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LibrePilot/flight/modules/gpsp/inc/gps9protocol.h

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/**
******************************************************************************
*
* @file gpsv9protocol.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief brief goes here.
* --
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef GPSV9PROTOCOL_H_
#define GPSV9PROTOCOL_H_
#include <openpilot.h>
#include <pios_struct_helper.h>
#include <pios_helpers.h>
#include <ubx_utils.h>
#define UBX_CFG_CLASS 0x06
#define UBX_CFG_PRT 0x00
#define UBX_OP_CUST_CLASS 0x99
#define UBX_OP_SYS 0x01
#define UBX_OP_MAG 0x02
#define SYS_DATA_OPTIONS_FLASH 0x01
#define SYS_DATA_OPTIONS_MAG 0x02
#define CFG_PRT_DATA_PORTID_DDC 0x00
#define CFG_PRT_DATA_TXREADI_DISABLED 0x00
#define CFG_PRT_DATA_PORTID_DDC 0x00
#define CFG_PRT_DATA_MODE_ADDR (0x42 << 1)
#define CFG_PRT_DATA_PROTO_UBX 0x01
#define CFG_PRT_DATA_PROTO_NMEA 0x02
#define CFG_PRT_DATA_PROTO_RTCM 0x04
#define CFG_PRT_DATA_FLAGS_EXTTIMEOUT 0x02
typedef struct {
int16_t X;
int16_t Y;
int16_t Z;
uint16_t status;
} __attribute__((packed)) MagData;
typedef union {
struct {
UBXHeader_t header;
MagData data;
UBXFooter_t footer;
} __attribute__((packed)) fragments;
UBXPacket_t packet;
} MagUbxPkt;
typedef struct {
uint32_t flightTime;
uint16_t options;
uint8_t board_type;
uint8_t board_revision;
uint8_t commit_tag_name[26];
uint8_t sha1sum[8];
} __attribute__((packed)) SysData;
typedef union {
struct {
UBXHeader_t header;
SysData data;
UBXFooter_t footer;
} fragments;
UBXPacket_t packet;
} SysUbxPkt;
typedef struct {
uint8_t portID;
uint8_t reserved0;
uint16_t txReady;
uint32_t mode;
uint32_t reserved3;
uint16_t inProtoMask;
uint16_t outProtoMask;
uint16_t flags;
uint16_t reserved5;
} __attribute__((packed)) CfgPrtData;
typedef union {
struct {
UBXHeader_t header;
CfgPrtData data;
UBXFooter_t footer;
} fragments;
UBXPacket_t packet;
} CfgPrtPkt;
#endif /* GPSV9PROTOCOL_H_ */