569 lines
18 KiB
C
569 lines
18 KiB
C
|
/*------------------------------------------------------------
|
|||
|
|
// Copyright (c) 2022 SmartLogic.
|
|||
|
|
// ALL RIGHTS RESERVED
|
|||
|
|
// -----------------------------------------------------------------
|
|||
|
|
// Filename : stc_drv.c
|
|||
|
|
// Author : weihua.li
|
|||
|
|
// Created On : 2022-11-23
|
|||
|
|
// Last Modified :
|
|||
|
|
// -----------------------------------------------------------------
|
|||
|
|
// Description:
|
|||
|
|
//
|
|||
|
|
//
|
|||
|
|
// ----------------------------------------------------------------*/
|
|||
|
|
|
|||
|
|
#ifndef __UBLOX_DRV_H__
|
|||
|
|
#define __UBLOX_DRV_H__
|
|||
|
|
|
|||
|
|
#define GTM_OK 0
|
|||
|
|
#define GTM_ERROR -1
|
|||
|
|
#define GTM_YES 1
|
|||
|
|
#define GTM_NO 0
|
|||
|
|
#define GTM_NULL_PTR 0
|
|||
|
|
|
|||
|
|
#define GTM_MOD_ADD(augend, addend, modulus) \
|
|||
|
|
(((augend) + (addend)) % (modulus))
|
|||
|
|
#define GTM_MOD_SUB(minuend, subtrahend, modulus) \
|
|||
|
|
(((minuend) >= (subtrahend)) ? ((minuend) - (subtrahend)) : ((minuend) + (modulus) - (subtrahend)))
|
|||
|
|
|
|||
|
|
|
|||
|
|
#define REVS16(x) x
|
|||
|
|
#define REVS32(x) x
|
|||
|
|
|
|||
|
|
#define IRQF_DISABLED 0x00000020
|
|||
|
|
#if 0
|
|||
|
|
#define REVS16(x) (uint16_t) ((((x) & 0xFF00)>>8)|(((x) & 0x00FF)<<8))
|
|||
|
|
#define REVS32(x) (uint32_t) ((((x) & 0xFF000000)>>24)|(((x) & 0x00FF0000)>>8)|\
|
|||
|
|
(((x) & 0x0000FF00)<<8)|(((x) & 0x000000FF)<<24))
|
|||
|
|
#endif
|
|||
|
|
#define MIN(x,y) ((x)<(y)?(x):(y))
|
|||
|
|
#define MAX(x,y) ((x)>(y)?(x):(y))
|
|||
|
|
|
|||
|
|
#define GPS_SECONDS(tow,wnum) (604800*(wnum) + (tow))
|
|||
|
|
#define MOD_2N(x,y) ((x) & (y-1))
|
|||
|
|
|
|||
|
|
|
|||
|
|
#define GPS_FIX_OK 0x03
|
|||
|
|
#define NAV_ALMANACH 0x04
|
|||
|
|
|
|||
|
|
/*ublox sync header*/
|
|||
|
|
#define SYNC1_UBLOX 0xB5
|
|||
|
|
#define SYNC2_UBLOX 0x62
|
|||
|
|
#define UBLOX_SYNC_LEN 0x2
|
|||
|
|
#define INDEX_OF_PAYLOAD 0x6 //SYNC(2) + CLSID + MSGID + LENGTH(2)
|
|||
|
|
#define UBLOX_CHECK_SUM_LEN 0x2 //2 BYTES
|
|||
|
|
#define UBLOX_HEADER_SUM_LEN 0x8 //SYNC(2) + CLSID + MSGID + LENGTH(2) + CHECKSUM(2)
|
|||
|
|
#define UBLOX_MSG_TOTAL_LEN(payload_len) ((payload_len) + UBLOX_HEADER_SUM_LEN)
|
|||
|
|
|
|||
|
|
#define POLL_LENGTH 0
|
|||
|
|
|
|||
|
|
#define CFG_PRT_LEN 20
|
|||
|
|
#define PORT_NUMBER 1
|
|||
|
|
|
|||
|
|
/*----GPS Time Solution----*/
|
|||
|
|
#define NAV_TIMEGPS 0x20
|
|||
|
|
#define TIME_VALID 0x03 /*Time of Week and Week Number valid*/
|
|||
|
|
#define LEAP_VALID 0x04 /*Valid UTC (Leap Seconds already known)*/
|
|||
|
|
|
|||
|
|
/*--sat chn num--*/
|
|||
|
|
#define NUMCHN 20
|
|||
|
|
#define TOD_LINK_ALARM_VALUE 0x02
|
|||
|
|
#define ANT_OPEN_ALARM_VALUE 0x04
|
|||
|
|
#define ANT_SHORT_ALARM_VALUE 0x03
|
|||
|
|
#define GPS_ANT_SIGNAL_WEEK_ALARM_VALUE 0x05
|
|||
|
|
#define GPS_ANT_SIGNAL_STRONG_ALARM_VALUE 0x06
|
|||
|
|
|
|||
|
|
/*8bit ,1 stop bit , no portiy*/
|
|||
|
|
#define PORT_MODE_8N1 (0x3<<6)|(0x4<<9)|(0x0<<12)
|
|||
|
|
#define PORT_BAUDRATE 9600
|
|||
|
|
#define PORT_PROTOCAL_IN 0x07 /*UBX+NMEA+RTCM2*/
|
|||
|
|
#define PORT_PROTOCAL_OUT 0x01 /*UBX*/
|
|||
|
|
|
|||
|
|
#define CFG_ANT_LEN 4
|
|||
|
|
#define ANT_FLAGS 0x1F
|
|||
|
|
|
|||
|
|
#define CABDLY_DELAY_CRC_BYTE1 0xa5
|
|||
|
|
#define CABDLY_DELAY_CRC_BYTE2 0x5a
|
|||
|
|
#define CABDLY_DELAY 12 //205 1m 4ns
|
|||
|
|
#define CABLE_DELAY_ADDR 0x643800
|
|||
|
|
#define CABLE_DELAY_SIZE 2048
|
|||
|
|
|
|||
|
|
#define CFG_TP_LEN 20
|
|||
|
|
#define CFG_TP5_LEN 32
|
|||
|
|
#define TP_IDX0 0
|
|||
|
|
#define TP_IDX11 1
|
|||
|
|
#define TP_INTERVAL 1000000 //1s
|
|||
|
|
#define TP_POSITIVE 1
|
|||
|
|
#define TP_NEGATIVE -1
|
|||
|
|
#define TP_TIME_GPS 1
|
|||
|
|
#define TP_TIME_UTC 0
|
|||
|
|
#define TP_PLUSE_WIDTH 1000 //1ms
|
|||
|
|
|
|||
|
|
#define CFG_NAV5_LEN 36
|
|||
|
|
#define NAV5_FIXMODE 2
|
|||
|
|
#define NAV5_PACC 100
|
|||
|
|
#define NAV5_TACC 100
|
|||
|
|
|
|||
|
|
#define CFG_MSG_LEN 3
|
|||
|
|
|
|||
|
|
/*--ublox max message length--*/
|
|||
|
|
#define UBLOX_MAX_MEG_LENGTH 280
|
|||
|
|
#define UBLOX_MIN_MEG_LENGTH 10
|
|||
|
|
#define UBLOX_CABDLY 205
|
|||
|
|
|
|||
|
|
|
|||
|
|
/*class id and msg id*/
|
|||
|
|
#define ACK 0x05
|
|||
|
|
#define ACK_ACK 0x01
|
|||
|
|
#define ACK_NACK 0x00
|
|||
|
|
|
|||
|
|
#define NAV 0x01
|
|||
|
|
#define NAV_AOPSTATUS 0x60
|
|||
|
|
#define NAV_CLOCK 0x22
|
|||
|
|
#define NAV_DGPS 0x31
|
|||
|
|
#define NAV_DOP 0x04
|
|||
|
|
#define NAV_EKFSTATUS 0x40
|
|||
|
|
#define NAV_POSECEF 0x01
|
|||
|
|
#define NAV_POSLLH 0x02
|
|||
|
|
#define NAV_SBAS 0x32
|
|||
|
|
#define NAV_SOL 0x06
|
|||
|
|
#define NAV_STATUS 0x03
|
|||
|
|
#define NAV_SVINFO 0x30
|
|||
|
|
#define NAV_TIMEGPS 0x20
|
|||
|
|
#define NAV_TIMEUTC 0x21
|
|||
|
|
#define NAV_VELECEF 0x11
|
|||
|
|
#define NAV_VELNED 0x12
|
|||
|
|
|
|||
|
|
#define CFG 0x06
|
|||
|
|
#define CFG_ANT 0x13
|
|||
|
|
#define CFG_CFG 0x09
|
|||
|
|
#define CFG_DAT 0x06
|
|||
|
|
#define CFG_EKF 0x12
|
|||
|
|
#define CFG_ESFGWT 0x29
|
|||
|
|
#define CFG_FXN 0xE
|
|||
|
|
#define CFG_INF 0x2
|
|||
|
|
#define CFG_ITFM 0x39
|
|||
|
|
#define CFG_MSG 0x1
|
|||
|
|
#define CFG_NAV5 0x24
|
|||
|
|
#define CFG_NAVX5 0x23
|
|||
|
|
#define CFG_NMEA 0x17
|
|||
|
|
#define CFG_NVS 0x22
|
|||
|
|
#define CFG_PM2 0x3B
|
|||
|
|
#define CFG_PM 0x32
|
|||
|
|
#define CFG_PRT 0x00
|
|||
|
|
#define CFG_RATE 0x8
|
|||
|
|
#define CFG_RINV 0x34
|
|||
|
|
#define CFG_RST 0x4
|
|||
|
|
#define CFG_RXM 0x11
|
|||
|
|
#define CFG_SBAS 0x16
|
|||
|
|
#define CFG_TMODE2 0x3D
|
|||
|
|
#define CFG_TMODE 0x1D
|
|||
|
|
#define CFG_TP5 0x31
|
|||
|
|
#define CFG_TP 0x7
|
|||
|
|
#define CFG_USB 0x1B
|
|||
|
|
|
|||
|
|
#define CFG_RST_LEN 4
|
|||
|
|
#define RST_NAVBBR_COLD 0xFFFF
|
|||
|
|
#define RST_MODE_HW 0x00
|
|||
|
|
|
|||
|
|
#define MON 0x0a
|
|||
|
|
#define MON_HW2 0xb
|
|||
|
|
#define MON_HW 0x9
|
|||
|
|
#define MON_IO 0x2
|
|||
|
|
#define MON_MSGPP 0x6
|
|||
|
|
#define MON_RXBUF 0x7
|
|||
|
|
#define MON_RXR 0x21
|
|||
|
|
#define MON_TXBUF 0x8
|
|||
|
|
#define MON_VER 0x4
|
|||
|
|
|
|||
|
|
/*close name mes*/
|
|||
|
|
#define NMEA 0xf0
|
|||
|
|
#define RMC 0x04
|
|||
|
|
#define VTG 0x05
|
|||
|
|
#define GGA 0x00
|
|||
|
|
#define GSA 0x02
|
|||
|
|
#define GSV 0x03
|
|||
|
|
#define GLL 0x01
|
|||
|
|
#define ZDA 0x08
|
|||
|
|
|
|||
|
|
#define GPS_TIME_JUMP_20MIN 1200 /* 60*20 */
|
|||
|
|
#define HOLD_OVER_TIME_UNIT 900 /* 15*60 */
|
|||
|
|
|
|||
|
|
/*#define FPGA_BASE_ADDR 0x74000000*/
|
|||
|
|
#define PHASE_DIFF_COUNT_L_REG 0xe
|
|||
|
|
#define PHASE_DIFF_COUNT_H_REG 0xd
|
|||
|
|
#define PHASE_DIFF_FLAG_REG 0xf
|
|||
|
|
#define PP2S_SYNC_EN_REG 0xb
|
|||
|
|
|
|||
|
|
#define PP2S_CTRL 0xc
|
|||
|
|
#define PHASE_FLAG 0xf /*1:<3A><>ǰ 0:<3A>ͺ<EFBFBD>*/
|
|||
|
|
#define SYNC_EN_FLAG 0x01
|
|||
|
|
#define PP2S_COUNTER_ADV 0x10 /*<2A><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
|
|||
|
|
#define PP2S_COUNTER_DELAY 0x11 /*<2A>ͺ<EFBFBD><CDBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
|
|||
|
|
|
|||
|
|
#define PP2S_ADV_PPS_MASK 0x8000
|
|||
|
|
#define PP2S_PPS_PHD_ABS 0x7FFF
|
|||
|
|
|
|||
|
|
#define CPU_TIMER_MASK 15
|
|||
|
|
#define AD9548_M 6
|
|||
|
|
|
|||
|
|
|
|||
|
|
/* should be update when hardware changed */
|
|||
|
|
#define PH_ERR_NS 8 /*1000/122.88M ~= 8.138*/
|
|||
|
|
#define PH_SYNC 15 /*122.88/5 ~= 25*/
|
|||
|
|
#define PH_FSYNC 18 /*122.88/20.48*3 = 18*/
|
|||
|
|
#define PH_LIMIT_1 120
|
|||
|
|
#define PH_LIMIT_2 130
|
|||
|
|
|
|||
|
|
#define HOLD_OVER_IN 90 /* 3*30 = 90 gpsʧ<73><CAA7><EFBFBD><EFBFBD>ÿ3s<33><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>pp1s<31>ź<EFBFBD>*/
|
|||
|
|
#define HOLD_OVER_1_HOUR 3600 /* 60*60 */
|
|||
|
|
#define HOLD_OVER_1_DAY 86400/* 3600*24 */
|
|||
|
|
|
|||
|
|
#define UBX_SEM_NUM 13
|
|||
|
|
|
|||
|
|
#define MY_IPCKEY 0x10005500
|
|||
|
|
|
|||
|
|
#define TX_SEMA_NAME "tx_sema"
|
|||
|
|
typedef void (*FUNCPTR)(void *);
|
|||
|
|
|
|||
|
|
#define UBLOX_TX_BUF_SIZE 256
|
|||
|
|
#define UBLOX_RX_BUF_SIZE 1024
|
|||
|
|
#define HALF_BUFSIZE 511
|
|||
|
|
#define RT_MASK 1023 //(RTBUFSIZE - 1)
|
|||
|
|
|
|||
|
|
/*-----some get/set types protocols' sem-------*/
|
|||
|
|
typedef enum
|
|||
|
|
{
|
|||
|
|
CFG_PRT_SEM,
|
|||
|
|
CFG_MSG_SEM,
|
|||
|
|
CFG_TP_SEM,
|
|||
|
|
CFG_CFG_SEM,
|
|||
|
|
CFG_ANT_SEM,
|
|||
|
|
CFG_NAV5_SEM,
|
|||
|
|
CFG_RST_SEM,
|
|||
|
|
NAV_POSLLH_SEM,
|
|||
|
|
NAV_STATUS_SEM,
|
|||
|
|
NAV_GPSTIME_SEM,
|
|||
|
|
NAV_SVINFO_SEM,
|
|||
|
|
MON_HW_SEM,
|
|||
|
|
MON_VER_SEM
|
|||
|
|
}ubx_sem_e;
|
|||
|
|
|
|||
|
|
/* arg for semctl system calls. */
|
|||
|
|
union semun {
|
|||
|
|
int val; /* value for SETVAL */
|
|||
|
|
struct semid_ds *buf; /* buffer for IPC_STAT & IPC_SET */
|
|||
|
|
unsigned short *array; /* array for GETALL & SETALL */
|
|||
|
|
struct seminfo *__buf; /* buffer for IPC_INFO */
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
uint16_t reg_addr;
|
|||
|
|
uint8_t reg_val;
|
|||
|
|
}reg_value_s;
|
|||
|
|
|
|||
|
|
//typedef unsigned int time_t;/*32bit*/
|
|||
|
|
typedef void irqreturn_t;
|
|||
|
|
typedef irqreturn_t (*irq_handler_t)(int, void *);
|
|||
|
|
/*Start of repeated block (numCh times) in payload of NAV-SVINFO*/
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
uint8_t chn; /*Channel number*/
|
|||
|
|
uint8_t svid; /*Satellite ID*/
|
|||
|
|
uint8_t flags; /*Bitmask,bit2,Orbit information is available for this SV (Ephemeris or Almanach)*/
|
|||
|
|
uint8_t quality; /**/
|
|||
|
|
uint8_t cno; /*Carrier to Noise Ratio (Signal Strength)*/
|
|||
|
|
int8_t elev; /*Elevation in integer degrees*/
|
|||
|
|
int16_t azim; /*Azimuth in integer degrees*/
|
|||
|
|
int32_t prres; /*Pseudo range residual in centimetres*/
|
|||
|
|
}__attribute__((packed)) chn_info_s;
|
|||
|
|
|
|||
|
|
|
|||
|
|
/*gps消息结构体*/
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
uint8_t cls_id;
|
|||
|
|
uint8_t msg_id;
|
|||
|
|
uint16_t length;
|
|||
|
|
|
|||
|
|
union
|
|||
|
|
{
|
|||
|
|
/*Class NAV 0X01--------------------------------- */
|
|||
|
|
/*Message NAV-POSLLH 0X02*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint32_t i_tow; /*gps millsecond time of week,ms*/
|
|||
|
|
int32_t lon; /* longitude,deg scaling: 1e-7*/
|
|||
|
|
int32_t lat; /*latitude,deg scaling: 1e-7*/
|
|||
|
|
int32_t height; /*Height above Ellipsoid,mm*/
|
|||
|
|
int32_t hmsl; /*Height above mean sea level,mm*/
|
|||
|
|
uint32_t hacc; /*Horizontal Accuracy Estimate,mm*/
|
|||
|
|
uint32_t vacc; /*Vertical Accuracy Estimate,mm*/
|
|||
|
|
}__attribute__((packed)) nav_pos;
|
|||
|
|
/*message NAV-STATUS 0x03*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint32_t i_tow;
|
|||
|
|
uint8_t gps_fix; /*GPSfix Type,0x00 no fix,others */
|
|||
|
|
uint8_t flags; /*bit0:gpsFixOk,bit1:1 if DGPS used,bit2:1 if Week Number valid,bit3:1 if Time of Week valid*/
|
|||
|
|
uint8_t diff_stat;
|
|||
|
|
uint8_t res;
|
|||
|
|
uint32_t ttff; /*Time to first fix (millisecond time tag)*/
|
|||
|
|
uint32_t msss; /*Milliseconds since Startup / Reset*/
|
|||
|
|
}__attribute__((packed)) nav_status;
|
|||
|
|
/*message NAV-TIMEGPS*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint32_t i_tow;
|
|||
|
|
int32_t f_low; /* Fractional Nanoseconds remainder of rounded ms above,*/
|
|||
|
|
int16_t week; /*GPS week (GPS time)*/
|
|||
|
|
int8_t leap; /*Leap Seconds (GPS-UTC)*/
|
|||
|
|
uint8_t valid; /*Validity Flags,bit0=1Valid Time of Week,bit1=1 Valid Week Number,bit2=1 Valid Leap Seconds,*/
|
|||
|
|
uint32_t vacc; /*Time Accuracy Estimate*/
|
|||
|
|
}__attribute__((packed)) nav_timegps;
|
|||
|
|
/*message NAV-SVINFO*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint32_t i_tow;
|
|||
|
|
uint8_t num_ch; /*Number of channels*/
|
|||
|
|
uint8_t global_flags;
|
|||
|
|
uint16_t res;
|
|||
|
|
chn_info_s chn_info;
|
|||
|
|
}__attribute__((packed)) nav_svinfo;
|
|||
|
|
|
|||
|
|
/*--------------------------------------------------------*/
|
|||
|
|
/*----class ACK---------*/
|
|||
|
|
/*--message ACK-(NAK 0X00 or ACK 0X01)--*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint8_t clsid; /*Class ID of the Not-Acknowledged/Acknowledged Message*/
|
|||
|
|
uint8_t msgid; /*Message ID of the Not-Acknowledged/Acknowledged Message*/
|
|||
|
|
}__attribute__((packed)) ack_msg;
|
|||
|
|
/*--------------------------------------------------------*/
|
|||
|
|
/*----class CFG 0X06---------*/
|
|||
|
|
/*--message CFG-PRT 0X00 (Get/Set Port Configuration for UART)--*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint8_t portid; /*Port Identifier Number (= 1 or 2 for UART ports)*/
|
|||
|
|
uint8_t res0;
|
|||
|
|
uint16_t res1;
|
|||
|
|
uint32_t mode; /*A bit mask describing the UART mode, bit7-bit6=11(8bit),*/
|
|||
|
|
uint32_t baudrate; /*Baudrate in bits/second*/
|
|||
|
|
uint16_t inportmask; /*A mask describing which input protocols are active.bit0=UBX*/
|
|||
|
|
uint16_t outportmask; /*A mask describing which output protocols are active.*/
|
|||
|
|
uint16_t flags;
|
|||
|
|
uint16_t pad;
|
|||
|
|
}__attribute__((packed)) config_port;
|
|||
|
|
/*--message CFG-MSG 0X01 --*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint8_t cls;
|
|||
|
|
uint8_t msgid;
|
|||
|
|
uint8_t rate;
|
|||
|
|
}__attribute__((packed))config_msg;
|
|||
|
|
|
|||
|
|
/*--Message CFG-RST 0X04--*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint16_t nav_bbr;
|
|||
|
|
uint8_t rst_mode;
|
|||
|
|
uint8_t res;
|
|||
|
|
}__attribute__((packed)) config_rst;
|
|||
|
|
#if 0
|
|||
|
|
/*--message CFG-TP 0X07(Get/Set TimePulse Parameters)--*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint32_t interval; /*Time interval for time pulse*/
|
|||
|
|
uint32_t length; /*Length of time pulse*/
|
|||
|
|
int8_t status; /*Time pulse config setting,>0 positive,=0 off,<0 negative*/
|
|||
|
|
uint8_t time_ref; /*Tlignment to reference time,0=UTC time,1=GPS time*/
|
|||
|
|
uint8_t flags; /*bit0=1 TP allowed to be asynchronized and available even when time is not valid*/
|
|||
|
|
uint8_t res;
|
|||
|
|
int16_t cab_dly; /*Antenna Cable Delay*/
|
|||
|
|
int16_t rf_grp_dly; /*Receiver RF Group Delay*/
|
|||
|
|
int32_t user_dly; /*User Time Function Delay (positive delay results in earlier pulse)*/
|
|||
|
|
}__attribute__((packed)) config_tp;
|
|||
|
|
#endif
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint8_t tp_idx;
|
|||
|
|
uint8_t version;
|
|||
|
|
uint8_t rsv[2]; /*reserved*/
|
|||
|
|
int16_t cab_dly; /*Antenna Cable Delay: ns*/
|
|||
|
|
int16_t rf_dly; /*RF group delay: ns*/
|
|||
|
|
uint32_t freq_period; /*pulse frequence or period: Hz_us*/
|
|||
|
|
uint32_t freq_period_locked; /*pulse frequence or period when locked to GNSS: Hz_us*/
|
|||
|
|
uint32_t pulse_len; /*pulse width or duty: us_%*/
|
|||
|
|
uint32_t pulse_len_locked; /*pulse width or duty when locked to GNSS: us_%*/
|
|||
|
|
int32_t user_delay; /*user-configurable time pulse delay: ns*/
|
|||
|
|
uint32_t active:1;
|
|||
|
|
uint32_t lock_gnss_freq:1;
|
|||
|
|
uint32_t lock_other_set:1;
|
|||
|
|
uint32_t is_freq:1;
|
|||
|
|
uint32_t is_length:1;
|
|||
|
|
uint32_t align2tow:1;
|
|||
|
|
uint32_t polarity:1;
|
|||
|
|
uint32_t grid_utc_gnss:4;
|
|||
|
|
uint32_t sync_mode:3;
|
|||
|
|
uint32_t flag_rsv:18;
|
|||
|
|
}__attribute__((packed)) config_tp5;
|
|||
|
|
/*--message CFG-NAV5 Get/Set Navigation Engine Settings--*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint16_t mask; /*Parameters Bitmask.*/
|
|||
|
|
uint8_t dyn_model; /*Dynamic Platform model:*/
|
|||
|
|
uint8_t fix_mode; /*Position Fixing Mode.*/
|
|||
|
|
int32_t fixed_alt; /*Fixed altitude*/
|
|||
|
|
uint32_t fixed_alt_var; /*Fixed altitude variance for 2D mode.*/
|
|||
|
|
int8_t min_elev; /*Minimum Elevation for a GNSS satellite to be used in NAV*/
|
|||
|
|
uint8_t drlimit; /*Maximum time to perform dead reckoning*/
|
|||
|
|
uint16_t pdop; /*Position DOP Mask to use*/
|
|||
|
|
uint16_t tdop; /*Time DOP Mask to use*/
|
|||
|
|
uint16_t pacc; /* Position Accuracy Mask */
|
|||
|
|
uint16_t tacc; /* Time Accuracy Mask */
|
|||
|
|
uint8_t static_hold_thresh; /* Static hold threshold */
|
|||
|
|
uint8_t dgps_time_out; /* DGPS timeout */
|
|||
|
|
uint32_t res2; /* reserved, set to 0 */
|
|||
|
|
uint32_t res3; /* reserved, set to 0 */
|
|||
|
|
uint32_t res4; /* reserved, set to 0 */
|
|||
|
|
}__attribute__((packed)) config_nav5;
|
|||
|
|
/*--message CFG-CFG 0X09 (Clear, Save and Load configurations)--*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint32_t clearmask;
|
|||
|
|
uint32_t savemask;
|
|||
|
|
uint32_t loadmask;
|
|||
|
|
}__attribute__((packed)) config_cfg;
|
|||
|
|
|
|||
|
|
/*--message CFG-ANT 0X13 (Get/Set Antenna Control Settings)--*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint16_t flags;
|
|||
|
|
uint16_t pins;/*READ-ONLY,when get*/
|
|||
|
|
}__attribute__((packed)) config_ant;
|
|||
|
|
/*---------------------------------------------------------------*/
|
|||
|
|
/*--class MON 0x0A--*/
|
|||
|
|
/*--Message MON-HW0x09--*/
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint32_t pinsel;
|
|||
|
|
uint32_t pinbank;
|
|||
|
|
uint32_t pindir;
|
|||
|
|
uint32_t pinvar;
|
|||
|
|
uint16_t noiseperms;
|
|||
|
|
uint16_t agccnt;
|
|||
|
|
uint8_t astatus;
|
|||
|
|
uint8_t apower;
|
|||
|
|
uint8_t flags;
|
|||
|
|
uint8_t res1;
|
|||
|
|
uint32_t usedmask;
|
|||
|
|
uint8_t vp[25];
|
|||
|
|
uint8_t res2[3];
|
|||
|
|
uint32_t pinirq;
|
|||
|
|
uint32_t pullh;
|
|||
|
|
uint32_t pulll;
|
|||
|
|
}__attribute__((packed)) monitor_hw;
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint8_t sw_version[30];
|
|||
|
|
uint8_t hw_version[10];
|
|||
|
|
/*
|
|||
|
|
uint8_t rom_version[30];
|
|||
|
|
uint8_t extension[30];
|
|||
|
|
*/
|
|||
|
|
}__attribute__((packed)) monitor_ver;
|
|||
|
|
/*--------------------------------------------------------*/
|
|||
|
|
}__attribute__((packed))pay_load;
|
|||
|
|
}__attribute__((packed)) ubx_msg_s;
|
|||
|
|
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
int32_t latitude; /*degree 1e-7*/
|
|||
|
|
int32_t longitude;/*degree 1e-7*/
|
|||
|
|
int32_t altitude; /*millimeter*/
|
|||
|
|
uint8_t gps_fix;
|
|||
|
|
uint8_t fix_flag;
|
|||
|
|
uint32_t time_of_week;
|
|||
|
|
uint8_t valid_flag;
|
|||
|
|
int8_t leap_sec;
|
|||
|
|
uint16_t week_number;
|
|||
|
|
uint8_t num_ch;
|
|||
|
|
int16_t cab_dly; /*cable delay time,uint:ns*/
|
|||
|
|
uint32_t pulse_width; /*Length of time pulse*/
|
|||
|
|
int8_t pps_status; /*PPS: >0,postive; =0,no;<0, negative*/
|
|||
|
|
uint8_t ant_state;
|
|||
|
|
uint8_t sw_version[30];
|
|||
|
|
uint8_t hw_version[10];
|
|||
|
|
uint8_t sta_id[NUMCHN]; /*satellite ID*/
|
|||
|
|
uint8_t cno[NUMCHN]; /*Carrier to Noise Ratio (Signal Strength)*/
|
|||
|
|
uint8_t tracking_num;
|
|||
|
|
uint8_t visable_num;
|
|||
|
|
uint8_t sig_over_high;
|
|||
|
|
uint8_t lock_state; /*1: gps lock 0: gps unlock*/
|
|||
|
|
|
|||
|
|
}drv_gps_msg_s;
|
|||
|
|
|
|||
|
|
/********************************************************************/
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
uint8_t recv_buf[UBLOX_RX_BUF_SIZE];
|
|||
|
|
/*union
|
|||
|
|
{
|
|||
|
|
uint32_t whole;
|
|||
|
|
struct
|
|||
|
|
{
|
|||
|
|
uint16_t recv_ptr; //接收指针
|
|||
|
|
uint16_t deal_ptr; //处理指针
|
|||
|
|
}
|
|||
|
|
}*/
|
|||
|
|
uint16_t recv_ptr; /*接收指针*/
|
|||
|
|
uint16_t deal_ptr; /*处理指针*/
|
|||
|
|
uint16_t recv_cnt; /*最新接收到的消息长度*/
|
|||
|
|
uint16_t deal_cnt; /*未处理消息长度*/
|
|||
|
|
int32_t send_sem;
|
|||
|
|
ubx_msg_s *send_buf_ptr;
|
|||
|
|
uint16_t send_cnt; /*待发送消息长度*/
|
|||
|
|
uint16_t frame_flag; //帧头
|
|||
|
|
}ublox_uart_s;
|
|||
|
|
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
int32_t latitude; //纬度 单位：度/1e-7
|
|||
|
|
int32_t longitude; //经度 单位：度/1e-7
|
|||
|
|
int32_t altitude; //高度 单位：毫米
|
|||
|
|
}location_info_s;
|
|||
|
|
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
uint8_t lock_flag; /* GPS Fixed ok */
|
|||
|
|
uint8_t leap_valid; /* leap second valid */
|
|||
|
|
uint8_t view_sats; /* Satellites in view */
|
|||
|
|
uint8_t track_sats; /* Satellites under tracking */
|
|||
|
|
uint8_t survey_in; /*0 not in Survey-in mode*/
|
|||
|
|
uint8_t alma_complete; /* 0 Calendar not complete */
|
|||
|
|
uint8_t resv[2]; /* resv*/
|
|||
|
|
float sig_level[12]; /* signal level of satellites */
|
|||
|
|
}tracking_info_s;
|
|||
|
|
|
|||
|
|
void drv_gps_recv_task(void);
|
|||
|
|
int32_t drv_uart_read(uint8_t *pdata, uint32_t len);
|
|||
|
|
int32_t init_clock_module(void);
|
|||
|
|
int32_t drv_tfu_receiver_init(void);
|
|||
|
|
int32_t get_receiver_fix_status();
|
|||
|
|
int32_t get_src_time(time_t* time_ptr);
|
|||
|
|
int32_t drv_tfu_get_ublox_seconds(time_t* sec_ptr);
|
|||
|
|
int32_t get_tfu_location_info(location_info_s *locat_ptr);
|
|||
|
|
int32_t get_clock_tracking_state(tracking_info_s *trk_ptr);
|
|||
|
|
int32_t reset_clock_module(void);
|
|||
|
|
|
|||
|
|
|
|||
|
|
#ifdef __cplusplus
|
|||
|
|
#if __cplusplus
|
|||
|
|
}
|
|||
|
|
#endif
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#endif
|
|||
|
|
/**********************************************************************/
|