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/*! \file tsip.h \brief TSIP (Trimble Standard Interface Protocol) function library. */ |
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//***************************************************************************** |
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// |
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// File Name : 'tsip.h' |
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// Title : TSIP (Trimble Standard Interface Protocol) function library |
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// Author : Pascal Stang - Copyright (C) 2002 |
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// Created : 2002.08.27 |
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// Revised : 2002.08.27 |
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// Version : 0.1 |
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// Target MCU : Atmel AVR Series |
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// Editor Tabs : 4 |
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// |
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// NOTE: This code is currently below version 1.0, and therefore is considered |
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// to be lacking in some functionality or documentation, or may not be fully |
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// tested. Nonetheless, you can expect most functions to work. |
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// |
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/// \ingroup driver_hw |
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/// \defgroup tsip TSIP Packet Interface for Trimble GPS Receivers (tsip.c) |
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/// \code #include "tsip.h" \endcode |
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/// \par Overview |
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/// This library parses and decodes the TSIP data stream from a Trimble GPS |
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/// and stores the position, velocity, and time solutions in the gps.c library. |
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/// The library also includes functions to transmit TSIP packets to the GPS for |
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/// configuration and data request. |
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// |
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// This code is distributed under the GNU Public License |
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// which can be found at http://www.gnu.org/licenses/gpl.txt |
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// |
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//***************************************************************************** |
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#ifndef TSIP_H |
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#define TSIP_H |
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#include "global.h" |
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// constants/macros/typdefs |
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// packet delimiters |
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#define DLE 0x10 |
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#define ETX 0x03 |
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// packet types |
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// command packets |
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#define TSIPTYPE_SET_IO_OPTIONS 0x35 |
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// byte 0 |
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#define POS_XYZ_ECEF 0 // outputs 0x42 and 0x83 packets |
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#define POS_LLA 1 // outputs 0x4A and 0x84 packets |
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#define POS_ALT 2 // outputs 0x4A/0x84 and 0x8F-17/0x8F-18 |
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#define ALT_REF_MSL 3 // bit cleared = HAE Reference datum |
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#define POS_DBL_PRECISION 4 // bit cleared = single precision |
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#define SUPER_PACKETS 5 // 0x8F-17,0x8F-18,0x8F-20 |
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// byte 1 |
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#define VEL_ECEF 0 // outputs 0x43 |
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#define VEL_ENU 1 // outputs 0x56 |
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// byte 2 |
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#define TIME_UTC 0 // 0/1 time format GPS/UTC |
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// byte 3 |
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#define RAWDATA 0 // outputs 0x5A packets |
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#define RAWDATA_FILTER 1 // 0/1 raw data unfiltered/filtered |
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#define SIGNAL_DBHZ 3 // 0/1 signal strength in AMU/dBHz |
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// report packets |
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#define TSIPTYPE_GPSTIME 0x41 |
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#define TSIPTYPE_POSFIX_XYZ_SP 0x42 |
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#define TSIPTYPE_VELFIX_XYZ 0x43 |
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#define TSIPTYPE_SATSIGLEVEL 0x47 |
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#define TSIPTYPE_GPSSYSMESSAGE 0x48 |
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#define TSIPTYPE_POSFIX_LLA_SP 0x4A |
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#define TSIPTYPE_VELFIX_ENU 0x56 |
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#define TSIPTYPE_SATTRACKSTAT 0x5C |
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#define TSIPTYPE_RAWDATA 0x5A |
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#define TSIPTYPE_GPSSUBCODE 0x6F |
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#define TSIPTYPE_POSFIX_XYZ_DP 0x83 |
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#define TSIPTYPE_POSFIX_LLA_DP 0x84 |
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// functions |
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void tsipInit(void (*txbytefunc)(unsigned char c)); |
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void tsipSendPacket(u08 tsipType, u08 dataLength, u08* data); |
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u08 tsipProcess(cBuffer* rxBuffer); |
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void tsipGpsDataPrint(void); |
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// packet processing functions |
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void tsipProcessGPSTIME(u08* packet); |
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void tsipProcessPOSFIX_XYZ_SP(u08* packet); |
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void tsipProcessVELFIX_XYZ(u08* packet); |
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void tsipProcessPOSFIX_LLA_SP(u08* packet); |
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void tsipProcessVELFIX_ENU(u08* packet); |
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#endif |