Chris Pepper / sIRFstarIII

An implementation of the Sirf Binary and NMEA Protocol for gps devices using the SiRFstarIII chipset

BinaryPackets.h@0:43da35949666, 2012-06-28 (annotated)

Committer:
p3p
Date:
Thu Jun 28 21:17:29 2012 +0000
Revision:
0:43da35949666
update to baud selection

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p3p 0:43da35949666 1 #ifndef SIRF_PROTOCOL_BINARY_PACKETS
p3p 0:43da35949666 2 #define SIRF_PROTOCOL_BINARY_PACKETS
p3p 0:43da35949666 3
p3p 0:43da35949666 4 namespace SirfStarIII {
p3p 0:43da35949666 5
p3p 0:43da35949666 6 namespace BinaryPacket {
p3p 0:43da35949666 7
p3p 0:43da35949666 8 enum PacketNames {
p3p 0:43da35949666 9 //inbound
p3p 0:43da35949666 10 ID_MeasuredTrackingData = 4,
p3p 0:43da35949666 11 ID_DGPSStatus = 27,
p3p 0:43da35949666 12 ID_GeodeticNavigationData = 41,
p3p 0:43da35949666 13 //outbound
p3p 0:43da35949666 14 ID_ConfigureNMEA = 129,
p3p 0:43da35949666 15 ID_SetBinarySerialPort = 134,
p3p 0:43da35949666 16 ID_SetProtocol = 135
p3p 0:43da35949666 17 };
p3p 0:43da35949666 18
p3p 0:43da35949666 19 class SetProtocol : public SimpleSerialProtocol::Packet {
p3p 0:43da35949666 20 public:
p3p 0:43da35949666 21 SetProtocol(uint8_t _protocol) {
p3p 0:43da35949666 22 interface.protocol = _protocol;
p3p 0:43da35949666 23 }
p3p 0:43da35949666 24
p3p 0:43da35949666 25 #pragma pack(push, 1)
p3p 0:43da35949666 26 struct Interface {
p3p 0:43da35949666 27 Interface() {
p3p 0:43da35949666 28 message_id = ID_SetProtocol;
p3p 0:43da35949666 29 }
p3p 0:43da35949666 30 uint8_t message_id;
p3p 0:43da35949666 31 uint8_t protocol;
p3p 0:43da35949666 32 } interface;
p3p 0:43da35949666 33 #pragma pack(pop)
p3p 0:43da35949666 34
p3p 0:43da35949666 35 };
p3p 0:43da35949666 36
p3p 0:43da35949666 37 class SetBinarySerialPort : public SimpleSerialProtocol::Packet {
p3p 0:43da35949666 38 public:
p3p 0:43da35949666 39 SetBinarySerialPort(uint32_t _bitrate) {
p3p 0:43da35949666 40 interface.bitrate = swapEndian(_bitrate);
p3p 0:43da35949666 41 }
p3p 0:43da35949666 42 #pragma pack(push, 1)
p3p 0:43da35949666 43 struct Interface {
p3p 0:43da35949666 44 Interface() {
p3p 0:43da35949666 45 message_id = ID_SetBinarySerialPort;
p3p 0:43da35949666 46 data_bits = 8;
p3p 0:43da35949666 47 stop_bit = 1;
p3p 0:43da35949666 48 parity = 0;
p3p 0:43da35949666 49 }
p3p 0:43da35949666 50 uint8_t message_id;
p3p 0:43da35949666 51 uint32_t bitrate;
p3p 0:43da35949666 52 uint8_t data_bits;
p3p 0:43da35949666 53 uint8_t stop_bit;
p3p 0:43da35949666 54 uint8_t parity;
p3p 0:43da35949666 55 uint8_t padding;
p3p 0:43da35949666 56 } interface;
p3p 0:43da35949666 57 #pragma pack(pop)
p3p 0:43da35949666 58 };
p3p 0:43da35949666 59
p3p 0:43da35949666 60 class ConfigureNMEA : public SimpleSerialProtocol::Packet {
p3p 0:43da35949666 61 public:
p3p 0:43da35949666 62 ConfigureNMEA(uint16_t _bitrate) {
p3p 0:43da35949666 63 interface.bitrate = swapEndian(_bitrate);;
p3p 0:43da35949666 64 }
p3p 0:43da35949666 65
p3p 0:43da35949666 66 #pragma pack(push, 1)
p3p 0:43da35949666 67 struct Interface {
p3p 0:43da35949666 68 Interface() {
p3p 0:43da35949666 69 message_id = ID_ConfigureNMEA;
p3p 0:43da35949666 70 mode = 2;
p3p 0:43da35949666 71 gga_message = 0;
p3p 0:43da35949666 72 gga_checksum = 1;
p3p 0:43da35949666 73 gll_message = 0;
p3p 0:43da35949666 74 gll_checksum = 1;
p3p 0:43da35949666 75 gsa_message = 0;
p3p 0:43da35949666 76 gsa_checksum = 1;
p3p 0:43da35949666 77 gsv_message = 0;
p3p 0:43da35949666 78 gsv_checksum = 1;
p3p 0:43da35949666 79 rmc_message = 1;
p3p 0:43da35949666 80 rmc_checksum = 1;
p3p 0:43da35949666 81 vtg_message = 0;
p3p 0:43da35949666 82 vtg_checksum = 1;
p3p 0:43da35949666 83 mss_message = 0;
p3p 0:43da35949666 84 mss_checksum = 1;
p3p 0:43da35949666 85 epe_message = 0;
p3p 0:43da35949666 86 epe_checksum = 0;
p3p 0:43da35949666 87 zda_message = 0;
p3p 0:43da35949666 88 zda_checksum = 1;
p3p 0:43da35949666 89 padding = 0;
p3p 0:43da35949666 90 }
p3p 0:43da35949666 91 uint8_t message_id;
p3p 0:43da35949666 92 uint8_t mode;
p3p 0:43da35949666 93 uint8_t gga_message;
p3p 0:43da35949666 94 uint8_t gga_checksum;
p3p 0:43da35949666 95 uint8_t gll_message;
p3p 0:43da35949666 96 uint8_t gll_checksum;
p3p 0:43da35949666 97 uint8_t gsa_message;
p3p 0:43da35949666 98 uint8_t gsa_checksum;
p3p 0:43da35949666 99 uint8_t gsv_message;
p3p 0:43da35949666 100 uint8_t gsv_checksum;
p3p 0:43da35949666 101 uint8_t rmc_message;
p3p 0:43da35949666 102 uint8_t rmc_checksum;
p3p 0:43da35949666 103 uint8_t vtg_message;
p3p 0:43da35949666 104 uint8_t vtg_checksum;
p3p 0:43da35949666 105 uint8_t mss_message;
p3p 0:43da35949666 106 uint8_t mss_checksum;
p3p 0:43da35949666 107 uint8_t epe_message;
p3p 0:43da35949666 108 uint8_t epe_checksum;
p3p 0:43da35949666 109 uint8_t zda_message;
p3p 0:43da35949666 110 uint8_t zda_checksum;
p3p 0:43da35949666 111 uint16_t padding;
p3p 0:43da35949666 112 uint16_t bitrate;
p3p 0:43da35949666 113 } interface;
p3p 0:43da35949666 114 #pragma pack(pop)
p3p 0:43da35949666 115
p3p 0:43da35949666 116 };
p3p 0:43da35949666 117
p3p 0:43da35949666 118 class MeasuredTrackingData : public SimpleSerialProtocol::Packet {
p3p 0:43da35949666 119 public:
p3p 0:43da35949666 120 MeasuredTrackingData() {}
p3p 0:43da35949666 121
p3p 0:43da35949666 122 #pragma pack(push, 1)
p3p 0:43da35949666 123 struct Interface {
p3p 0:43da35949666 124 uint8_t message_id;
p3p 0:43da35949666 125 int16_t gps_week;
p3p 0:43da35949666 126 uint32_t gps_time_of_week;
p3p 0:43da35949666 127 uint8_t channels;
p3p 0:43da35949666 128 struct {
p3p 0:43da35949666 129 uint8_t svid;
p3p 0:43da35949666 130 uint8_t azimuth;
p3p 0:43da35949666 131 uint8_t elevation;
p3p 0:43da35949666 132 uint16_t state;
p3p 0:43da35949666 133 uint8_t c_no_1;
p3p 0:43da35949666 134 uint8_t c_no_2;
p3p 0:43da35949666 135 uint8_t c_no_3;
p3p 0:43da35949666 136 uint8_t c_no_4;
p3p 0:43da35949666 137 uint8_t c_no_5;
p3p 0:43da35949666 138 uint8_t c_no_6;
p3p 0:43da35949666 139 uint8_t c_no_7;
p3p 0:43da35949666 140 uint8_t c_no_8;
p3p 0:43da35949666 141 uint8_t c_no_9;
p3p 0:43da35949666 142 uint8_t c_no_10;
p3p 0:43da35949666 143 } channel_data[12];
p3p 0:43da35949666 144 };
p3p 0:43da35949666 145 #pragma pack(pop)
p3p 0:43da35949666 146
p3p 0:43da35949666 147 static void swapByteOrder(Interface* interface) {
p3p 0:43da35949666 148 interface->gps_week = swapEndian(interface->gps_week);
p3p 0:43da35949666 149 interface->gps_time_of_week = swapEndian(interface->gps_time_of_week);
p3p 0:43da35949666 150 for (int i = 0; i < 12; i++) {
p3p 0:43da35949666 151 interface->channel_data[i].state = swapEndian(interface->channel_data[i].state);
p3p 0:43da35949666 152 }
p3p 0:43da35949666 153 }
p3p 0:43da35949666 154 };
p3p 0:43da35949666 155
p3p 0:43da35949666 156 class DGPSStatus : public SimpleSerialProtocol::Packet {
p3p 0:43da35949666 157 public:
p3p 0:43da35949666 158 #pragma pack(push, 1)
p3p 0:43da35949666 159 struct Interface {
p3p 0:43da35949666 160 uint8_t message_id;
p3p 0:43da35949666 161 uint8_t dgps_source;
p3p 0:43da35949666 162 union {
p3p 0:43da35949666 163 struct {
p3p 0:43da35949666 164 int32_t beacon_frequency;
p3p 0:43da35949666 165 uint8_t beacon_bitrate;
p3p 0:43da35949666 166 uint8_t status;
p3p 0:43da35949666 167 int32_t signal_magnitude;
p3p 0:43da35949666 168 int16_t signal_strength;
p3p 0:43da35949666 169 int16_t signal_noise_ratio;
p3p 0:43da35949666 170 };
p3p 0:43da35949666 171 struct {
p3p 0:43da35949666 172 uint8_t correction_age[12];
p3p 0:43da35949666 173 uint16_t reserved;
p3p 0:43da35949666 174 };
p3p 0:43da35949666 175 };
p3p 0:43da35949666 176 struct {
p3p 0:43da35949666 177 uint8_t satalite_prn_code;
p3p 0:43da35949666 178 int16_t dgps_correction;
p3p 0:43da35949666 179 } satalite_corrections[12];
p3p 0:43da35949666 180 };
p3p 0:43da35949666 181 #pragma pack(pop)
p3p 0:43da35949666 182
p3p 0:43da35949666 183 static void swapByteOrder(Interface* interface) {
p3p 0:43da35949666 184 for (int i = 0; i < 12; i++) {
p3p 0:43da35949666 185 interface->satalite_corrections[i].dgps_correction = swapEndian(interface->satalite_corrections[i].dgps_correction);
p3p 0:43da35949666 186 }
p3p 0:43da35949666 187 }
p3p 0:43da35949666 188 };
p3p 0:43da35949666 189
p3p 0:43da35949666 190 class GeodeticNavigationData : public SimpleSerialProtocol::Packet {
p3p 0:43da35949666 191 public:
p3p 0:43da35949666 192 #pragma pack(push, 1)
p3p 0:43da35949666 193 struct Interface {
p3p 0:43da35949666 194 uint8_t message_id;
p3p 0:43da35949666 195 uint16_t nav_valid;
p3p 0:43da35949666 196 uint16_t nav_type;
p3p 0:43da35949666 197 uint16_t week_number;
p3p 0:43da35949666 198 uint32_t time_of_week;
p3p 0:43da35949666 199 uint16_t year;
p3p 0:43da35949666 200 uint8_t month;
p3p 0:43da35949666 201 uint8_t day;
p3p 0:43da35949666 202 uint8_t hour;
p3p 0:43da35949666 203 uint8_t minute;
p3p 0:43da35949666 204 uint16_t second;
p3p 0:43da35949666 205 uint32_t satalite_id_list;
p3p 0:43da35949666 206 int32_t latitude;
p3p 0:43da35949666 207 int32_t longitude;
p3p 0:43da35949666 208 int32_t altitude_elipsoid;
p3p 0:43da35949666 209 int32_t altitude_MSL;
p3p 0:43da35949666 210 int8_t map_datum;
p3p 0:43da35949666 211 uint16_t speed_over_ground;
p3p 0:43da35949666 212 uint16_t course_over_ground;
p3p 0:43da35949666 213 int16_t magnetic_variation;
p3p 0:43da35949666 214 int16_t climb_rate;
p3p 0:43da35949666 215 int16_t heading_rate;
p3p 0:43da35949666 216 uint32_t est_h_position_error;
p3p 0:43da35949666 217 uint32_t est_v_position_error;
p3p 0:43da35949666 218 uint32_t est_time_error;
p3p 0:43da35949666 219 uint16_t est_h_velocity_error;
p3p 0:43da35949666 220 int32_t clock_bias;
p3p 0:43da35949666 221 uint32_t clock_bias_error;
p3p 0:43da35949666 222 int32_t clock_drift;
p3p 0:43da35949666 223 uint32_t clock_drift_error;
p3p 0:43da35949666 224 uint32_t distance;
p3p 0:43da35949666 225 uint16_t distance_error;
p3p 0:43da35949666 226 uint16_t heading_error;
p3p 0:43da35949666 227 uint8_t satalites_in_fix;
p3p 0:43da35949666 228 uint8_t horizontal_dilution_of_presision;
p3p 0:43da35949666 229 uint8_t additional_mode_info;
p3p 0:43da35949666 230 };
p3p 0:43da35949666 231 #pragma pack(pop)
p3p 0:43da35949666 232
p3p 0:43da35949666 233 static void swapByteOrder(Interface* interface) {
p3p 0:43da35949666 234 interface->nav_valid = swapEndian(interface->nav_valid);
p3p 0:43da35949666 235 interface->nav_type = swapEndian(interface->nav_type);
p3p 0:43da35949666 236 interface->week_number = swapEndian(interface->week_number);
p3p 0:43da35949666 237 interface->time_of_week = swapEndian(interface->time_of_week);
p3p 0:43da35949666 238 interface->year = swapEndian(interface->year);
p3p 0:43da35949666 239 interface->second = swapEndian(interface->second);
p3p 0:43da35949666 240 interface->satalite_id_list = swapEndian(interface->satalite_id_list);
p3p 0:43da35949666 241 interface->latitude = swapEndian(interface->latitude);
p3p 0:43da35949666 242 interface->longitude = swapEndian(interface->longitude);
p3p 0:43da35949666 243 interface->altitude_elipsoid = swapEndian(interface->altitude_elipsoid);
p3p 0:43da35949666 244 interface->altitude_MSL = swapEndian(interface->altitude_MSL);
p3p 0:43da35949666 245 interface->speed_over_ground = swapEndian(interface->speed_over_ground);
p3p 0:43da35949666 246 interface->course_over_ground = swapEndian(interface->course_over_ground);
p3p 0:43da35949666 247 interface->magnetic_variation = swapEndian(interface->magnetic_variation);
p3p 0:43da35949666 248 interface->climb_rate = swapEndian(interface->climb_rate);
p3p 0:43da35949666 249 interface->heading_rate = swapEndian(interface->heading_rate);
p3p 0:43da35949666 250 interface->est_h_position_error = swapEndian(interface->est_h_position_error);
p3p 0:43da35949666 251 interface->est_v_position_error = swapEndian(interface->est_v_position_error);
p3p 0:43da35949666 252 interface->est_time_error = swapEndian(interface->est_time_error);
p3p 0:43da35949666 253 interface->est_h_velocity_error = swapEndian(interface->est_h_velocity_error);
p3p 0:43da35949666 254 interface->clock_bias = swapEndian(interface->clock_bias);
p3p 0:43da35949666 255 interface->clock_bias_error = swapEndian(interface->clock_bias_error);
p3p 0:43da35949666 256 interface->clock_drift = swapEndian(interface->clock_drift);
p3p 0:43da35949666 257 interface->clock_drift_error = swapEndian(interface->clock_drift_error);
p3p 0:43da35949666 258 interface->distance = swapEndian(interface->distance);
p3p 0:43da35949666 259 interface->distance_error = swapEndian(interface->distance_error);
p3p 0:43da35949666 260 interface->heading_error = swapEndian(interface->heading_error);
p3p 0:43da35949666 261 }
p3p 0:43da35949666 262 };
p3p 0:43da35949666 263
p3p 0:43da35949666 264 }
p3p 0:43da35949666 265
p3p 0:43da35949666 266 }
p3p 0:43da35949666 267
p3p 0:43da35949666 268 #endif