diff options
Diffstat (limited to 'include/hardware/gps.h')
| -rw-r--r-- | include/hardware/gps.h | 45 |
1 files changed, 38 insertions, 7 deletions
diff --git a/include/hardware/gps.h b/include/hardware/gps.h index b70da93..ff24016 100644 --- a/include/hardware/gps.h +++ b/include/hardware/gps.h @@ -334,6 +334,12 @@ typedef uint8_t GpsMultipathIndicator; /** * Flags indicating the GPS measurement state. + * The expected behavior here is for GPS HAL to set all the flags that applies. For + * example, if the state for a satellite is only C/A code locked and bit synchronized, + * and there is still millisecond ambiguity, the state should be set as: + * GPS_MEASUREMENT_STATE_CODE_LOCK|GPS_MEASUREMENT_STATE_BIT_SYNC|GPS_MEASUREMENT_STATE_MSEC_AMBIGUOUS + * If GPS is still searching for a satellite, the corresponding state should be set to + * GPS_MEASUREMENT_STATE_UNKNOWN(0). */ typedef uint16_t GpsMeasurementState; #define GPS_MEASUREMENT_STATE_UNKNOWN 0 @@ -341,6 +347,7 @@ typedef uint16_t GpsMeasurementState; #define GPS_MEASUREMENT_STATE_BIT_SYNC (1<<1) #define GPS_MEASUREMENT_STATE_SUBFRAME_SYNC (1<<2) #define GPS_MEASUREMENT_STATE_TOW_DECODED (1<<3) +#define GPS_MEASUREMENT_STATE_MSEC_AMBIGUOUS (1<<4) /** * Flags indicating the Accumulated Delta Range's states. @@ -352,7 +359,7 @@ typedef uint16_t GpsAccumulatedDeltaRangeState; #define GPS_ADR_STATE_CYCLE_SLIP (1<<2) /** - * Enumeration of available values to indicate the available GPS Natigation message types. + * Enumeration of available values to indicate the available GPS Navigation message types. */ typedef uint8_t GpsNavigationMessageType; /** The message type is unknown. */ @@ -366,6 +373,19 @@ typedef uint8_t GpsNavigationMessageType; /** CNAV-2 message contained in the structure. */ #define GPS_NAVIGATION_MESSAGE_TYPE_CNAV2 4 +/** + * Status of Navigation Message + * When a message is received properly without any parity error in its navigation words, the + * status should be set to NAV_MESSAGE_STATUS_PARITY_PASSED. But if a message is received + * with words that failed parity check, but GPS is able to correct those words, the status + * should be set to NAV_MESSAGE_STATUS_PARITY_REBUILT. + * No need to send any navigation message that contains words with parity error and cannot be + * corrected. + */ +typedef uint16_t NavigationMessageStatus; +#define NAV_MESSAGE_STATUS_UNKONW 0 +#define NAV_MESSAGE_STATUS_PARITY_PASSED (1<<0) +#define NAV_MESSAGE_STATUS_PARITY_REBUILT (1<<1) /** * Name for the GPS XTRA interface. @@ -1415,12 +1435,16 @@ typedef struct { * Received GPS Time-of-Week at the measurement time, in nanoseconds. * The value is relative to the beginning of the current GPS week. * - * Given the sync state of GPS receiver, per each satellite, valid range for this field can be: - * Searching : [ 0 ] : GPS_MEASUREMENT_STATE_UNKNOWN - * Ranging code lock : [ 0 1ms ] : GPS_MEASUREMENT_STATE_CODE_LOCK is set - * Bit sync : [ 0 20ms ] : GPS_MEASUREMENT_STATE_BIT_SYNC is set - * Subframe sync : [ 0 6ms ] : GPS_MEASUREMENT_STATE_SUBFRAME_SYNC is set - * TOW decoded : [ 0 1week ] : GPS_MEASUREMENT_STATE_TOW_DECODED is set + * Given the highest sync state that can be achieved, per each satellite, valid range for + * this field can be: + * Searching : [ 0 ] : GPS_MEASUREMENT_STATE_UNKNOWN + * C/A code lock : [ 0 1ms ] : GPS_MEASUREMENT_STATE_CODE_LOCK is set + * Bit sync : [ 0 20ms ] : GPS_MEASUREMENT_STATE_BIT_SYNC is set + * Subframe sync : [ 0 6s ] : GPS_MEASUREMENT_STATE_SUBFRAME_SYNC is set + * TOW decoded : [ 0 1week ] : GPS_MEASUREMENT_STATE_TOW_DECODED is set + * + * However, if there is any ambiguity in integer millisecond, + * GPS_MEASUREMENT_STATE_MSEC_AMBIGUOUS should be set accordingly, in the 'state' field. */ int64_t received_gps_tow_ns; @@ -1710,6 +1734,13 @@ typedef struct { GpsNavigationMessageType type; /** + * The status of the received navigation message. + * No need to send any navigation message that contains words with parity error and cannot be + * corrected. + */ + NavigationMessageStatus status; + + /** * Message identifier. * It provides an index so the complete Navigation Message can be assembled. i.e. fo L1 C/A * subframe 4 and 5, this value corresponds to the 'frame id' of the navigation message. |