sbf.h File Reference

Septentrio protocol as defined in PPSDK SBF Reference Guide 4.1.8. More...

#include "gps_helper.h"
#include "base_station.h"
#include "rtcm.h"
#include "../../definitions.h"

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Classes
struct	sbf_payload_pvt_geodetic_t
struct	sbf_payload_vel_cov_geodetic_t
struct	sbf_payload_dop_t
struct	sbf_payload_channel_state_info_t
struct	sbf_buf_t
class	GPSDriverSBF

Macros
#define	SBF_CONFIG_FORCE_INPUT   "SSSSSSSSSS\n"
#define	SBF_CONFIG_BAUDRATE   "setCOMSettings, COM1, baud%d\n"
#define	SBF_CONFIG_RESET   "setSBFOutput, all, COM1, none, off\n"
#define	SBF_CONFIG_RECEIVER_DYNAMICS   "setReceiverDynamics, %s, UAV\n"
#define	SBF_TX_CFG_PRT_BAUDRATE   115200
#define	SBF_CONFIG
#define	SBF_CONFIG_RTCM
#define	SBF_CONFIG_RTCM_STATIC1
#define	SBF_CONFIG_RTCM_STATIC2
#define	SBF_CONFIG_RTCM_STATIC_COORDINATES
#define	SBF_CONFIG_RTCM_STATIC_OFFSET
#define	SBF_CONFIG_RESET_HOT
#define	SBF_CONFIG_RESET_WARM
#define	SBF_CONFIG_RESET_COLD
#define	SBF_SYNC1   0x24
#define	SBF_SYNC2   0x40
#define	SBF_ID_DOP   4001
#define	SBF_ID_PVTGeodetic   4007
#define	SBF_ID_ChannelStatus   4013
#define	SBF_ID_VelCovGeodetic   5908

Enumerations
enum	sbf_decode_state_t { SBF_DECODE_SYNC1 = 0, SBF_DECODE_SYNC2, SBF_DECODE_PAYLOAD, SBF_DECODE_RTCM3 }

Functions
uint16_t	crc16 (const uint8_t *buf, uint32_t len)
	Calculate buffer CRC16. More...

Detailed Description

Septentrio protocol as defined in PPSDK SBF Reference Guide 4.1.8.

Author

Matej Frančeškin Matej.nosp@m..Fra.nosp@m.ncesk.nosp@m.in@g.nosp@m.mail..nosp@m.com

Definition in file sbf.h.

Macro Definition Documentation

SBF_CONFIG

#define SBF_CONFIG

Value:

"" \
    "setDataInOut, COM1, Auto, SBF\n" \
    "setPVTMode, Rover, All, auto\n" \
    "setSatelliteTracking, All\n" \
    "setSatelliteUsage, All\n" \
    "setElevationMask, All, 10\n" \
    "setSBFOutput, Stream1, DSK1, Support, msec100\n" \
    "setSBFOutput, Stream2, Dsk1, Event+Comment, OnChange\n" \
    "setSBFOutput, Stream3, COM1, DOP+VelCovGeodetic, sec1\n" \
    "setSBFOutput, Stream4, COM1, PVTGeodetic, msec100\n" \
    "setFileNaming, DSK1, Incremental\n" \
    "setFileNaming, DSK1, , 'px4'\n"

Definition at line 60 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_CONFIG_BAUDRATE

#define SBF_CONFIG_BAUDRATE   "setCOMSettings, COM1, baud%d\n"

Definition at line 52 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_CONFIG_FORCE_INPUT

#define SBF_CONFIG_FORCE_INPUT   "SSSSSSSSSS\n"

Definition at line 50 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_CONFIG_RECEIVER_DYNAMICS

#define SBF_CONFIG_RECEIVER_DYNAMICS   "setReceiverDynamics, %s, UAV\n"

Definition at line 56 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_CONFIG_RESET

#define SBF_CONFIG_RESET   "setSBFOutput, all, COM1, none, off\n"

Definition at line 54 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_CONFIG_RESET_COLD

#define SBF_CONFIG_RESET_COLD

Value:

"" \
    SBF_CONFIG_FORCE_INPUT"ExeResetReceiver, hard, SatData\n"

Definition at line 104 of file sbf.h.

Referenced by GPSDriverSBF::reset().

SBF_CONFIG_RESET_HOT

#define SBF_CONFIG_RESET_HOT

Value:

"" \
    SBF_CONFIG_FORCE_INPUT"ExeResetReceiver, soft, none\n"

Definition at line 98 of file sbf.h.

Referenced by GPSDriverSBF::reset().

SBF_CONFIG_RESET_WARM

#define SBF_CONFIG_RESET_WARM

Value:

"" \
    SBF_CONFIG_FORCE_INPUT"ExeResetReceiver, soft, PVTData\n"

Definition at line 101 of file sbf.h.

Referenced by GPSDriverSBF::reset().

SBF_CONFIG_RTCM

#define SBF_CONFIG_RTCM

Value:

"" \
    "setDataInOut, USB1, Auto, RTCMv3+SBF\n" \
    "setPVTMode, Rover, All, auto\n" \
    "setSatelliteTracking, All\n" \
    "setSatelliteUsage, All\n" \
    "setElevationMask, All, 10\n" \
    "setReceiverDynamics, Moderate, Automotive\n" \
    "setSBFOutput, Stream1, DSK1, Support, msec100\n" \
    "setSBFOutput, Stream2, USB1, DOP+VelCovGeodetic, sec1\n" \
    "setSBFOutput, Stream3, USB1, PVTGeodetic, msec200\n" \
    "setFileNaming, DSK1, Incremental\n" \
    "setFileNaming, DSK1, , 'px4rtcm'\n"

Definition at line 73 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_CONFIG_RTCM_STATIC1

#define SBF_CONFIG_RTCM_STATIC1

Value:

"" \
    "setReceiverDynamics, Low, Static\n"

Definition at line 86 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_CONFIG_RTCM_STATIC2

#define SBF_CONFIG_RTCM_STATIC2

Value:

"" \
    "setPVTMode, Static, , Geodetic1\n"

Definition at line 89 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_CONFIG_RTCM_STATIC_COORDINATES

#define SBF_CONFIG_RTCM_STATIC_COORDINATES

Value:

"" \
    "setStaticPosGeodetic, Geodetic1, %f, %f, %f\n"

Definition at line 92 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_CONFIG_RTCM_STATIC_OFFSET

#define SBF_CONFIG_RTCM_STATIC_OFFSET

Value:

"" \
    "setAntennaOffset, Main, %f, %f, %f\n"

Definition at line 95 of file sbf.h.

Referenced by GPSDriverSBF::configure().

SBF_ID_ChannelStatus

#define SBF_ID_ChannelStatus   4013

Definition at line 113 of file sbf.h.

SBF_ID_DOP

#define SBF_ID_DOP   4001

Definition at line 111 of file sbf.h.

Referenced by GPSDriverSBF::payloadRxDone().

SBF_ID_PVTGeodetic

#define SBF_ID_PVTGeodetic   4007

Definition at line 112 of file sbf.h.

Referenced by GPSDriverSBF::payloadRxDone().

SBF_ID_VelCovGeodetic

#define SBF_ID_VelCovGeodetic   5908

Definition at line 114 of file sbf.h.

Referenced by GPSDriverSBF::payloadRxDone().

SBF_SYNC1

#define SBF_SYNC1   0x24

Definition at line 107 of file sbf.h.

Referenced by GPSDriverSBF::parseChar().

SBF_SYNC2

#define SBF_SYNC2   0x40

Definition at line 108 of file sbf.h.

Referenced by GPSDriverSBF::parseChar().

SBF_TX_CFG_PRT_BAUDRATE

#define SBF_TX_CFG_PRT_BAUDRATE   115200

Definition at line 58 of file sbf.h.

Referenced by GPSDriverSBF::configure().

Enumeration Type Documentation

sbf_decode_state_t

enum sbf_decode_state_t

Enumerator
SBF_DECODE_SYNC1
SBF_DECODE_SYNC2
SBF_DECODE_PAYLOAD
SBF_DECODE_RTCM3

Definition at line 301 of file sbf.h.

Function Documentation

crc16()

uint16_t crc16	(	const uint8_t *	buf,
		uint32_t	len
	)

Calculate buffer CRC16.

Definition at line 368 of file sbf.cpp.

Referenced by LeddarOne::collect(), CM8JL65::crc16_calc(), and GPSDriverSBF::payloadRxDone().

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