ogr_defines.h

The OpenGPSRec receiver software runs on the real time operating system RTAI-Linux. It compiles with

/* ************************************************************************ 
   *                                                                      *
   *                            OpenGPS Receiver                          *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   *    Module:   ogr_defines.h                                           *
   *                                                                      *
   *   Version:   0.1                                                     *
   *                                                                      *
   *      Date:   04.07.02                                                *
   *                                                                      *
   *    Author:   G. Beyerle                                              *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   * Copyright (C) 2002-2003  G. Beyerle                                  *
   *                                                                      *
   * This program is free software; you can redistribute it and/or modify *
   * it under the terms of the GNU General Public License as published by *
   * the Free Software Foundation; either version 2 of the License, or    *
   * (at your option) any later version.                                  *
   *                                                                      *
   * This program is distributed in the hope that it will be useful,      *
   * but WITHOUT ANY WARRANTY; without even the implied warranty of       *
   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the        *
   * GNU General Public License for more details.                         *
   *                                                                      *
   * You should have received a copy of the GNU General Public License    *
   * along with this program; if not, write to the Free Software          *
   * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.            *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   * The files 'ogr_user.c', 'ogr_navdecode.c', 'ogr_navsolve.c',         *
   * 'ogr_rtproc.c' are modified versions of the files 'gpsfuncs.cpp',    *
   * 'gpsrcvr.cpp' from Clifford Kelley's OpenSourceGPS distribution.     *
   * The unmodified files can be obtained from                            *
   *             http://www.home.earthlink.net/~cwkelley                  *
   *                                                                      *
   * -------------------------------------------------------------------- *
   *                                                                      *
   *                              Defines                                 *
   *                                                                      *
   ************************************************************************ */

/* ******************************* changes ********************************

   26.01.03 - add SQRTGM, PROGRAMVERSION; rename C to LIGHTVEL,
              add FREQRES, L1FRQMHZ
                  
   ************************************************************************ */

/* ----------------------------- defines ---------------------------------- */

#define PROGRAMVERSION "0.2.3 (031215)"

#undef USE_OPENSRCGPS_NAVFIX
//#define USE_OPENSRCGPS_NAVFIX

/* 
 * constants defined for GPS, WGS-84
 * speed of light in m/sec
 * earth rotation rate in rad/sec
 */
#define RAD2DEG         (180.0/M_PI)
#define DEG2RAD         (M_PI/180.0)
#define PI              3.1415926535898e0

#define LIGHTVEL        2.99792458e8
#define OMEGAE          7.2921151467e-5
#define MAJAXIS         6378137.0
#define MINAXIS         6356752.3142

// first and second numerical eccentricity
#define E1SQR ((MAJAXIS*MAJAXIS-MINAXIS*MINAXIS)/(MAJAXIS*MAJAXIS)) 
#define E2SQR ((MAJAXIS*MAJAXIS-MINAXIS*MINAXIS)/(MINAXIS*MINAXIS))

#define GRAVCONST       3.986005e14

#define SQRTGM          (sqrt(GRAVCONST))

#define FCONST          (-2.0*SQRTGM/(LIGHTVEL*LIGHTVEL))

#define ESC             0x1b

// Zarlink GP2021 correlator specifics

#define CARRIER_REF     0x1f7b1b9L
#define CODE_REF        0x16ea4a8L

#define CARFRQRES       42.574746268e-3  // GP2021 car. frq. resolution 
#define CODFRQRES       85.149495e-3     // GP2021 code frq. resolution

#define LAMBDA          0.1902936728   // L1 wavelength in meters
#define L1FRQMHZ        1575.42        // L1 frequency in MHz

#define BSIGN(x)  (((x)>0)?1:0)

// number of 1 ms chips corresponding to 1 nav bit
#define CHIPSPERBIT     20

// GP2021 register map (document DS4077, p28-29, available at www.zarlink.com)

#define IO_COMMAND    (PCIBASE+0x0)
#define IO_DATA       (PCIBASE+0x4)

#define CHx_CNTL_BASE          0x0

/*
 *  GP2021 correlator registers
 */
// write
#define SATCNTL                0x0
#define CODE_PHASE_COUNTER     0x1
#define CARRIER_CYCLE_COUNTER  0x2
#define CARRIER_DCO_INCR_HIGH  0x3
#define CARRIER_DCO_INCR_LOW   0x4
#define CODE_DCO_INCR_HIGH     0x5
#define CODE_DCO_INCR_LOW      0x6
#define EPOCH_COUNT_LOAD       0x7

// read
#define CODE_SLEW              0x0
#define CODE_PHASE             0x1
#define CARRIER_CYCLE_LOW      0x2
#define CARRIER_DCO_PHASE      0x3
#define EPOCH                  0x4
#define CODE_DCO_PHASE         0x5
#define CARRIER_CYCLE_HIGH     0x6
#define EPOCH_CHECK            0x7

#define MULTI_CONTROL          0x60
#define PROC_TIC_HIGH          0x6d
#define PROC_TIC_LOW           0x6f
#define ALL_CONTROL            0x70
#define TEST_CONTROL           0x7c
#define MULTI_CHANNEL_SELECT   0x7d
#define SYSTEM_SETUP           0x7e
#define RESET_CONTROL          0x7f

// read
#define ACCUM_STATUS_C         0x80
#define MEAS_STATUS_A          0x81
#define ACCUM_STATUS_A         0x82
#define ACCUM_STATUS_B         0x83

// write
#define STATUS                 0x80

#define CHx_ACCUM_BASE         0x84

// accumulator read
#define I_TRACK                0x0
#define Q_TRACK                0x1
#define I_PROMPT               0x2
#define Q_PROMPT               0x3

// accumulator write
#define CODE_SLEW_COUNTER      0x0
#define ACCUM_RESET            0x1
// 0x2 : not used
#define CODE_DCO_PRESET_PHASE  0x3

#define MULTI_ACCUM            0xb4
#define ALL_ACCUM              0xb8

#define DATA_RETENT            0xe4
#define IO_CONFIG              0xf0
#define DATABUSTEST            0xf2

// Linux vs. DOS naming convention ...

#define inpb(p)      inb(p)
#define inpw(p)      inw(p)
#define outpb(p,v)   outb(v,p)
#define outpw(p,v)   outw(v,p)

#define PCIBOARD

#ifdef PCIBOARD
//#define  PCIBASE       0xe800
//#define  PCIBASE       0xe000     // champ77 : cat /proc/pci - Shuttle XPC
/*
 *  Note: we can't set base address from user space since RT module
 *  is loaded before user prg becomes active
 */
# define PCIBASE        0xb800    // kg96 : cat /proc/pci
# define PCI_NR_PORTS   0x1F       // Zarlink doc, p.24 register map
# define PCI_BOARDNAME  "Kolter Electronic PROTO-3 PCI Prototyping board (rev 3)."
#endif

//#define ISABOARD

#ifdef ISABOARD
# define ISABASE        0x300     
# define ISA_NR_PORTS   0x1F  
# define ISA_BOARDNAME  "GPSBuilder-2(PCI)"
#endif

//  names of shared memory areas
#define SHM_CHANNEL     "OGRChn"
#define SHM_RT_CTRL     "OGRRTC"
#define SHM_CHN_RBUF    "OGRRBf"

// number of channels in GP2021
#define NOFCHN    12                   

// size of ring buffer
#define CHN_RBUF_LEN    (100*NOFCHN)

// step 0.5 halfchips (1024 = halfchip) in monosat mode
#define MONOSAT_COD_OFS_STEP 512

//  FIFOs
#define FIFO_NAVBIT 1
#define FIFO_IQDUMP 0

// messages from RT process to user process
#define MSG_NAVBIT        1    // navigation bits
#define MSG_NAVBIT_LEN    2    // message length
#define MSG_PSIRANGE      2    // pseudo range, carrier phase
#define MSG_PSIRANGE_LEN 22    // message length

#define MSG_HEADERSIZE   46    // header length of corr data (version 6)
#define MSG_DATASIZE     32    // data record length of corr data

#define MSG_MAX_LEN     128    // must be larger than max( MSG_*_LEN) + 2 !

#ifndef TRUE
# define TRUE 1
#endif

#ifndef FALSE
# define FALSE 0
#endif

#define FIXPT_BASE 14

#define MAGIC_NUMBER 0x4711

/* ----------------------------- end of file ------------------------------ */