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u_gnss_dec_ubx_nav_pvt.h
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/*
* Copyright 2019-2024 u-blox
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef _U_GNSS_DEC_UBX_NAV_PVT_H_
#define _U_GNSS_DEC_UBX_NAV_PVT_H_
/* Only header files representing a direct and unavoidable
* dependency between the API of this module and the API
* of another module should be included here; otherwise
* please keep #includes to your .c files. */
/** \addtogroup _GNSS
* @{
*/
/** @file
* @brief This header file defines the types of a UBX-NAV-PVT
* message.
*/
#ifdef __cplusplus
extern "C" {
#endif
/* ----------------------------------------------------------------
* COMPILE-TIME MACROS
* -------------------------------------------------------------- */
/** The message class of a UBX-NAV-PVT message.
*/
#define U_GNSS_DEC_UBX_NAV_PVT_MESSAGE_CLASS 0x01
/** The message ID of a UBX-NAV-PVT message.
*/
#define U_GNSS_DEC_UBX_NAV_PVT_MESSAGE_ID 0x07
/** The minimum length of the body of a UBX-NAV-PVT message.
*/
#define U_GNSS_DEC_UBX_NAV_PVT_BODY_MIN_LENGTH 36
/** Bit mask for the #U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE field
* of #uGnssDecUbxNavPvtFlags_t.
*/
#define U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE_MASK (0x07 << U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE)
/** Bit mask for the #U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN field
* of #uGnssDecUbxNavPvtFlags_t.
*/
#define U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN_MASK (0x07 << U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN)
/** Bit mask for the #U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_LAST_CORRECTION_AGE
* field of #uGnssDecUbxNavPvtFlags_t.
*/
#define U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_LAST_CORRECTION_AGE_MASK (0x1f << U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_LAST_CORRECTION_AGE)
/* ----------------------------------------------------------------
* TYPES
* -------------------------------------------------------------- */
/** Bit fields of the "valid" field of #uGnssDecUbxNavPvt_t; use
* these to mask specific bits, e.g.
*
* `if (valid & (1 << U_GNSS_DEC_UBX_NAV_PVT_VALID_MAG)) {`
*
* ...would determine if the "magDec" and "magAcc" fields were
* valid/populated.
*/
typedef enum {
U_GNSS_DEC_UBX_NAV_PVT_VALID_DATE = 0, /**< UTC date is valid. */
U_GNSS_DEC_UBX_NAV_PVT_VALID_TIME = 1, /**< UTC time is valid. */
U_GNSS_DEC_UBX_NAV_PVT_VALID_FULLY_RESOLVED = 2, /**< UTC time has
no seconds
uncertainty. */
U_GNSS_DEC_UBX_NAV_PVT_VALID_MAG = 3 /**< magnetic declination
(see "magDec" and "magAcc"
fields of
#uGnssDecUbxNavPvt_t) are
valid. */
} uGnssDecUbxNavPvtValid_t;
/** Possible values of the "fixType" field of #uGnssDecUbxNavPvt_t.
*/
typedef enum {
U_GNSS_DEC_UBX_NAV_PVT_FIX_TYPE_NO_FIX = 0,
U_GNSS_DEC_UBX_NAV_PVT_FIX_TYPE_DEAD_RECKONING_ONLY = 1,
U_GNSS_DEC_UBX_NAV_PVT_FIX_TYPE_2D = 2,
U_GNSS_DEC_UBX_NAV_PVT_FIX_TYPE_3D = 3,
U_GNSS_DEC_UBX_NAV_PVT_FIX_TYPE_GNSS_PLUS_DEAD_RECKONING = 4,
U_GNSS_DEC_UBX_NAV_PVT_FIX_TYPE_TIME_ONLY = 5
} uGnssDecUbxNavPvtFixType_t;
/** Possible values of the #U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE
* bit-field of #uGnssDecUbxNavPvtFlags_t. To obtain the
* enum, do as follows:
*
* `(flags & (U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE_MASK)) >> U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE`
*/
typedef enum {
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE_NOT_ACTIVE = 0,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE_ENABLED = 1,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE_ACQUISITION = 2,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE_TRACKING = 3,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE_POWER_OPTIMIZED_TRACKING = 4,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE_INACTIVE = 5
} uGnssDecUbxNavPvtFlagsPsmState_t;
/** Possible values of the #U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN
* bit-field of #uGnssDecUbxNavPvtFlags_t. To obtain the
* enum, do as follows:
*
* `(flags & (U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN_MASK)) >> U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN`
*
* Carrier phase range solution may also be referred to as
* RTK, Real Time Kinematics.
*/
typedef enum {
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN_NONE = 0, /**< no carrier phase
range solution. */
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN_FLOAT = 1, /**< carrier phase range
solution with floating
ambiguities. */
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN_FIXED = 2 /**< carrier phase range
solution with fixed
ambiguities. */
} uGnssDecUbxNavPvtFlagsCarrSoln_t;
/** Bit fields of the "flags" field of #uGnssDecUbxNavPvt_t; use
* these to mask specific bits, e.g.
*
* `if (flags & (1 << U_GNSS_DEC_UBX_NAV_PVT_FLAGS_GNSS_FIX_OK)) {`
*
* ...would determine if a fix had been achieved. Note that
* the fields #U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE and
* #U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN are wider than a
* single bit.
*/
typedef enum {
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_GNSS_FIX_OK = 0, /**< fix is within DOP
and accuracy masks. */
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_DIFF_SOLN = 1, /**< differential corrections
were applied. */
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE = 2, /**< not a single bit,
the start of a 3-bit
field, use
#U_GNSS_DEC_UBX_NAV_PVT_FLAGS_PSM_STATE_MASK
to mask it, this to shift it
down and then it will
map to
#uGnssDecUbxNavPvtFlagsPsmState_t. */
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_HEAD_VEH_VALID = 5, /**< headVeh field of
#uGnssDecUbxNavPvt_t
is valid, only set if the
receiver is in sensor
fusion mode. */
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN = 6 /**< not a single bit,
the start of a 2-bit
field, use
#U_GNSS_DEC_UBX_NAV_PVT_FLAGS_CARR_SOLN_MASK
to mask it, this to shift it
down and then it will
map to
#uGnssDecUbxNavPvtFlagsCarrSoln_t. */
} uGnssDecUbxNavPvtFlags_t;
/** Bit fields of the "flags2" field of #uGnssDecUbxNavPvt_t; use
* these to mask specific bits, e.g.
*
* `if (flags2 & (1 << U_GNSS_DEC_UBX_NAV_PVT_FLAGS2_CONFIRMED_TIME)) {`
*
* ...would determine if UTC time of day validity was confirmed.
*/
typedef enum {
U_GNSS_DEC_UBX_NAV_PVT_FLAGS2_CONFIRMED_AVAI = 5, /**< information about UTC
time and date validity
is available. */
U_GNSS_DEC_UBX_NAV_PVT_FLAGS2_CONFIRMED_DATE = 6, /**< UTC date validity is
confirmed. */
U_GNSS_DEC_UBX_NAV_PVT_FLAGS2_CONFIRMED_TIME = 7 /**< UTC time of day validity
is confirmed. */
} uGnssDecUbxNavPvtFlags2_t;
/** Possible values of the #U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_LAST_CORRECTION_AGE
* bit-field of #uGnssDecUbxNavPvtFlags3_t. To obtain the
* enum, do as follows:
*
* `(flags3 & (U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_LAST_CORRECTION_AGE_MASK)) >> U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_LAST_CORRECTION_AGE`
*
* Values above #U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_120_SECONDS_OR_MORE
* should be considered to be
* #U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_120_SECONDS_OR_MORE.
*/
typedef enum {
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_NOT_AVAILABLE = 0,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_0_AND_1_SECONDS = 1,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_1_AND_2_SECONDS = 2,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_2_AND_5_SECONDS = 3,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_5_AND_10_SECONDS = 4,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_10_AND_15_SECONDS = 5,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_15_AND_20_SECONDS = 6,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_20_AND_30_SECONDS = 7,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_30_AND_45_SECONDS = 8,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_45_AND_60_SECONDS = 9,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_60_AND_90_SECONDS = 10,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_BETWEEN_90_AND_120_SECONDS = 11,
U_GNSS_DEC_UBX_NAV_PVT_FLAGS_LAST_CORRECTION_AGE_120_SECONDS_OR_MORE = 12
} uGnssDecUbxNavPvtFlags3LastCorrectionAge_t;
/** Bit fields of the "flags3" field of #uGnssDecUbxNavPvt_t; use
* these to mask specific bits, e.g.
*
* `if (flags3 & (1 << U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_INVALID_LLH)) {`
*
* ...would determine if the lon, lat, height and hMSL fields
* are invalid, though note that the field
* #U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_LAST_CORRECTION_AGE is wider than a
* single bit.
*/
typedef enum {
U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_INVALID_LLH = 0, /**< the lon, lat, height and
hMSL fields are invalid. */
U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_LAST_CORRECTION_AGE = 1 /**< not a single bit,
the start of a 5-bit
field, use
#U_GNSS_DEC_UBX_NAV_PVT_FLAGS3_LAST_CORRECTION_AGE_MASK
to mask it, this to shift it
down and then it will map to
#uGnssDecUbxNavPvtFlags3LastCorrectionAge_t. */
} uGnssDecUbxNavPvtFlags3_t;
/** UBX-NAV-PVT message structure; the naming and type of each
* element follows that of the interface manual.
*/
typedef struct {
uint32_t iTOW; /**< GPS time of week of the
navigation epoch
in milliseconds. */
uint16_t year; /**< year (UTC); to obtain this and
the other time-related fields
in this structure as a Unix-based
UTC timestamp, see
uGnssDecUbxNavPvtGetTimeUtc(). */
uint8_t month; /**< month, range 1 to 12 (UTC). */
uint8_t day; /**< day of month, range 1 to 31 (UTC). */
uint8_t hour; /**< hour of day, range 0 to 23 (UTC). */
uint8_t min; /**< minute of hour, range 0 to 59 (UTC). */
uint8_t sec; /**< seconds of minute, range 0 to 60 (UTC). */
uint8_t valid; /**< validity flags, see
#uGnssDecUbxNavPvtValid_t. */
uint32_t tAcc; /**< time accuracy estimate in
nanoseconds. */
int32_t nano; /**< fractional seconds part of UTC
time in nanoseconds. */
uGnssDecUbxNavPvtFixType_t fixType; /**< the fix type achieved. */
uint8_t flags; /**< see #uGnssDecUbxNavPvtFlags_t. */
uint8_t flags2; /**< see #uGnssDecUbxNavPvtFlags2_t. */
uint8_t numSV; /**< the number of satellites used. */
int32_t lon; /**< longitude in degrees times 1e7. */
int32_t lat; /**< latitude in degrees times 1e7. */
int32_t height; /**< height above ellipsoid in mm. */
int32_t hMSL; /**< height above mean sea level in mm. */
uint32_t hAcc; /**< horizontal accuracy estimate in mm. */
uint32_t vAcc; /**< vertical accuracy estimate in mm. */
int32_t velN; /**< NED north velocity in mm/second. */
int32_t velE; /**< NED east velocity in mm/second. */
int32_t velD; /**< NED down velocity in mm/second. */
int32_t gSpeed; /**< 2D ground speed in mm/second. */
int32_t headMot; /**< 2D heading of motion in degrees times 1e5. */
uint32_t sAcc; /**< speed accuracy estimate in mm/second. */
uint32_t headAcc; /**< heading accuracy estimate (motion and
vehicle) in degrees times 1e5. */
uint16_t pDOP; /**< position DOP times 100. */
uint16_t flags3; /**< see #uGnssDecUbxNavPvtFlags3_t. */
int32_t headVeh; /**< if the #U_GNSS_DEC_UBX_NAV_PVT_FLAGS_HEAD_VEH_VALID
bit of the flags field is set
then this is the 2D vehicle
heading in degrees times 1e5,
else it is set to the same
value as headMot. */
int16_t magDec; /**< if the #U_GNSS_DEC_UBX_NAV_PVT_VALID_MAG
bit of the valid field is set then this
is the magnetic declination in degrees
times 100; only supported on ADR 4.10
and later. */
uint16_t magAcc; /**< if the #U_GNSS_DEC_UBX_NAV_PVT_VALID_MAG
bit of the valid field is set then this
is the accuracy of the magnetic
declination in degrees times 100; only
supported on ADR 4.10 and later. */
} uGnssDecUbxNavPvt_t;
/* ----------------------------------------------------------------
* FUNCTIONS: HELPERS
* -------------------------------------------------------------- */
/** Derive Unix time (in nanoseconds) from the components of
* #uGnssDecUbxNavPvt_t.
*
* @param[in] pPvt a pointer to a #uGnssDecUbxNavPvt_t structure
* returned by pUGnssDecAlloc(); cannot be NULL.
* @return on success, the UTC time in nanoseconds using
* the Unix time-base of midnight on 1st Jan 1970,
* else negative error code.
*/
int64_t uGnssDecUbxNavPvtGetTimeUtc(const uGnssDecUbxNavPvt_t *pPvt);
#ifdef __cplusplus
}
#endif
/** @}*/
#endif // _U_GNSS_DEC_UBX_NAV_PVT_H_
// End of file