sirf3.h

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/* SiRF Binary Protocol definitions */
/* Copyright (C) 2010 Holger Dietze
 *
 *   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 2 of the License, or
 *   (at your option) version 3.
 *
 *   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, see <http://www.gnu.org/licenses/>.
 */

#ifndef SIRF3_H
#define SIRF3_H

#include <usarts.h>

#define SIRF_MAX_PAYLOAD_LENGTH ((1<<10)-1)

#define SIRF_MAX_MSG_LENGTH (SIRF_MAX_PAYLOAD_LENGTH+8)

#define SIRF_START0 ((uint8_t)0xA0)
#define SIRF_START1 ((uint8_t)0xA2)
#define SIRF_END0   ((uint8_t)0xB0)
#define SIRF_END1   ((uint8_t)0xB3)

/* SiRF binary input messages */
#define SIRFi_POWER       (0x35) 
#define SIRFi_INIT        (0x80) 
#define SIRFi_NMEA        (0x81) 
#define SIRFi_S_ALMANAC   (0x82) 
#define SIRFi_DUMPDATA    (0x83) 
#define SIRFi_VERSION     (0x84) 
#define SIRFi_DGPS_SRC    (0x85) 
#define SIRFi_SETPORT     (0x86) 
#define SIRFi_SETPROTO    (0x87) 
#define SIRFi_MODE        (0x88) 
#define SIRFi_DOPMASK     (0x89) 
#define SIRFi_DGPS_MODE   (0x8A) 
#define SIRFi_ELE_MASK    (0x8B) 
#define SIRFi_PWR_MASK    (0x8C) 
#define SIRFi_STATIC_NAV  (0x8F) 
#define SIRFi_CLK_STAT    (0x90) 
#define SIRFi_DGPS_PORT   (0x91) 
#define SIRFi_P_ALMANAC   (0x92) 
#define SIRFi_P_EPHEMERIS (0x93) 
#define SIRFi_FLASH_UPD   (0x94) 
#define SIRFi_S_EPHEMERIS (0x95) 
#define SIRFi_OPMODE      (0x96) 
#define SIRFi_TRICKLE     (0x97) 
#define SIRFi_P_NAVPARM   (0x98) 
#define SIRFi_UARTCONF    (0xA5) 
#define SIRFi_MSGRATE     (0xA6) 
#define SIRFi_LOWPWRACQ   (0xA7) 
#define SIRFi_P_CMDPARM   (0xA8) 
#define SIRFi_S_SBASPARM  (0xAA) 
#define SIRFi_CLASS_DR    (0xAC) 
#define SIRFi_USR_INPUT   (0xAF) 
#define SIRFi_USR_INP_BEG (0xB4) 
#define SIRFi_USR_INP_END (0xC7) 
#define SIRFi_PRESET_CONF (0xB4) 
#define SIRFi_UARTCONFOLD (0xB6) 
#define SIRFi_SOFT_CTRL   (0xCD) 
#define SIRFi_INTERNAL    (0xE4) 
#define SIRFi_EXT_EPHEM   (0xE8) 
/* mode values for SIRFi_SETPROTO */
#define SIRFi_PROTO_NULL  (0) 
#define SIRFi_PROTO_BIN   (1) 
#define SIRFi_PROTO_NMEA  (2) 
#define SIRFi_PROTO_ASCII (3) 
#define SIRFi_PROTO_RTCM  (4) 
#define SIRFi_PROTO_USER1 (5) 
#define SIRFi_PROTO_SIRFLOC (6) 
#define SIRFi_PROTO_STAT  (7) 
/* sub-commands for SIRFi_SOFT_CTRL */
#define SIRFi_SOFT_OFF    (0x10) 
/* SiRF binary output messages */
#define SIRFo_REF_NAV      (0x01) 
#define SIRFo_NAV          (0x02) 
#define SIRFo_TRUE_TRACKER (0x03) 
#define SIRFo_TRACKER      (0x04) 
#define SIRFo_RAW_TRACK    (0x05) 
#define SIRFo_SWVERSION    (0x06) 
#define SIRFo_CLOCK_STATUS (0x07) 
#define SIRFo_SUBFRAME50   (0x08) 
#define SIRFo_THROUGHPUT   (0x09) 
#define SIRFo_ERROR_ID     (0x0A) 
#define SIRFo_CMD_ACK      (0x0B) 
#define SIRFo_CMD_NAK      (0x0C) 
#define SIRFo_VISIBLE      (0x0D) 
#define SIRFo_DGPS_STAT    (0x1B) 
#define SIRFo_GEO_NAV      (0x29) 
/*extern void sirf_poll_sw_version (usart_control_t * usart);*/

/*extern void sirf_switch_nmea (usart_control_t * usart, uint16_t baud);*/

/*extern void sirf_mode_control (usart_control_t * usart);*/

/*extern void sirf_static_nav (usart_control_t * usart);*/

extern void sirf_gps_off (usart_control_t * usart);

typedef enum {
  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;

typedef struct proto_sirf_parser_s {
  gps_proto_parser_t base;
  sirf_parse_state_t state;
  uint16_t msglen;
  uint16_t msgidx;
  uint16_t csum, csum_recv;
  size_t msgsize; 
  uint8_t *msg;
  uint8_t *swversion;
  uint16_t gps_week;
  uint32_t gps_timeofweek;
  uint32_t clk_drift;
  uint32_t clk_bias;
  uint32_t gps_time;
} proto_sirf_parser_t;

inline uint16_t sirf_getuint16 (const uint8_t * p)
{
  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;
}

inline uint32_t sirf_getuint32 (const uint8_t * p)
{
  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;
}

inline uint32_t sirf_getint32 (const uint8_t * p)
{
  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;
}

#endif