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pico-tracker/firmware/inc/osp_messages.h

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/*
* OSP Message definitions
* Copyright (C) 2014, 2015 Richard Meadows <richardeoin>
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef OSP_MESSAGES_H
#define OSP_MESSAGES_H
#include "samd20.h"
/** We use the packed attribute so we can copy direct to structs */
#define __PACKED__ __attribute__ ((packed))
/** OSP Message IDs are 8-bit types */
typedef uint8_t osp_message_id_t;
/** Used for storing the state of each packet */
enum osp_packet_state {
OSP_PACKET_WAITING,
OSP_PACKET_ACK,
OSP_PACKET_NACK,
OSP_PACKET_UPDATED,
};
/** Generic OSP Message Type. Each message type extended is from this */
typedef struct {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
} osp_message_t;
/** Function typedef for post-processing functions */
typedef void (*osp_post_func)(volatile osp_message_t* const);
/**
* =============================================================================
* OSP Input Messages =======================================================
* =============================================================================
*/
/**
* 5.3 OSP Advanced Power Management
*/
#define OSP_IN_ADVANCED_POWER_MANAGEMENT_ID 53
struct osp_in_advanced_power_management {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t apm_enabled;
uint8_t number_fixes_apm_cycles;
uint8_t time_between_fixes; /* s */
uint8_t spare1;
uint8_t maximum_horizontal_error; /* enum osp_max_error_t */
uint8_t maximum_vertical_error; /* enum osp_max_error_t */
uint8_t maximum_response_time;
uint8_t time_acc_priority;
uint8_t power_duty_cycle; /* duty cycle x 0.2 */
uint8_t time_duty_cycle;
uint8_t spare2;
} __PACKED__ payload;
};
static inline void osp_in_advanced_power_management_pre(struct osp_in_advanced_power_management* m)
{
(void)m;
}
enum osp_max_error_t {
OSP_MAX_ERROR_1_METER = 0,
OSP_MAX_ERROR_5_METER,
OSP_MAX_ERROR_10_METER,
OSP_MAX_ERROR_20_METER,
OSP_MAX_ERROR_40_METER,
OSP_MAX_ERROR_80_METER,
OSP_MAX_ERROR_160_METER,
OSP_MAX_ERROR_NO_MAX,
};
/**
* 5.4 OSP Initialise Data Source
*/
#define OSP_IN_INITIALISE_DATA_SOURCE_ID 128
struct osp_in_initialise_data_source {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
int32_t x_position; /* m */
int32_t y_position; /* m */
int32_t z_position; /* m */
int32_t clock_drift; /* Hz */
uint32_t gps_tow; /* cs */
uint16_t gps_week_number;
uint8_t channels;
uint8_t reset_config_bitmap;
} __PACKED__ payload;
};
static inline void osp_in_initialise_data_source_pre(struct osp_in_initialise_data_source* m)
{
m->payload.x_position = __REV(m->payload.x_position);
m->payload.y_position = __REV(m->payload.y_position);
m->payload.z_position = __REV(m->payload.z_position);
m->payload.clock_drift = __REV(m->payload.clock_drift);
m->payload.gps_tow = __REV(m->payload.gps_tow);
m->payload.gps_week_number = __REV16(m->payload.gps_week_number);
}
/**
* 5.13 Mode Control
*/
#define OSP_IN_MODE_CONTROL_ID 136
struct osp_in_mode_control {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint16_t res1;
uint8_t degraded_mode; /* enum osp_degraded_mode */
uint8_t position_calc_mode;
uint8_t res2;
int16_t altitude; /* m */
uint8_t altitude_hold_mode; /* enum osp_altitude_hold_mode */
uint8_t altitude_hold_source;
uint8_t res3;
uint8_t degraded_timeout; /* s */
uint8_t dead_reckoning_timeout; /* s */
uint8_t measurement_and_track_smoothing;
} __PACKED__ payload;
};
static inline void osp_in_mode_control_pre(struct osp_in_mode_control* m)
{
m->payload.res1 = __REV16(m->payload.res1);
m->payload.altitude = __REV16(m->payload.altitude);
}
enum osp_degraded_mode { /* MUST set DO_NOT_ALLOW for GSW3.2.5 and later */
OSP_DEGRADED_ALLOW_1SV_FREEZE_DIRECTION = 0,
OSP_DEGRADED_ALLOW_1SV_FREEZE_CLOCK_DRIFT,
OSP_DEGRADED_ALLOW_2SV_FREEZE_DIRECTION,
OSP_DEGRADED_ALLOW_2SV_FREEZE_CLOCK_DRIFT,
OSP_DEGRADED_DO_NOT_ALLOW,
};
enum osp_altitude_hold_mode {
OSP_ALTITUDE_HOLD_AUTO = 0,
OSP_ALTITUDE_HOLD_USER_INPUT,
OSP_ALTITUDE_HOLD_FORCE_3D_FIX,
};
/**
* 5.16 OSP Elevation Mask
*/
#define OSP_IN_ELEVATION_MASK_ID 139
struct osp_in_elevation_mask {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
int16_t tracking_mask; /* deg NOT IMPLEMENTED */
int16_t navigation_mask; /* deg */
} __PACKED__ payload;
};
static inline void osp_in_elevation_mask_pre(struct osp_in_elevation_mask* m)
{
m->payload.tracking_mask = __REV16(m->payload.tracking_mask);
m->payload.navigation_mask = __REV16(m->payload.navigation_mask);
}
/**
* 5.17 OSP Power Mask
*/
#define OSP_IN_POWER_MASK_ID 140
struct osp_in_power_mask {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t tracking_mask; /* dBHz NOT IMPLEMENTED */
uint8_t navigation_mask; /* dBHz */
} __PACKED__ payload;
};
static inline void osp_in_power_mask_pre(struct osp_in_power_mask* m)
{
(void)m;
}
/**
* 5.26 OSP Set TricklePower Parameters
*/
#define OSP_IN_SET_TRICKLEPOWER_PARAMETERS_ID 151
struct osp_in_set_tricklepower_parameters {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
int16_t pushtofix_mode;
int16_t duty_cycle; /* ‰ */
int32_t on_time; /* ms */
} __PACKED__ payload;
};
static inline void osp_in_set_tricklepower_parameters_pre(struct osp_in_set_tricklepower_parameters* m)
{
m->payload.pushtofix_mode = __REV16(m->payload.pushtofix_mode);
m->payload.duty_cycle = __REV16(m->payload.duty_cycle);
m->payload.on_time = __REV(m->payload.on_time);
}
/**
* 5.30 OSP Set Message Rate
*/
#define OSP_IN_SET_MESSAGE_RATE_ID 166
struct osp_in_set_message_rate {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t mode; /* enum osp_message_rate */
uint8_t message_id;
uint8_t update_rate; /* s */
uint8_t res1;
uint8_t res2;
uint8_t res3;
uint8_t res4;
} __PACKED__ payload;
};
static inline void osp_in_set_message_rate_pre(struct osp_in_set_message_rate m)
{
(void)m;
}
enum osp_message_rate {
OSP_SET_MESSAGE_RATE_ONE = 0,
OSP_SET_MESSAGE_RATE_POLL_ONE,
OSP_SET_MESSAGE_RATE_DEFAULT_NAV,
OSP_SET_MESSAGE_RATE_DEFAULT_DEBUG,
OSP_SET_MESSAGE_RATE_DEFAULT_NAV_DEBUG,
};
/**
* 5.31.1 OSP Set Low Power Acquisition Parameters
*/
#define OSP_IN_SET_LOW_POWER_ACQUISITION_PARAMETERS_ID 167
struct osp_in_set_low_power_acquisition_parameters {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint32_t max_off_time; /* ms */
uint32_t max_search_time; /* ms */
uint32_t pushtofix_period; /* s */
uint16_t adaptive_tricklepower;
} __PACKED__ payload;
};
static inline void osp_in_set_low_power_acquisition_parameters_pre(struct osp_in_set_low_power_acquisition_parameters* m)
{
m->payload.max_off_time = __REV(m->payload.max_off_time);
m->payload.max_search_time = __REV(m->payload.max_search_time);
m->payload.pushtofix_period = __REV(m->payload.pushtofix_period);
m->payload.adaptive_tricklepower = __REV16(m->payload.adaptive_tricklepower);
}
/**
* 5.47 OSP Position Request
*/
#define OSP_IN_POSITION_REQUEST_ID 210
struct osp_in_position_request {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t pos_request_id;
uint8_t num_fixes;
uint8_t time_between_fixes; /* s */
uint8_t horizontal_error_max; /* m */
uint8_t vertical_error_max; /* enum osp_max_error_t */
uint8_t response_time_max; /* s */
uint8_t time_acc_priority; /* enum osp_time_acc_priority */
uint8_t location_method; /* enum osp_location_method */
} __PACKED__ payload;
};
static inline void osp_in_position_request_pre(struct osp_in_position_request* m)
{
(void)m;
}
enum osp_time_acc_priority {
OSP_TIME_ACC_PRIORITY_NONE = 0,
OSP_TIME_ACC_PRIORITY_TIME = 1,
OSP_TIME_ACC_PRIORITY_ACCURACY = 2,
OSP_TIME_ACC_PRIORITY_USE_FULL_TIME = 3
};
enum osp_location_method {
OSP_LOCATION_METHOD_MS_ASSISTED = 0,
OSP_LOCATION_METHOD_MS_BASED = 1,
OSP_LOCATION_METHOD_MS_BASED_ALLOW_ASSISTED = 2,
OSP_LOCATION_METHOD_MS_ASSISTED_ALLOW_BASED = 3,
OSP_LOCATION_METHOD_SIMULTANEOUS = 4,
};
/**
* 5.65 OSP Session Request
*/
#define OSP_IN_SESSION_REQUEST_ID 213
struct osp_in_session_request {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t sub_id; /* enum osp_session_request */
uint8_t info;
} __PACKED__ payload;
};
static inline void osp_in_session_request_pre(struct osp_in_session_request* m)
{
(void)m;
}
enum osp_session_request {
OSP_SESSION_REQUEST_OPEN = 1,
OSP_SESSION_REQUEST_CLOSE = 2,
};
/**
* 5.67 OSP Hardware Configuration Response
*/
#define OSP_IN_HARDWARE_CONFIGURATION_RESPONSE_ID 214
struct osp_in_hardware_configuration_response {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t hw_config; /* enum osp_hw_config */
uint8_t nominal_frequency_high;
uint32_t nominal_frequency_low; /* mHz */
uint8_t network_enhancement_type;
} __PACKED__ payload;
};
static inline void osp_in_hardware_configuration_response_pre(struct osp_in_hardware_configuration_response* m)
{
m->payload.nominal_frequency_low = __REV(m->payload.nominal_frequency_low);
}
enum osp_hw_config {
OSP_HW_CONFIG_PRECISE_TIME_TRANSFER_NO = (0<<0),
OSP_HW_CONFIG_PRECISE_TIME_TRANSFER_YES = (1<<0),
OSP_HW_CONFIG_PRECISE_TIME_CP_TO_SLC = (0<<1),
OSP_HW_CONFIG_PRECISE_TIME_BIDIRECTIONAL = (1<<1),
OSP_HW_CONFIG_FREQUENCY_TRANSFER_NO = (0<<2),
OSP_HW_CONFIG_FREQUENCY_TRANSFER_YES = (1<<2),
OSP_HW_CONFIG_FREQUENCY_TRANSFER_COUNTER = (0<<3),
OSP_HW_CONFIG_FREQUENCY_TRANSFER_NO_COUNTER = (1<<3),
OSP_HW_CONFIG_RTC_AVAILABLE_NO = (0<<4),
OSP_HW_CONFIG_RTC_AVAILABLE_YES = (1<<4),
OSP_HW_CONFIG_RTC_EXTERNAL = (0<<5),
OSP_HW_CONFIG_RTC_INTERNAL = (1<<5),
OSP_HW_CONFIG_COARSE_TIME_TRANSFER_NO = (0<<6),
OSP_HW_CONFIG_COARSE_TIME_TRANSFER_YES = (1<<6),
OSP_HW_CONFIG_FREQUENCY_REFCLK_ON = (0<<7),
OSP_HW_CONFIG_FREQUENCY_REFCLK_OFF = (1<<7),
};
/**
* 5.68 Approximate MS Position Response
*/
#define OSP_IN_APPROXIMATE_MS_POSITION_RESPONSE_ID 215
struct osp_in_approximate_ms_position_response {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t sub_id; /* 1 */
int32_t lat; /* 180*2^-32 deg */
int32_t lon; /* 180*2^-32 deg */
uint16_t alt; /* dm + 500 */
uint8_t est_hor_er;
uint16_t est_ver_er;
uint8_t use_alt_aiding;
} __PACKED__ payload;
};
static inline void osp_in_approximate_ms_position_response_pre(struct osp_in_approximate_ms_position_response* m)
{
m->payload.lat = __REV(m->payload.lat);
m->payload.lon = __REV(m->payload.lon);
m->payload.alt = __REV16(m->payload.alt);
m->payload.est_ver_er = __REV16(m->payload.est_ver_er);
}
/**
* 5.74 OSP Reject
*/
#define OSP_IN_REJECT_ID 216
struct osp_in_reject {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t sub_id;
uint8_t rejected_message_id;
uint8_t rejected_message_sub_id;
uint8_t rejected_message_reason; /* enum osp_rejected_message_reason */
} __PACKED__ payload;
};
enum osp_rejected_message_reason {
OSP_REJECTED_MESSAGE_NOT_READY = (1<<1),
OSP_REJECTED_MESSAGE_NOT_AVAILABLE = (1<<2),
OSP_REJECTED_MESSAGE_BAD_FORMATTING = (1<<3),
OSP_REJECTED_MESSAGE_NO_TIME_PULSE = (1<<4),
};
/**
* 5.76 OSP Power Mode Request
*/
#define OSP_IN_POWER_MODE_REQUEST_ID 218
struct osp_in_power_mode_request_Full_Power {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t sub_id;
} __PACKED__ payload;
};
struct osp_in_power_mode_request_Micro_Power {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t sub_id;
uint32_t reserved;
} __PACKED__ payload;
};
/**
* =============================================================================
* OSP Output Messages =======================================================
* =============================================================================
*/
/**
* 6.2 OSP Measure Naviagation Data Out
*/
#define OSP_OUT_MEASURE_NAVIGATION_DATA_OUT_ID 2
struct osp_out_measure_navigation_data_out {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
int32_t x_position; /* m */
int32_t y_position; /* m */
int32_t z_position; /* m */
int16_t x_velocity; /* ms-1 */
int16_t y_velocity; /* ms-1 */
int16_t z_velocity; /* ms-1 */
uint8_t mode1;
uint8_t hdop;
uint8_t mode2;
uint16_t gps_week;
uint32_t gps_tow; /* cs */
uint8_t svs_in_fix;
uint8_t ch1_prn;
uint8_t ch2_prn;
uint8_t ch3_prn;
uint8_t ch4_prn;
uint8_t ch5_prn;
uint8_t ch6_prn;
uint8_t ch7_prn;
uint8_t ch8_prn;
uint8_t ch9_prn;
uint8_t ch10_prn;
uint8_t ch11_prn;
uint8_t ch12_prn;
} __PACKED__ payload;
};
static void osp_out_measure_navigation_data_out_post(volatile osp_message_t* o)
{
struct osp_out_measure_navigation_data_out* m = (struct osp_out_measure_navigation_data_out*)o;
m->payload.x_position = __REV(m->payload.x_position);
m->payload.y_position = __REV(m->payload.y_position);
m->payload.z_position = __REV(m->payload.z_position);
m->payload.x_velocity = __REV16(m->payload.x_velocity);
m->payload.y_velocity = __REV16(m->payload.y_velocity);
m->payload.z_velocity = __REV16(m->payload.z_velocity);
m->payload.gps_week = __REV16(m->payload.gps_week);
m->payload.gps_tow = __REV(m->payload.gps_tow);
}
/**
* 6.7 OSP Clock Status Data
*/
#define OSP_OUT_CLOCK_STATUS_DATA_ID 7
struct osp_out_clock_status_data {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint16_t extended_gps_week;
uint32_t gps_tow; /* s */
uint8_t svs;
uint32_t clock_drift; /* Hz */
uint32_t clock_bias; /* ns */
uint32_t extimated_gps_time; /* ms */
} __PACKED__ payload;
};
static void osp_out_clock_status_data_post(volatile osp_message_t* o)
{
struct osp_out_clock_status_data* m = (struct osp_out_clock_status_data*)o;
m->payload.extended_gps_week = __REV16(m->payload.extended_gps_week);
m->payload.gps_tow = __REV(m->payload.gps_tow);
m->payload.clock_drift = __REV(m->payload.clock_drift);
m->payload.clock_bias = __REV(m->payload.clock_bias);
m->payload.extimated_gps_time = __REV(m->payload.extimated_gps_time);
}
/**
* 6.15 OSP Ephemeris Data
*/
#define OSP_OUT_EPHEMERIS_DATA_ID 15
struct osp_out_ephemeris_data {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t sv_id;
uint16_t data[45];
} __PACKED__ payload;
};
static void osp_out_ephemeris_data_post(volatile osp_message_t* o)
{
struct osp_out_ephemeris_data* m = (struct osp_out_ephemeris_data*)o;
for (int i = 0; i < 45; i++) {
m->payload.data[i] = __REV16(m->payload.data[i]);
}
}
/**
* 6.18 OSP OkToSend
*/
#define OSP_OUT_OKTOSEND_ID 18
struct osp_out_oktosend {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t oktosend;
} __PACKED__ payload;
};
static void osp_out_oktosend_post(volatile osp_message_t* o)
{
(void)o;
}
enum osp_oktosend {
OSP_OKTOSEND_NO = 0,
OSP_OKTOSEND_YES = 1
};
/**
* 6.27 OSP Geodetic Navigation Data
*/
#define OSP_OUT_GEODETIC_NAVIGATION_DATA_ID 41
struct osp_out_geodetic_navigation_data {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint16_t nav_valid;
uint16_t nav_type;
uint16_t extended_week_number;
uint32_t tow; /* s */
uint16_t utc_year; /* years */
uint8_t utc_month; /* months */
uint8_t utc_day; /* days */
uint8_t utc_hour; /* hours */
uint8_t utc_minute; /* minutes */
uint16_t utc_second; /* ms */
uint32_t satellite_id_list;
int32_t latitude; /* hndeg */
int32_t longitude; /* hndeg */
int32_t altitude_from_ellipsoid; /* cm */
int32_t altitude_from_msl; /* cm */
int8_t map_datum;
uint16_t speed_over_ground; /* cms-1 */
uint16_t course_over_ground; /* cdeg true north */
int16_t magnetic_variation;
int16_t climb_rate; /* cms-1 */
int16_t heading_rate; /* cdegs-1 */
uint32_t estimated_horizontal_position_error; /* cm */
uint32_t estimated_vertical_position_error; /* cm */
uint32_t estimated_time_error; /* cs */
uint16_t estimated_horizontal_velocity_error; /* cms-1 */
int32_t clock_bias; /* cm */
uint32_t clock_bias_error; /* cm */
int32_t clock_drift; /* cms-1 */
uint32_t clock_drift_error; /* cms-1 */
uint32_t distance; /* m */
uint16_t distance_error; /* m */
uint16_t heading_error; /* cdeg */
uint8_t svs_in_fix;
uint8_t hdop_x5;
uint8_t additional_mode_info;
} __PACKED__ payload;
};
static void osp_out_geodetic_navigation_data_post(volatile osp_message_t* o)
{
struct osp_out_geodetic_navigation_data* m = (struct osp_out_geodetic_navigation_data*)o;
m->payload.nav_valid = __REV16(m->payload.nav_valid);
m->payload.nav_type = __REV16(m->payload.nav_type);
m->payload.extended_week_number = __REV16(m->payload.extended_week_number);
m->payload.tow = __REV(m->payload.tow);
m->payload.utc_year = __REV16(m->payload.utc_year);
m->payload.utc_second = __REV16(m->payload.utc_second);
m->payload.satellite_id_list = __REV(m->payload.satellite_id_list);
m->payload.latitude = __REV(m->payload.latitude);
m->payload.longitude = __REV(m->payload.longitude);
m->payload.altitude_from_ellipsoid = __REV(m->payload.altitude_from_ellipsoid);
m->payload.altitude_from_msl = __REV(m->payload.altitude_from_msl);
m->payload.speed_over_ground = __REV16(m->payload.speed_over_ground);
m->payload.course_over_ground = __REV16(m->payload.course_over_ground);
m->payload.magnetic_variation = __REV16(m->payload.magnetic_variation);
m->payload.climb_rate = __REV16(m->payload.climb_rate);
m->payload.heading_rate = __REV16(m->payload.heading_rate);
m->payload.estimated_horizontal_position_error = __REV(m->payload.estimated_horizontal_position_error);
m->payload.estimated_vertical_position_error = __REV(m->payload.estimated_vertical_position_error);
m->payload.estimated_time_error = __REV(m->payload.estimated_time_error);
m->payload.estimated_horizontal_velocity_error = __REV16(m->payload.estimated_horizontal_velocity_error);
m->payload.clock_bias = __REV(m->payload.clock_bias);
m->payload.clock_bias_error = __REV(m->payload.clock_bias_error);
m->payload.clock_drift = __REV(m->payload.clock_drift);
m->payload.clock_drift_error = __REV(m->payload.clock_drift_error);
m->payload.distance = __REV(m->payload.distance);
m->payload.distance_error = __REV16(m->payload.distance_error);
m->payload.heading_error = __REV16(m->payload.heading_error);
}
/**
* 6.42 OSP 1PPS Time
*/
#define OSP_OUT_1PPS_TIME_ID 52
struct osp_out_1pps_time {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t hour;
uint8_t minute;
uint8_t second;
uint8_t day;
uint8_t month;
uint16_t year;
int16_t utc_offset_int; /* s. gps offset from utc */
uint32_t utc_offset_frac; /* ns */
uint8_t status; /* enum osp_1pps_status */
} __PACKED__ payload;
};
static void osp_out_1pps_time_post(volatile osp_message_t* o)
{
struct osp_out_1pps_time* m = (struct osp_out_1pps_time*)o;
m->payload.year = __REV16(m->payload.year);
m->payload.utc_offset_int = __REV16(m->payload.utc_offset_int);
m->payload.utc_offset_frac = __REV(m->payload.utc_offset_frac);
}
enum osp_1pps_status {
OSP_1PPS_VALID = (1<<0),
OSP_1PPS_IS_UTCTIME = (1<<1), /* otherwise gps time */
OSP_1PPS_OFFSET_VALID = (1<<2),
};
/**
* 6.55 OSP GPIO State
*/
#define OSP_OUT_GPIO_STATE_ID 65
struct osp_out_gpio_state {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t subid; /* always 192 it seems */
uint16_t gpio_state; /* bitmapped */
} __PACKED__ payload;
};
static void osp_out_gpio_state_post(volatile osp_message_t* o)
{
struct osp_out_gpio_state* m = (struct osp_out_gpio_state*)o;
m->payload.gpio_state = __REV16(m->payload.gpio_state);
}
/**
* 6.58 OSP Position Response
*/
#define OSP_OUT_POSITION_RESPONSE_ID 69
struct osp_out_position_response {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t subid; /* ensure always 1 for position response */
uint8_t position_request_id;
uint8_t position_results_flag;
uint8_t position_error_status; /* enum osp_position_error_status */
uint8_t position_accuracy_met;
uint8_t position_type;
uint8_t dgps_correction; /* enum os_dgps_correction_type */
uint16_t gps_week;
uint32_t gps_seconds; /* ms */
int32_t latitude; /* 180/2^32 degrees */
int32_t longitude; /* 360/2^32 degrees */
uint8_t other_sections;
/* Horizontal error */
uint8_t er_el_angle; /* 180/2^8 degrees */
uint8_t major_std_error;
uint8_t minor_std_error;
/* Vertical error */
uint16_t height; /* dm+500m.. ONLY SUPPORTS TO +6km */
uint8_t height_std_error;
/* Velocity section */
uint16_t horizonal_velocity; /* 0.0625 ms-1 */
uint16_t heading; /* 360/2^16 degrees */
uint8_t vertical_velocity; /* 0.5ms-1 */
uint8_t velocity_er_el_angle; /* 0.75 degrees */
uint8_t velocity_major_std_error;
uint8_t velicity_minor_std_error;
uint8_t vertical_velocity_std_error;
/* Clock correction section */
uint8_t time_reference;
uint16_t clock_bias;
uint16_t clock_drift;
uint8_t clock_std_error;
uint8_t utc_offset; /* s */
/* Position Correction Section */
uint8_t number_svs;
struct {
uint8_t sv_prn;
uint8_t c_n0; /* dBHz */
} svs[16];
} __PACKED__ payload;
};
static void osp_out_position_response_post(volatile osp_message_t* o)
{
struct osp_out_position_response* m = (struct osp_out_position_response*)o;
m->payload.gps_week = __REV16(m->payload.gps_week);
m->payload.gps_seconds = __REV(m->payload.gps_seconds);
m->payload.latitude = __REV(m->payload.latitude);
m->payload.longitude = __REV(m->payload.longitude);
m->payload.height = __REV16(m->payload.height);
m->payload.horizonal_velocity = __REV16(m->payload.horizonal_velocity);
m->payload.heading = __REV16(m->payload.heading);
m->payload.clock_bias = __REV16(m->payload.clock_bias);
m->payload.clock_drift = __REV16(m->payload.clock_drift);
}
enum osp_position_error_status {
OSP_POSITION_ERROR_STATUS_VALID = 0,
OSP_POSITION_ERROR_STATUS_NOT_ENOUGH_SATS = 1,
OSP_POSITION_ERROR_STATUS_GPS_AIDING_MISSING = 2,
OSP_POSITION_ERROR_STATUS_NEED_MORE_TIME = 3,
OSP_POSITION_ERROR_STATUS_NO_AFTER_FULL_SEARCH= 4,
OSP_POSITION_ERROR_STATUS_POS_REPORT_DISABLED = 5,
OSP_POSITION_ERROR_STATUS_REJECTED_FOR_QOP = 6,
};
enum osp_dgps_correction_type {
OSP_DGPS_CORRECTION_NO = 0,
OSP_DGPS_CORRECTION_LOCAL = 1,
OSP_DGPS_CORRECTION_WAAS = 2,
};
/**
* OSP HW_CONFIG_REQ
*/
#define OSP_OUT_HW_CONFIG_REQ_ID 71
struct osp_out_hw_config_req {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
} __PACKED__ payload;
};
static void osp_out_hw_config_req_post(volatile osp_message_t* o)
{
(void)o;
}
/**
* 6.70 OSP Various Aiding Requests
*/
#define OSP_OUT_AIDING_REQUEST_ID 73
struct osp_out_aiding_request {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t subid;
union {
struct {} approximate_ms_position;
struct {
uint8_t todo[8];
} nav_bit_aiding;
};
} __PACKED__ payload;
};
static void osp_out_aiding_request_post(volatile osp_message_t* o)
{
(void)o;
}
enum {
OSP_AIDING_REQUEST_SUBID_APPROXIMATE_MS_POSITION = 1
};
/**
* 6.84 OSP CW Controller Output
*/
#define OSP_OUT_CW_CONTROLLER_OUTPUT_ID 92
struct osp_out_cw_controller_output {
osp_message_id_t id;
enum osp_packet_state state;
uint16_t max_payload_size;
struct {
uint8_t subid;
union {
struct {
uint32_t frequency_peak[8]; /* Hz */
uint16_t c_n0[8]; /* cdBHz */
} interference_report;
struct {
uint8_t sampling_mode;
uint8_t ad_mode;
struct {
int8_t centre_freq_bin;
uint8_t number_of_bins;
} filters[8];
} mitigation_report;
};
} __PACKED__ payload;
};
static void osp_out_cw_controller_output_post(volatile osp_message_t* o)
{
(void)o;
}
/* /\** */
/* * */
/* *\/ */
/* #define OSP__ID
struct osp_ { */
/* osp_message_id_t id; */
/* enum osp_packet_state state;
uint16_t max_payload_size; */
/* struct { */
/* } __PACKED__ payload; */
/* };
static void osp__post(volatile osp_message_t* o)
{
struct osp_* m = (struct osp_*)o;
} */
#endif /* OSP_MESSAGES_H */
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