gpsnav.h

基于USB接口的GPS应用程序

#ifndef _GPSNAV_H
#define _GPSNAV_H

#define CH_OFFSET 0  // offset of channal allocation
                     // if this value is changed, firmware should be changed accordingly
#define ENABLE_6CH 0x7f  // value written to reset_cntl, if you change
                         // CH_OFFSET , you should change this value accordingly

#include <fstream.h>
#include <ostream>
#include <math.h>

#include "gbl_var.h"
#include "navthread.h"
#include "Gps_interface.h"



class  GPS_Nav{
private:
#ifdef GPS_NAV_DBG
        ofstream debugfile;
#endif

#if GPS_NAV_RAW_DATA > 0
        ofstream ch_accum_mis_file;
        ofstream ch_rawdata_file[CH_NUM];
#endif
/* GPS function related constants */

static const  int prn_code[38];
static const short bit_pat[12];
static const short ch_ready_mask[12];
static const int carrier_ref=0x01f7b1b9,code_ref=0x016ea4a8;
//                 ^^^^^ 1.405396826MHz,       ^^^^ 1.022999968MHz
static const int cc_scale=3080;
static const int NAG_PREAM = 0x22c00000;

static const int pb1=0xbb1f3480,pb2=0x5d8f9a40,pb3=0xaec7cd00;
static const int pb4=0x5763e680,pb5=0x6bb1f340,pb6=0x8b7a89c0;

static const double pull_code_d ,pull_code_k,pull_carrier_d,pull_carrier_k;
static const double trk_code_d ,trk_code_k,trk_carrier_d,trk_carrier_k;
unsigned short ch_status;
channel ch[ CH_NUM ];
int data_count[ CH_NUM ];

/* end of GPS function related constants  */
        unsigned short count, TIC_count;
        unsigned char count1, epoch_chk;
        NavThread  *navthrd;
        bool   thrdtermed, newfrmflag;
        int  newfrmcount;
        IoInterface *IoHandle;
        gp2021_regs  GpsNav_gp2021_regs;
        one_frame_data frm_4ms_6ch;    // contain 3.6ms , 6 channel data per ms
        gp2021_regs  gp2021_wr_data;
        void add_one_reg( unsigned char add,
                          unsigned char hi,
                          unsigned char lo);
        void clear_all_reg();

        void search_pream( int );
public:
        GPS_Nav(IoInterface*);
        ~GPS_Nav();
        int InitProc();
        void PrintDbgInfo(char*);
        void Get_oneframedata();
        int ProcessData();
        void CreateNavThrd();
        void ResumeThrd();
        void SuspendThrd();
        void TerminateThrd();
        bool NavThrdIsTermed();

        void SetThrdStatus(bool);

        void  SetPrn(int*);

/* GP2021  related function *********/
        void ch_cntl(char ch, unsigned short data);
        void ch_code( char ch,unsigned int freq);
        void ch_carrier(char ch,unsigned int freq);
        void ch_epoch_load(char ch,unsigned short data);
        void ch_on(char ch);
        void ch_off(char ch);
        void set_ch_onoff(void);
        void system_setup(unsigned short data);
        void test_control(unsigned short data);
        void io_config(unsigned short data);
        void reset_cntl(unsigned short data);
        void program_TIC(unsigned int data);
        void ch_accum_reset(char ch);
        void ch_code_slew(char ch,unsigned short data);
        void init_gp2021(void);
        void test_data(unsigned short data);

        void get_newaccumdata(void);
        void process_channel( int );
        void ch_acq(int);
        void ch_confirm(int);
        void ch_pullin(int);
        void ch_track(int);

/* end of GP2021  related function **/
        void get_rawdata( PT_allch_rawdata_disp );
        void get_trkloop(PT_channel_disp);
};

const int  GPS_Nav::prn_code[38] = {0x0,0x3f6,0x3ec,0x3d8,0x3b0,0x04b,0x096,0x2cb,0x196,0x32c,
		           0x3ba,0x374,0x1d0,0x3a0,0x340,0x280,0x100,0x113,0x226,
		           0x04c,0x098,0x130,0x260,0x267,0x338,0x270,0x0e0,0x1c0,
		           0x380,0x22b,0x056,0x0ac,0x158,0x02b0,0x058,0x18b,0x316,0x058};
const short GPS_Nav::bit_pat[12] = {0x2,0x4,0x8,0x10,0x20,0x40,0x80,0x100,0x200,0x400,0x800,0x1000};
const short  GPS_Nav::ch_ready_mask[12] ={0x1,0x2,0x4,0x8,0x10,0x20,0x40,0x80,0x100,0x200,0x400,0x800};
const double  GPS_Nav::pull_code_d = 7.0;
const double  GPS_Nav::pull_code_k=111.0;
const double  GPS_Nav::pull_carrier_d=30.8;//17.8;
const double  GPS_Nav::pull_carrier_k=1.2;//43.2;

const double  GPS_Nav::trk_code_d = 3.0;
const double  GPS_Nav::trk_code_k=55.0;
const double  GPS_Nav::trk_carrier_d=170.;//170;
const double  GPS_Nav::trk_carrier_k=4.;//5;

static int sign(double);

#endif