Data Structures | Defines | Typedefs | Enumerations | Functions

sirf3.h File Reference

SiRF Binary Protocol handling. More...

#include <usarts.h>

Go to the source code of this file.

Data Structures

struct  proto_sirf_parser_s

Defines

#define SIRF_MAX_PAYLOAD_LENGTH   ((1<<10)-1)
 maximum length of payload in a single message
#define SIRF_MAX_MSG_LENGTH   (SIRF_MAX_PAYLOAD_LENGTH+8)
 maximum length of a single message
#define SIRF_START0   ((uint8_t)0xA0)
#define SIRF_START1   ((uint8_t)0xA2)
#define SIRF_END0   ((uint8_t)0xB0)
#define SIRF_END1   ((uint8_t)0xB3)
#define SIRFi_POWER   (0x35)
 Advanced Power Management.
#define SIRFi_INIT   (0x80)
 Initialize Data Source.
#define SIRFi_NMEA   (0x81)
 Switch to NMEA Protocol.
#define SIRFi_S_ALMANAC   (0x82)
 Set Almanac.
#define SIRFi_DUMPDATA   (0x83)
 Handle Formatted Dump Data.
#define SIRFi_VERSION   (0x84)
 Poll Software Version.
#define SIRFi_DGPS_SRC   (0x85)
 DGPS Source Control.
#define SIRFi_SETPORT   (0x86)
 Set Binary Serial Port.
#define SIRFi_SETPROTO   (0x87)
 Set Protocol.
#define SIRFi_MODE   (0x88)
 Mode Control.
#define SIRFi_DOPMASK   (0x89)
 DOP Mask Control.
#define SIRFi_DGPS_MODE   (0x8A)
 DGPS Mode.
#define SIRFi_ELE_MASK   (0x8B)
 Elevation Mask.
#define SIRFi_PWR_MASK   (0x8C)
 Power Mask.
#define SIRFi_STATIC_NAV   (0x8F)
 Static Navigation.
#define SIRFi_CLK_STAT   (0x90)
 Poll Clock Status.
#define SIRFi_DGPS_PORT   (0x91)
 Set DGPS Serial Port.
#define SIRFi_P_ALMANAC   (0x92)
 Poll Almanac.
#define SIRFi_P_EPHEMERIS   (0x93)
 Poll Ephemeris.
#define SIRFi_FLASH_UPD   (0x94)
 Flash Update.
#define SIRFi_S_EPHEMERIS   (0x95)
 Set Ephemeris.
#define SIRFi_OPMODE   (0x96)
 Switch Operating Mode.
#define SIRFi_TRICKLE   (0x97)
 Set TricklePower Parameters.
#define SIRFi_P_NAVPARM   (0x98)
 Poll Navigation Parameters.
#define SIRFi_UARTCONF   (0xA5)
 Set UART Configuration.
#define SIRFi_MSGRATE   (0xA6)
 Set Message Rate.
#define SIRFi_LOWPWRACQ   (0xA7)
 Set Low Power Acquisition Parameters.
#define SIRFi_P_CMDPARM   (0xA8)
 Poll Command Parameters.
#define SIRFi_S_SBASPARM   (0xAA)
 Set SBAS Parameters.
#define SIRFi_CLASS_DR   (0xAC)
 SiRF Dead Reckoning Class of Input Messages.
#define SIRFi_USR_INPUT   (0xAF)
 User Input Command.
#define SIRFi_USR_INP_BEG   (0xB4)
 MID_UserInputBegin.
#define SIRFi_USR_INP_END   (0xC7)
 MID_UserInputEnd.
#define SIRFi_PRESET_CONF   (0xB4)
 Preset Software Configuration.
#define SIRFi_UARTCONFOLD   (0xB6)
 Set UART Configuration (obsolete).
#define SIRFi_SOFT_CTRL   (0xCD)
 Software Control.
#define SIRFi_INTERNAL   (0xE4)
 SiRF internal message.
#define SIRFi_EXT_EPHEM   (0xE8)
 Extended Ephemeris Proprietary.
#define SIRFi_PROTO_NULL   (0)
 Set Protocol - Null.
#define SIRFi_PROTO_BIN   (1)
 Set Protocol - SiRF Binary.
#define SIRFi_PROTO_NMEA   (2)
 Set Protocol - NMEA.
#define SIRFi_PROTO_ASCII   (3)
 Set Protocol - ASCII.
#define SIRFi_PROTO_RTCM   (4)
 Set Protocol - RTCM.
#define SIRFi_PROTO_USER1   (5)
 Set Protocol - USER1.
#define SIRFi_PROTO_SIRFLOC   (6)
 Set Protocol - SiRFLoc.
#define SIRFi_PROTO_STAT   (7)
 Set Protocol - Statistic.
#define SIRFi_SOFT_OFF   (0x10)
 Software Control - Software Commanded Off.
#define SIRFo_REF_NAV   (0x01)
 Reference Navigation Data.
#define SIRFo_NAV   (0x02)
 Measured Navigation Data.
#define SIRFo_TRUE_TRACKER   (0x03)
 True Tracker Data.
#define SIRFo_TRACKER   (0x04)
 Measured Tracking Data.
#define SIRFo_RAW_TRACK   (0x05)
 Raw Track Data.
#define SIRFo_SWVERSION   (0x06)
 SW Version.
#define SIRFo_CLOCK_STATUS   (0x07)
 Clock Status.
#define SIRFo_SUBFRAME50   (0x08)
 50 BPS Subframe Data
#define SIRFo_THROUGHPUT   (0x09)
 Throughput.
#define SIRFo_ERROR_ID   (0x0A)
 Error ID.
#define SIRFo_CMD_ACK   (0x0B)
 Command Acknowledgment.
#define SIRFo_CMD_NAK   (0x0C)
 Command NAcknowledgment.
#define SIRFo_VISIBLE   (0x0D)
 Visible List.
#define SIRFo_DGPS_STAT   (0x1B)
 DGPS Status Format.
#define SIRFo_GEO_NAV   (0x29)
 Geodetic Navigation Data.

Typedefs

typedef struct proto_sirf_parser_s proto_sirf_parser_t

Enumerations

enum  sirf_parse_state_t {
  SIRFPARSE_UNSYNC, SIRFPARSE_START0, SIRFPARSE_START1, SIRFPARSE_LENGTH_H,
  SIRFPARSE_LENGTH_L, SIRFPARSE_PAYLOAD, SIRFPARSE_CSUM_H, SIRFPARSE_CSUM_L,
  SIRFPARSE_END0, SIRFPARSE_END1
}

Functions

void sirf_gps_off (usart_control_t *usart)
 poll Software Version
uint16_t sirf_getuint16 (const uint8_t *p)
uint32_t sirf_getuint32 (const uint8_t *p)
uint32_t sirf_getint32 (const uint8_t *p)

Detailed Description

SiRF Binary Protocol handling.

reference: http://gpsd.googlecode.com/files/SiRF-SiRF-v2_4.pdf

Multi-byte values are transmitted in big-endian order.

Define Documentation

#define SIRF_MAX_MSG_LENGTH   (SIRF_MAX_PAYLOAD_LENGTH+8)

maximum length of a single message

a message consists of:

  • start sequence (2 bytes)
  • payload length (2 bytes/15 bits)
  • payload
  • checksum (2 bytes/15 bits)
  • end sequence (2 bytes)

Typedef Documentation

typedef struct proto_sirf_parser_s proto_sirf_parser_t

SiRF parser internal state structure

Enumeration Type Documentation

enum sirf_parse_state_t

SiRF parser state

Enumerator:
SIRFPARSE_UNSYNC 

not synchronized yet, waiting for start0

SIRFPARSE_START0 

got first start byte, waiting for start1

SIRFPARSE_START1 

got second start byte, waiting for length_h

SIRFPARSE_LENGTH_H 

got high-byte of payload length, waiting for length_l

SIRFPARSE_LENGTH_L 

got low-byte of payload length, waiting for payload

SIRFPARSE_PAYLOAD 

in payload, waiting for more or checksum

SIRFPARSE_CSUM_H 

got high-byte of checksum, waiting for csum_l

SIRFPARSE_CSUM_L 

got low-byte of checksum, waiting for end0

SIRFPARSE_END0 

got first end byte, waiting for end1

SIRFPARSE_END1 

got second end byte, waiting for start0 

             {
  SIRFPARSE_UNSYNC, 
  SIRFPARSE_START0, 
  SIRFPARSE_START1, 
  SIRFPARSE_LENGTH_H, 
  SIRFPARSE_LENGTH_L, 
  SIRFPARSE_PAYLOAD, 
  SIRFPARSE_CSUM_H, 
  SIRFPARSE_CSUM_L, 
  SIRFPARSE_END0, 
  SIRFPARSE_END1, 
} sirf_parse_state_t;

Function Documentation

uint32_t sirf_getint32 ( const uint8_t *  p  )  [inline]

helper function to extract a int32 from message 

{
  int32_t ret;
#ifdef __AVR__
  __asm__ ("ld %D0,%a1\n\t"
           "ldd %C0,%a1+1\n\t"
           "ldd %B0,%a1+2\n\t"
           "ldd %A0,%a1+3\n\t"
           : "=&r"(ret)
           : "b"(p));
#else
#warning "using generic sirf_getintxx implementation"
  ret = ((int32_t)p[0] << 24) | ((uint32_t)p[1] << 16)
    | ((uint16_t)p[2] << 8) | (p[3]);
#endif
  return ret;
}

uint16_t sirf_getuint16 ( const uint8_t *  p  )  [inline]

helper function to extract a uint16 from message 

{
  uint16_t ret;
#ifdef __AVR__
  __asm__ ("ld %B0,%a1\n\t"
           "ldd %A0,%a1+1"
           : "=&r"(ret)
           : "b"(p));
#else
#warning "using generic sirf_getuintxx implementation"
  ret = ((uint16_t)p[0] << 8) | p[1];
#endif
  return ret;
}

uint32_t sirf_getuint32 ( const uint8_t *  p  )  [inline]

helper function to extract a uint32 from message 

{
  uint32_t ret;
#ifdef __AVR__
  __asm__ ("ld %D0,%a1\n\t"
           "ldd %C0,%a1+1\n\t"
           "ldd %B0,%a1+2\n\t"
           "ldd %A0,%a1+3\n\t"
           : "=&r"(ret)
           : "b"(p));
#else
#warning "using generic sirf_getuintxx implementation"
  ret = ((uint32_t)p[0] << 24) | ((uint32_t)p[1] << 16)
    | ((uint16_t)p[2] << 8) | (p[3]);
#endif
  return ret;
}

void sirf_gps_off ( usart_control_t *  usart  ) 

poll Software Version

switch to NMEA mode

Mode Control

Static Navigation

power off GPS module 

{
  static const uint8_t msg [] = {SIRFi_SOFT_CTRL, SIRFi_SOFT_OFF};
  sirf_send_msg (usart, msg, sizeof (msg));
  usart_flush (usart);
#if 0
  /* the GPS module is of no use to us until a power-cycle,
   * so cut power to USART */
  usart_disable (usart);
  usart_poweroff (usart);
#endif
}

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