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