italk.h

gpsd, a popular GPS daemon.

/* $Id: italk.h 4208 2006-12-29 04:45:00Z ckuethe $ */

/* 0 and 1 are responses to the <?> ping for iTalk and NMEA respectively */
#define PROTO_ITALK 0
#define PROTO_NMEA 1

/*
 * Assistance from Timo Ylhainen of Fastrax is acknowledged and appreciated.
 *
 * iTalk is a messaging system which communicates between tasks, which may
 * be running on different devices (nodes). For our purposes (receiver
 * configuration), we will probably be sending to the SYSTEM task.
 */

#define TASK_MASK	0x1f	/* 5 low bits of src/dst fields */
#define NODE_MASK	0xe0	/* 3 high bits of src/dst fields */
#define NODE_UNDEF	0x00	/* Used in message routing */
#define NODE_ITRAX	0x20	/* The receiver */
#define NODE_HOST	0x40	/* Software on your computer */
#define NODE_GPSWB	0x60	/* GPSWorkbench seems to be HOST|ITRAX */

/* XXX These defines will likely be replaced by an enum
 * once I map every message to the task that sent it.
 */
/* System controller on the receiver */
#define TASK_SYSTEM	0
/* Acquisition & Tracking messages (PD) */
#define TASK_TRACK1	2
#define TASK_TRACK2	3
/* Data decoding messages (PD) */
#define TASK_DATA	4
/* Navigation messages are sent by these tasks (PD) */
#define TASK_NAV1	7
#define TASK_NAV2	8
#define TASK_NAV3	9
/* Host controller software (PD) */
#define TASK_HOST	31

/* iTalk Message IDs - isuite.fastrax.fi/sdk/331/Protocols/PRO_MsgId.html */
#define ITALK_ACQ_DATA		1
#define ITALK_PRN_STATUS	2
#define ITALK_TRACK		3
#define ITALK_PSEUDO		4
#define ITALK_AGC		6
#define ITALK_NAV_FIX		7
#define ITALK_RAW_ALMANAC	9
#define ITALK_RAW_EPHEMERIS	10
#define ITALK_SV_HEALTH		11
#define ITALK_UTC_IONO_MODEL	12
#define ITALK_PRN_PRED		13
#define ITALK_FREQ_PRED		14
#define ITALK_SUBFRAME		15
#define ITALK_BIT_STREAM	18
#define ITALK_DBGTRACE		19
#define ITALK_START		64
#define ITALK_STOP		65
#define ITALK_SLEEP		66
#define ITALK_STATUS		67
#define ITALK_ITALK_CONF	68
#define ITALK_SYSINFO		69
#define ITALK_ITALK_TASK_ROUTE	70
#define ITALK_PARAM_CTRL	71
#define ITALK_PARAMS_CHANGED	72
#define ITALK_START_COMPLETED	73
#define ITALK_STOP_COMPLETED	74
#define ITALK_LOG_CMD		75
#define ITALK_SYSTEM_START	76
#define ITALK_STOP_SEARCH	79
#define ITALK_SEARCH		80
#define ITALK_PRED_SEARCH	81
#define ITALK_SEARCH_DONE	82
#define ITALK_TRACK_DROP	88
#define ITALK_TRACK_STATUS	90
#define ITALK_HANDOVER_DATA	92
#define ITALK_CORE_SYNC		93
#define ITALK_WAAS_RAWDATA	96
#define ITALK_ASSISTANCE	98
#define ITALK_PULL_FIX		99
#define ITALK_MEMCTRL		112
#define ITALK_STOP_TASK		255

/* NAV_FIX */
#define FIX_CONV_VEL_VALID		0x0002
#define FIX_CONV_ACC_VALID		0x0004
#define FIX_CONV_DOP_VALID		0x0010
#define FIX_CONV_ERR_VALID		0x0020
#define FIX_CONV_UTC_VALID		0x0040
#define FIX_CONV_UND_VALID		0x0080
#define FIX_CONV_MAG_VALID		0x0100
#define FIX_CONV_GRID_VALID		0x0200
#define FIX_CONV_VEL_ESTIMATED		0x0400

#define FIX_FLAG_POS_REJECT_FOM		0x0003
#define FIX_FLAG_POS_REJECT_DOP		0x0004
#define FIX_FLAG_POS_PINNING		0x0020

#define FIX_FLAG_VEL_REJECT_RES		0x0003
#define FIX_FLAG_ACCELERATION		0x4000
#define FIX_FLAG_VEL_RELIABLE		0x0020
#define FIX_FLAG_VEL_RELIABLE_3D	0x0040

#define FIX_FLAG_MASK_INVALID		0x0007
#define FIX_FLAG_REJECT_NUM_SV		0x0001
#define FIX_FLAG_REJECT_POSTRAIM	0x0002
#define FIX_FLAG_REJECT_OTHER		0x0007
#define FIX_FLAG_RELIABLE		0x0008
#define FIX_FLAG_PF_RAIM		0x0010
#define FIX_FLAG_3DFIX			0x0100
#define FIX_FLAG_DGPS_CORRECTION	0x0200
#define FIX_FLAG_TROPO			0x0400
#define FIX_FLAG_IONO			0x0800
#define FIX_FLAG_INS			0x2000

#define FIXINFO_FLAG_VALID		0x0002
#define FIXINFO_FLAG_NEW_FIX		0x0004
#define FIXINFO_FLAG_SKY_FIX		0x0008
#define FIXINFO_FLAG_AID_GPSTIME	0x0010
#define FIXINFO_FLAG_AID_TIMESTAMP	0x0020
#define FIXINFO_FLAG_AID_EPHEMERIS	0x0040
#define FIXINFO_FLAG_AID_ALTITUDE	0x0080
#define FIXINFO_FLAG_KALMAN		0x1000
#define FIXINFO_FLAG_INTERNAL		0x2000
#define FIXINFO_FLAG_FIRSTFIX		0x4000

/* PRN_STATUS */
#define PRN_FLAG_FOUND  		0x0001
#define PRN_FLAG_TRACKING 		0x0002
#define PRN_FLAG_USE_IN_NAV 		0x0004

/* UTC_IONO_MODEL */
#define UTC_IONO_MODEL_UTCVALID  	0x0001
#define UTC_IONO_MODEL_IONOVALID 	0x0002


/* MEMCTRL */
#define MEM_WRITE		0x0002
#define MEM_READD		0x0003
#define MEM_BOOT		0x0004
#define MEM_ERASE		0x0006
#define MEM_XTAL_CALIBRATE	0x000a
/* BOOT flags based on isuite.fastrax.fi/sdk/331/Protocols/PRO_NMEA.html */
#define MEM_BOOT_NORMAL		0x0000
#define MEM_BOOT_INT_FWLOADER	0x0001
#define MEM_BOOT_DL_FWLOADER	0x0002
#define MEM_BOOT_RELOC_ALTFW	0x0003

/* Config Parameters - isuite.fastrax.fi/sdk/331/System/SYS_Parameters.html */
/* System parameters */
#define SYS_SET_ID			0x0001
#define SYS_FACTORY_SET_ID		0x0002
#define SYS_AUTOSTART			0x0380
#define START_MODE_AUTO			0x0301
#define SYS_LKG_SAVE_TIME_LIMIT		0x0008
#define SYS_LKG_SAVE_DIST_LIMIT		0x0009
#define SYS_LKG_SAVE_STOP_TIME_LIMIT	0x000a
#define SYS_WATCHDOG			0x0028
#define SYS_WATCHDOG_TIMEOUT		0x0029
#define SYS_BOOT_ERASE_PARAMS		0x0080
#define SYS_ENABLE_UI_LEDS		0x0081

/* Protocols parameters */
#define SYS_ITALK_PORT			0x0010
#define SYS_ITALK_SPEED			0x0011
#define SYS_ITALK_MASK			0x0012
#define SYS_NMEA_PORT			0x0020
#define SYS_NMEA_SPEED			0x0021
#define SYS_NMEA_MASK			0x0022
#define TRACK_ALT_MSG_ROUTING		0x047f
#define OBS_ALT_MSG_ROUTING		0x047e

/* Fix Conversion parameters */
#define NAV_DATUM_ID			0x0b08
#define NAV_GRID_ID			0x0b09
#define NAV_GRID_NUMBER			0x0b0a
#define NAV_HEAD_VEL_THR		0x0b0b
#define NAV_HEAD_VEL_FILTER		0x0b0c
#define NAV_HEAD_VEL_THRMAX		0x0b0d
#define NAV_HEAD_VEL_THR_PLL		0x0b0e
#define NAV_HEAD_VEL_THRMAX_PLL		0x0b0f
#define NAV_HOLD_HEADING_IF_NO_FIX	0x0bd0

/* General navigation parameters */
#define NAV_MODE			0x0b01
#define NAV_FIX_INTERVAL		0x0b02
#define NAV_OUTPUT_INTERVAL		0x0b03
#define NAV_FOM_LIMIT			0x0b10
#define NAV_VEL_FOM_LIMIT		0x0b15
#define NAV_HDOP_LIMIT			0x0b11
#define NAV_VDOP_LIMIT			0x0b12
#define NAV_ALT_LIMIT			0x0b13
#define NAV_VEL_LIMIT			0x0b14
#define NAV_EXT_AIDING_ALT		0x0b20
#define NAV_CS_INIT_VAR			0x0b30
#define NAV_CS_PROC_VAR			0x0b31
#define NAV_CS_MEAS_VAR			0x0b32
#define NAV_FILTER_VEL_LOW		0x0b33
#define NAV_FILTER_VEL_HIGH		0x0b34
#define NAV_MAX_LKGAGE			0x0b40
#define NAV_MAX_2D_FIX_SEC		0x0b41
#define NAV_CARRIERSMOOTHING_ENA	0x0b81
#define NAV_OLD_DATA_ENA		0x0b82
#define NAV_SNR_WEIGHTING_ENA		0x0b83
#define NAV_NORMAL_ENV_ENA		0x0b84
#define NAV_IONO_ENA			0x0b85
#define NAV_TROPO_ENA			0x0b87
#define NAV_DGPS_ENA			0x0b88
#define NAV_VEL_FILTER_ENA		0x0b8b
#define NAV_ALT_LIMIT_ENA		0x0b8c
#define NAV_VEL_LIMIT_ENA		0x0b8d
#define NAV_EXT_AIDING_ALT_ENA		0x0b8e
#define NAV_FOM_ENA			0x0b8f
#define NAV_HDOP_ENA			0x0b90
#define NAV_VDOP_ENA			0x0b91
#define NAV_TENTATIVE_ENA		0x0b96
#define NAV_PULLFIX_ENA			0x0b97
#define NAV_2D_FIX_ENA			0x0ba0
#define NAV_RESERVED_001		0x0ba1
#define NAV_OUTPUT_LAST_POS_IF_NO_FIX	0x0bb0
#define NAV_ESTIMATE_VEL_WITHOUT_PLL	0x0bb1
#define NAV_OUTPUT_LAST_VEL_IF_NO_FIX	0x0bb2

/* Position pinning parameters */
#define NAV_PIN_VEL			0x0b35
#define NAV_PIN_DRIFT_ERR		0x0b36
#define NAV_PIN_XYZ_ERR			0x0b37
#define NAV_PIN_TIMEOUT			0x0b38
#define NAV_PIN_START_DELAY		0x0b39
#define NAV_PINNING_ENA			0x0b8a

/* Interval mode parameters */
#define NAV_INTMODE_NBR_FIXES		0x0b22
#define NAV_INTMODE_FIX_INTERVAL	0x0b23
#define NAV_INTMODE_TRY_FIND_SV		0x0b24
#define NAV_INTMODE_TRY_GET_FIX		0x0b25
#define NAV_INTMODE_MAX_STAY_UP		0x0b26
#define NAV_INTMODE_NUM_IGNORED_FIXES	0x0b27
#define NAV_INTERVAL_MODE_ENA		0x0ba2

/* Kalman navigation parameters */
#define KLM_MODE			0x0801
#define KLM_MAX_NUM_STATES		0x0802
#define KLM_START_FLAGS			0x0803
#define KLM_OUTPUT_FLAGS		0x0804
#define KLM_NUM_OBS_LIMIT		0x0805
#define KLM_MEAS_FLAGS			0x0806
#define KLM_COV_LIMIT			0x0807
#define KLM_DOPPLER_NOISE		0x0810
#define KLM_RANGE_NOISE			0x0811