Diff: OEM615.h

Revision:

0:c746ee34feae

Child:

4:68268737ff89

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/OEM615.h	Tue Mar 19 02:17:40 2013 +0000
@@ -0,0 +1,130 @@
+    
+#pragma pack(1)  //this forces the structure to be packed on byte boundaries (with no byte filler)
+//set up the GPS message header in a structure to enable easy reading -- see the OEM615 manual (Table 4, page 24)
+struct MESSAGEHEADER   
+{
+    char synchAA;  //1st synch word
+    char synch44;  //2nd synch word
+    char synch12;  //3rd synch word
+    unsigned char headerLength;  //always 28
+    unsigned short messageID;
+    char messageType;  //always = 0 for binary
+    unsigned char portAddress;  //0x20 for COM1
+    unsigned short messageLength; //not including header or CRC
+    unsigned short sequence;  //typically 0
+    unsigned char idleTime;  //Time the processor is idle, in the last second
+    unsigned char timeStatus; //Enum Indicating quality of the GPS reference time
+    unsigned short GPSweek;   //GPS reference week
+    unsigned long GPSTime_msecs; //from beginning of week
+    unsigned long receiverStatus; //32-bits representing the status of hardware and software
+    unsigned short reserved;
+    unsigned short receiverSWversion;  //receiver software build number
+};
+MESSAGEHEADER *msgHeader[4];
+
+#pragma pack(1)
+//structure for OEM615 BESTVEL log message  (page 314)
+struct OEM615BESTVEL
+{
+    MESSAGEHEADER msgHeader;
+    int solStatus;                      //solution status
+    //solutionStatusOEMStar solStatus;  //solution status
+    int velType;                        //position or velocity type
+    //velTypeOEMStar posType;           //position or velocity type   
+    float latency;
+    float age;
+    double horizontalSpeed;         //horizontal velocity vector magnitude (m/s)
+    double heading;                 //deg from North called TRK GND in specification
+    double verticalSpeed;           //vertical velocity magnitude (m/s)
+    float reserved;
+    unsigned long CRC;
+};
+
+#pragma pack(1)
+//structure for BESTPOS message 
+struct OEM615BESTPOS
+{
+    MESSAGEHEADER msgHeader;
+    int solStatus;                      //solution status
+    //solutionStatusOEMStar solStatus;  //solution status
+    int posType;                        //position or velocity type
+    //posTypeOEMStar posType;           //position or velocity type
+    double latitude;                    //latitude
+    double longitude;                   //longitude
+    double height;                      //height above mean sea level
+    float undulation;                   //the realtionship between the geoid and the
+                                        //ellipsoid of the chosen datum (m)
+    char datumID[4];                    //datum ID is actually an enum that is not implemented
+    float latitudeSTD;                  //latitude standard deviation
+    float longitudeSTD;                 //longitude standard deviation
+    float heightSTD;                    //height standard deviation
+    char baseStationID[4];              //base station ID
+    float diffAge;                      //differential age (s)
+    float solutionAge;                  //solution age (s)
+    unsigned char numSV;                //number of satellite vehicles tracked
+    unsigned char numSolSV;             //number of satellite vehicles used in solution
+    unsigned char numGGL1;              //number of GPS plus Glonass L1
+    unsigned char res1;
+    unsigned char res2;
+    unsigned char extSolStatus;         //extended solution status
+    unsigned char res3;
+    unsigned char sigMask;              //signals used mask
+    unsigned long CRC;
+};
+
+
+//this code was taken from the Novatel Firmware document page 35
+#define CRC32_POLYNOMIAL 0xEDB88320L
+/* --------------------------------------------------------------------------
+Calculate a CRC value to be used by CRC calculation functions.
+-------------------------------------------------------------------------- */
+unsigned long CRC32Value(int i)
+{
+    int j;
+    unsigned long ulCRC;
+    ulCRC = i;
+    for ( j = 8 ; j > 0; j-- )
+    {
+        if ( ulCRC & 1 )
+        ulCRC = ( ulCRC >> 1 ) ^ CRC32_POLYNOMIAL;
+        else
+        ulCRC >>= 1;
+    }
+    return ulCRC;
+} 
+
+/* --------------------------------------------------------------------------
+Calculates the CRC-32 of a block of data all at once
+//the CRC is c from the complete message (header plus data) but excluding (of course) the CRC at the end
+-------------------------------------------------------------------------- */
+unsigned long CalculateBlockCRC32(
+        unsigned long ulCount,    /* Number of bytes in the data block */
+        unsigned char *ucBuffer ) /* Data block */
+{
+    unsigned long ulTemp1;
+    unsigned long ulTemp2;
+    unsigned long ulCRC = 0;
+    while ( ulCount-- != 0 )
+    {
+        ulTemp1 = ( ulCRC >> 8 ) & 0x00FFFFFFL;
+        ulTemp2 = CRC32Value( ((int) ulCRC ^ *ucBuffer++ ) & 0xff );
+        ulCRC = ulTemp1 ^ ulTemp2;
+    }
+    return( ulCRC );
+}
+
+//GPS-specific pins
+DigitalOut GPS_Reset(p18);      //GPS RESET line
+InterruptIn PPSInt(p15);        // GPS 1PPS (timemark) from the OEM615
+InterruptIn IMUClock(p17);
+
+Timer timeFromPPS;
+unsigned long GPSTimemsecs = 0;
+double GPSTime = 0;
+int PPSTimeOffset = 0;
+
+//mbed tx/rx interface to the GPS COM1 port
+MODSERIAL GPS_COM1(p9,p10);  //this serial port communicates with the GPS receiver serial port (COM1)
+
+
+