xsrawgpssvinfo.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef XSRAWGPSSVINFO_H
#define XSRAWGPSSVINFO_H

#include "pstdint.h"

#ifdef _MSC_VER
#pragma pack(push, 1)
#endif

#ifndef __cplusplus
#define XSSVINFO_INITIALIZER   \
    {                          \
        0, 0, 0, 0, 0, 0, 0, 0 \
    }
#define XSRAWGPSSVINFO_INITIALIZER \
    {0,                            \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER,         \
     XSSVINFO_INITIALIZER};
#endif

//! \brief A container for information of one satellite
struct XsSvInfo
{
    /** channel number, range 0..NCH-1 */
    uint8_t m_chn;
    /** Satellite ID */
    uint8_t m_svid;
    uint8_t m_flags; /*!< Bitmask, made up of the following bit values
                         0x01 = SV is used for navigation
                         0x02 = Differential correction data is available for
                        this SV
                         0x04 = Orbit information is available for this SV
                        (Ephemeris or Almanach)
                         0x08 = Orbit information is Ephemeris
                         0x10 = SV is unhealthy / shall not be used
                         0x20 = reserved
                         0x40 = reserved
                         0x80 = reserved
                     */
    int8_t m_qi; /*!< Signal Quality indicator (range 0..7). The following list
                    shows the meaning of the different QI values:
                     0: This channel is idle
                     1, 2: Channel is searching
                     3: Signal detected but unusable
                     4: Code Lock on Signal
                     5, 6: Code and Carrier locked
                     7: Code and Carrier locked, receiving 50bps data
                 */
    /** Carrier to Noise Ratio (Signal Strength) (dbHz) */
    uint8_t m_cno;
    /** Elevation in integer (deg) */
    int8_t m_elev;
    /** Azimuth in integer (deg) */
    int16_t m_azim;
    /** Pseudo range residual (cm) */
    int32_t m_prres;
};
typedef struct XsSvInfo XsSvInfo;

/*! \brief A container for NAV-SVINFO data
*/
struct XsRawGpsSvInfo
{
    /** Gps time of week (ms) */
    uint32_t m_itow;
    /** Number of channels range 0..16 */
    uint8_t m_nch;
    /** Reserved */
    uint8_t m_res1;
    /** Reserved */
    uint16_t m_res2;
    /** The information of all satellites, maxmimum 16 */
    XsSvInfo m_svInfos[16];
};
typedef struct XsRawGpsSvInfo XsRawGpsSvInfo;

#ifdef _MSC_VER
#pragma pack(pop)
#endif

#endif  // file guard