/contrib/ntp/ntpd/jupiter.h

  1/* @(#) $Header$ (LBL) */
  2
  3/*
  4 * Rockwell Jupiter GPS receiver definitions
  5 *
  6 * This is all based on the "Zodiac GPS Receiver Family Designer's
  7 * Guide" (dated 12/96)
  8 */
  9
 10#define JUPITER_SYNC		0x81ff	/* sync word (book says 0xff81 !?!?) */
 11#define JUPITER_ALL		0xffff	/* disable all output messages */
 12
 13/* Output messages (sent by the Jupiter board) */
 14#define JUPITER_O_GPOS		1000	/* geodetic position status */
 15#define JUPITER_O_EPOS		1001	/* ECEF position status */
 16#define JUPITER_O_CHAN		1002	/* channel summary */
 17#define JUPITER_O_VIS		1003	/* visible satellites */
 18#define JUPITER_O_DGPS		1005	/* differential GPS status */
 19#define JUPITER_O_MEAS		1007	/* channel measurement */
 20#define JUPITER_O_ID		1011	/* receiver id */
 21#define JUPITER_O_USER		1012	/* user-settings output */
 22#define JUPITER_O_TEST		1100	/* built-in test results */
 23#define JUPITER_O_MARK		1102	/* measurement time mark */
 24#define JUPITER_O_PULSE		1108	/* UTC time mark pulse output */
 25#define JUPITER_O_PORT		1130	/* serial port com parameters in use */
 26#define JUPITER_O_EUP		1135	/* EEPROM update */
 27#define JUPITER_O_ESTAT		1136	/* EEPROM status */
 28
 29/* Input messages (sent to the Jupiter board) */
 30#define JUPITER_I_PVTINIT	1200	/* geodetic position and velocity */
 31#define JUPITER_I_USER		1210	/* user-defined datum */
 32#define JUPITER_I_MAPSEL	1211	/* map datum select */
 33#define JUPITER_I_ELEV		1212	/* satellite elevation mask control */
 34#define JUPITER_I_CAND		1213	/* satellite candidate select */
 35#define JUPITER_I_DGPS		1214	/* differential GPS control */
 36#define JUPITER_I_COLD		1216	/* cold start control */
 37#define JUPITER_I_VALID		1217	/* solution validity criteria */
 38#define JUPITER_I_ALT		1219	/* user-entered altitude input */
 39#define JUPITER_I_PLAT		1220	/* application platform control */
 40#define JUPITER_I_NAV		1221	/* nav configuration */
 41#define JUPITER_I_TEST		1300	/* preform built-in test command */
 42#define JUPITER_I_RESTART	1303	/* restart command */
 43#define JUPITER_I_PORT		1330	/* serial port com parameters */
 44#define JUPITER_I_PROTO		1331	/* message protocol control */
 45#define JUPITER_I_RDGPS		1351	/* raw DGPS RTCM SC-104 data */
 46
 47struct jheader {
 48	u_short sync;		/* (JUPITER_SYNC) */
 49	u_short id;		/* message id */
 50	u_short len;		/* number of data short wordss (w/o cksum) */
 51	u_char reqid;		/* JUPITER_REQID_MASK bits available as id */
 52	u_char flags;		/* flags */
 53	u_short hsum;		/* header cksum */
 54};
 55
 56#define JUPITER_REQID_MASK	0x3f	/* bits available as id */
 57#define JUPITER_FLAG_NAK	0x01	/* negative acknowledgement */
 58#define JUPITER_FLAG_ACK	0x02	/* acknowledgement */
 59#define JUPITER_FLAG_REQUEST	0x04	/* request ACK or NAK */
 60#define JUPITER_FLAG_QUERY	0x08	/* request one shot output message */
 61#define JUPITER_FLAG_LOG	0x20	/* request periodic output message */
 62#define JUPITER_FLAG_CONN	0x40	/* enable periodic message */
 63#define JUPITER_FLAG_DISC	0x80	/* disable periodic message */
 64
 65#define JUPITER_H_FLAG_BITS \
 66    "\020\1NAK\2ACK\3REQUEST\4QUERY\5MBZ\6LOG\7CONN\10DISC"
 67
 68/* Log request messages (data payload when using JUPITER_FLAG_LOG) */
 69struct jrequest {
 70	u_short trigger;		/* if 0, trigger on time trigger on
 71					   update (e.g. new almanac) */
 72	u_short interval;		/* frequency in seconds */
 73	u_short offset;			/* offset into minute */
 74	u_short dsum;			/* checksum */
 75};
 76
 77/* JUPITER_O_GPOS (1000) */
 78struct jgpos {
 79	u_short stime[2];		/* set time (10 ms ticks) */
 80	u_short seq;			/* sequence number */
 81	u_short sseq;			/* sat measurement sequence number */
 82	u_short navval;			/* navigation soltuion validity */
 83	u_short navtype;		/* navigation solution type */
 84	u_short nmeas;			/* # of measurements used in solution */
 85	u_short polar;			/* if 1 then polar navigation */
 86	u_short gweek;			/* GPS week number */
 87	u_short sweek[2];		/* GPS seconds into week */
 88	u_short nsweek[2];		/* GPS nanoseconds into second */
 89	u_short utcday;			/* 1 to 31 */
 90	u_short utcmon;			/* 1 to 12 */
 91	u_short utcyear;		/* 1980 to 2079 */
 92	u_short utchour;		/* 0 to 23 */
 93	u_short utcmin;			/* 0 to 59 */
 94	u_short utcsec;			/* 0 to 59 */
 95	u_short utcnsec[2];		/* 0 to 999999999 */
 96	u_short lat[2];			/* latitude (radians) */
 97	u_short lon[2];			/* longitude (radians) */
 98	u_short height[2];		/* height (meters) */
 99	u_short gsep;			/* geoidal separation */
100	u_short speed[2];		/* ground speed (meters/sec) */
101	u_short course;			/* true course (radians) */
102	u_short mvar;
103	u_short climb;
104	u_short mapd;
105	u_short herr[2];
106	u_short verr[2];
107	u_short terr[2];
108	u_short hverr;
109	u_short bias[2];
110	u_short biassd[2];
111	u_short drift[2];
112	u_short driftsd[2];
113	u_short dsum;			/* checksum */
114};
115#define JUPITER_O_GPOS_NAV_NOALT	0x01	/* altitude used */
116#define JUPITER_O_GPOS_NAV_NODGPS	0x02	/* no differential GPS */
117#define JUPITER_O_GPOS_NAV_NOSAT	0x04	/* not enough satellites */
118#define JUPITER_O_GPOS_NAV_MAXH		0x08	/* exceeded max EHPE */
119#define JUPITER_O_GPOS_NAV_MAXV		0x10	/* exceeded max EVPE */
120
121/* JUPITER_O_CHAN (1002) */
122struct jchan {
123	u_short stime[2];		/* set time (10 ms ticks) */
124	u_short seq;			/* sequence number */
125	u_short sseq;			/* sat measurement sequence number */
126	u_short gweek;			/* GPS week number */
127	u_short sweek[2];		/* GPS seconds into week */
128	u_short gpsns[2];		/* GPS nanoseconds from epoch */
129	struct jchan2 {
130		u_short flags;		/* flags */
131		u_short prn;		/* satellite PRN */
132		u_short chan;		/* channel number */
133	} sat[12];
134	u_short dsum;
135};
136
137/* JUPITER_O_VIS (1003) */
138struct jvis {
139	u_short stime[2];		/* set time (10 ms ticks) */
140	u_short seq;			/* sequence number */
141	u_short gdop;			/* best possible GDOP */
142	u_short pdop;			/* best possible PDOP */
143	u_short hdop;			/* best possible HDOP */
144	u_short vdop;			/* best possible VDOP */
145	u_short tdop;			/* best possible TDOP */
146	u_short nvis;			/* number of visible satellites */
147	struct jvis2 {
148		u_short prn;		/* satellite PRN */
149		u_short azi;		/* satellite azimuth (radians) */
150		u_short elev;		/* satellite elevation (radians) */
151	} sat[12];
152	u_short dsum;			/* checksum */
153};
154
155/* JUPITER_O_ID (1011) */
156struct jid {
157	u_short stime[2];		/* set time (10 ms ticks) */
158	u_short seq;			/* sequence number */
159	char chans[20];			/* number of channels (ascii) */
160	char vers[20];			/* software version (ascii) */
161	char date[20];			/* software date (ascii) */
162	char opts[20];			/* software options (ascii) */
163	char reserved[20];
164	u_short dsum;			/* checksum */
165};
166
167/* JUPITER_O_USER (1012) */
168struct juser {
169	u_short stime[2];		/* set time (10 ms ticks) */
170	u_short seq;			/* sequence number */
171	u_short status;			/* operatinoal status */
172	u_short coldtmo;		/* cold start time-out */
173	u_short dgpstmo;		/* DGPS correction time-out*/
174	u_short emask;			/* elevation mask */
175	u_short selcand[2];		/* selected candidate */
176	u_short solflags;		/* solution validity criteria */
177	u_short nsat;			/* number of satellites in track */
178	u_short herr[2];		/* minimum expected horizontal error */
179	u_short verr[2];		/* minimum expected vertical error */
180	u_short platform;		/* application platform */
181	u_short dsum;			/* checksum */
182};
183
184/* JUPITER_O_PULSE (1108) */
185struct jpulse {
186	u_short stime[2];		/* set time (10 ms ticks) */
187	u_short seq;			/* sequence number */
188	u_short reserved[5];
189	u_short sweek[2];		/* GPS seconds into week */
190	short offs;			/* GPS to UTC time offset (seconds) */
191	u_short offns[2];		/* GPS to UTC offset (nanoseconds) */
192	u_short flags;			/* flags */
193	u_short dsum;			/* checksum */
194};
195#define JUPITER_O_PULSE_VALID		0x1	/* time mark validity */
196#define JUPITER_O_PULSE_UTC		0x2	/* GPS/UTC sync */
197
198/* JUPITER_O_EUP (1135) */
199struct jeup {
200	u_short stime[2];		/* set time (10 ms ticks) */
201	u_short seq;			/* sequence number */
202	u_char dataid;			/* data id */
203	u_char prn;			/* satellite PRN */
204	u_short dsum;			/* checksum */
205};
206
207/* JUPITER_I_RESTART (1303) */
208struct jrestart {
209	u_short seq;			/* sequence number */
210	u_short flags;
211	u_short dsum;			/* checksum */
212};
213#define JUPITER_I_RESTART_INVRAM	0x01
214#define JUPITER_I_RESTART_INVEEPROM	0x02
215#define JUPITER_I_RESTART_INVRTC	0x04
216#define JUPITER_I_RESTART_COLD		0x80
217
218/* JUPITER_I_PVTINIT (1200) */
219struct jpvtinit {
220	u_short flags;
221	u_short gweek;			/* GPS week number */
222	u_short sweek[2];		/* GPS seconds into week */
223	u_short utcday;			/* 1 to 31 */
224	u_short utcmon;			/* 1 to 12 */
225	u_short utcyear;		/* 1980 to 2079 */
226	u_short utchour;		/* 0 to 23 */
227	u_short utcmin;			/* 0 to 59 */
228	u_short utcsec;			/* 0 to 59 */
229	u_short lat[2];			/* latitude (radians) */
230	u_short lon[2];			/* longitude (radians) */
231	u_short height[2];		/* height (meters) */
232	u_short speed[2];		/* ground speed (meters/sec) */
233	u_short course;			/* true course (radians) */
234	u_short climb;
235	u_short dsum;
236};
237#define JUPITER_I_PVTINIT_FORCE		0x01
238#define JUPITER_I_PVTINIT_GPSVAL	0x02
239#define JUPITER_I_PVTINIT_UTCVAL	0x04
240#define JUPITER_I_PVTINIT_POSVAL	0x08
241#define JUPITER_I_PVTINIT_ALTVAL	0x10
242#define JUPITER_I_PVTINIT_SPDVAL	0x12
243#define JUPITER_I_PVTINIT_MAGVAL	0x14
244#define JUPITER_I_PVTINIT_CLIMBVAL	0x18
245
246/* JUPITER_I_PLAT (1220) */
247struct jplat {
248	u_short seq;			/* sequence number */
249	u_short platform;		/* application platform */
250	u_short dsum;
251};
252#define JUPITER_I_PLAT_DEFAULT		0	/* default dynamics */
253#define JUPITER_I_PLAT_LOW		2	/* pedestrian */
254#define JUPITER_I_PLAT_MED		5	/* land (e.g. automobile) */
255#define JUPITER_I_PLAT_HIGH		6	/* air */