLK2 6
#define UBX_SIG_NAVMSG 7
#define UBX_NAV_PVT_VALID_DATE 0x01
#define UBX_NAV_PVT_VALID_TIME 0x02
#define UBX_NAV_PVT_VALID_DATE_TIME (UBX_NAV_PVT_VALID_DATE | UBX_NAV_PVT_VALID_TIME)
#define UBX_NAV_PVT_FLAG_GPS_FIX_OK 0x01
#define UBX_NAV_PVT_FLAG_DGPS 0x02
#endif /* _GPSD_UBX_H_ */