The Essential GNSS Project: novatel.h File Reference

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Enumeration Type Documentation

enum NOVATELOEM4_enumCodeType

This enumeration is for NovAtel OEM4 code type.

Definition at line 127 of file novatel.h.

enum NOVATELOEM4_enumCorrelatorSpacing

This enumeration is for NovAtel OEM4 correlator spacing.

Definition at line 105 of file novatel.h.

enum NOVATELOEM4_enumFrequency

This enumeration is for NovAtel OEM4 frequency.

Definition at line 138 of file novatel.h.

enum NOVATELOEM4_enumMessageType

This enumeration is for NovAtel OEM4 message types.

Definition at line 50 of file novatel.h.

enum NOVATELOEM4_enumSatelliteSystem

This enumeration is for NovAtel OEM4 satellite system.

Definition at line 116 of file novatel.h.

enum NOVATELOEM4_enumTimeStatus

The NovAtel OEM4 time status enumeration.

Enumerator:

NOVATELOEM4_TIMESTATUS_UNKNOWN	Time validity is unknown.
NOVATELOEM4_TIMESTATUS_APPROXIMATE	Time is set approximately.
NOVATELOEM4_TIMESTATUS_COARSEADJUSTING	Time is approaching coarse precision.
NOVATELOEM4_TIMESTATUS_COARSE	This time is valid to coarse precision.
NOVATELOEM4_TIMESTATUS_COARSESTEERING	Time is coarse set, and is being steered.
NOVATELOEM4_TIMESTATUS_FREEWHEELING	Position is lost, and the range bias cannot be calculated.
NOVATELOEM4_TIMESTATUS_FINEADJUSTING	Time is adjusting to fine precision.
NOVATELOEM4_TIMESTATUS_FINE	Time has fine precision.
NOVATELOEM4_TIMESTATUS_FINESTEERING	Time is fine, set and is being steered.
NOVATELOEM4_TIMESTATUS_SATTIME	Time from satellite. This is only used in logs containing satellite data such as ephemeris and almanac.

Definition at line 167 of file novatel.h.

enum NOVATELOEM4_enumTrackingState

This enumeration is for NovAtel OEM4 channel tracking state.

Definition at line 87 of file novatel.h.

Function Documentation

BOOL NOVATELOEM4_DecodeBinaryMessageHeader	(	const unsigned char *	message,
		const unsigned short	messageLength,
		NOVATELOEM4_structBinaryHeader *	header
	)

Decode a Novatel OEM4 binary message header given a complete binary message.

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-10

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

message	The message buffer containing a complete NOVATEL OEM4 binary message (input).
messageLength	The length of the entire message (input).
header	A pointer to a NovAtel OEM4 header information struct (output).

Definition at line 368 of file novatel.c.

BOOL NOVATELOEM4_DecodeRANGEB	(	const unsigned char *	message,
		const unsigned short	messageLength,
		NOVATELOEM4_structBinaryHeader *	header,
		NOVATELOEM4_structObservation *	obsArray,
		const unsigned char	maxNrObs,
		unsigned *	nrObs
	)

Decode a NovAtel OEM4 RANGEB message.

Given a message buffer with a complete NovAtel OEM4 RANGEB binary message, and a user provided array of observation structs, this function will decode the binary message into the user provided array.

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-10

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

message	The message buffer containing a complete RANGEB message (input).
messageLength	The length of the entire message (input).
header	A pointer to a NovAtel OEM4 header information struct (output).
obsArray	A pointer to a user provided array of struct_NOVATELOEM4_RANGE (output).
maxNrObs	The maximum number of elements in the array provided (input).
nrObs	The number of valid elements set in the array (output).

Definition at line 626 of file novatel.c.

BOOL NOVATELOEM4_DecodeRANGECMPB	(	const unsigned char *	message,
		const unsigned short	messageLength,
		NOVATELOEM4_structBinaryHeader *	header,
		NOVATELOEM4_structObservation *	obsArray,
		const unsigned char	maxNrObs,
		unsigned *	nrObs
	)

Decode a NovAtel OEM4 RANGEBCMPB message.

Given a message buffer with a complete NovAtel OEM4 RANGECMPB binary message, and a user provided array of observation structs, this function will decode the compressed binary message into the user provided array.

Author:: Ossama Al-Fanek (OA-F)

Date:: March 17, 2007

Remarks:: Reviewed by GDM, March 17, 2007.

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

message	The message buffer containing a complete RANGEB message (input).
messageLength	The length of the entire message (input).
header	A pointer to a NovAtel OEM4 header information struct (output).
obsArray	A pointer to a user provided array of struct_NOVATELOEM4_RANGE (output).
maxNrObs	The maximum number of elements in the array provided (input).
nrObs	The number of valid elements set in the array (output).

Definition at line 434 of file novatel.c.

BOOL NOVATELOEM4_DecodeRAWEPHEMB	(	const unsigned char *	message,
		const unsigned short	messageLength,
		NOVATELOEM4_structBinaryHeader *	header,
		unsigned *	prn,
		unsigned *	reference_week,
		unsigned *	reference_time,
		unsigned *	tow,
		unsigned short *	iodc,
		unsigned char *	iode,
		unsigned *	toe,
		unsigned *	toc,
		unsigned short *	week,
		unsigned char *	health,
		unsigned char *	alert_flag,
		unsigned char *	anti_spoof,
		unsigned char *	code_on_L2,
		unsigned char *	ura,
		unsigned char *	L2_P_data_flag,
		unsigned char *	fit_interval_flag,
		unsigned short *	age_of_data_offset,
		double *	tgd,
		double *	af2,
		double *	af1,
		double *	af0,
		double *	m0,
		double *	delta_n,
		double *	ecc,
		double *	sqrta,
		double *	omega0,
		double *	i0,
		double *	w,
		double *	omegadot,
		double *	idot,
		double *	cuc,
		double *	cus,
		double *	crc,
		double *	crs,
		double *	cic,
		double *	cis
	)

Decode a NovAtel OEM4 RAWEPHEMB message.

Given a message buffer with a complete NovAtel OEM4 RAWEPHEMB binary message, this function will decode the content into useable ephemeris information.

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-10

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

message	The message buffer containing a complete RANGEB message (input).
messageLength	The length of the entire message (input).
header	A pointer to a NovAtel OEM4 header information struct (output).
prn	The satellite PRN number.
reference_week	The reference GPS week (0-1024+) [weeks].
reference_time	The reference GPS time of week (0-604800) [s].
tow	The time of week in subframe1, the time of the leading bit edge of subframe 2 [s]
iodc	10 bit issue of data (clock), 8 LSB bits will match the iode []
iode	8 bit issue of data (ephemeris) []
toe	reference time ephemeris (0-604800) [s]
toc	reference time (clock) (0-604800) [s]
week	10 bit gps week 0-1023 (user must account for week rollover ) [week]
health	6 bit health parameter, 0 if healthy, unhealth othersize [0=healthy]
alert_flag	1 = URA may be worse than indicated [0,1]
anti_spoof	anti-spoof flag from 0=off, 1=on [0,1]
code_on_L2	0=reserved, 1=P code on L2, 2=C/A on L2 [0,1,2]
ura	User Range Accuracy lookup code, 0 is excellent, 15 is use at own risk [0-15], see p. 83 GPSICD200C
L2_P_data_flag	flag indicating if P is on L2 1=true [0,1]
fit_interval_flag	fit interval flag (four hour interval or longer) 0=4 fours, 1=greater [0,1]
age_of_data_offset	age of data offset [s]
tgd	group delay [s]
af2	polynomial clock correction coefficient (rate of clock drift) [s/s^2]
af1	polynomial clock correction coefficient (clock drift) [s/s]
af0	polynomial clock correction coefficient (clock bias) [s]
m0	mean anomaly at reference time [rad]
delta_n	mean motion difference from computed value [rad/s]
ecc	eccentricity []
sqrta	square root of the semi-major axis [m^(1/2)]
omega0	longitude of ascending node of orbit plane at weekly epoch [rad]
i0	inclination angle at reference time [rad]
w	argument of perigee [rad]
omegadot	rate of right ascension [rad/s]
idot	rate of inclination angle [rad/s]
cuc	amplitude of the cosine harmonic correction term to the argument of latitude [rad]
cus	amplitude of the sine harmonic correction term to the argument of latitude [rad]
crc	amplitude of the cosine harmonic correction term to the orbit radius [m]
crs	amplitude of the sine harmonic correction term to the orbit radius [m]
cic	amplitude of the cosine harmonic correction term to the angle of inclination [rad]
cis	amplitude of the sine harmonic correction term to the angle of inclination [rad]

Definition at line 795 of file novatel.c.

BOOL NOVATELOEM4_DecodeTrackingStatus	(	const unsigned	rawTrackingStatus,
		NOVATELOEM4_structTrackingStatus *	trackingStatus
	)

Decode the raw 32 bit value that contains tracking status information.

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-10

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

rawTrackingStatus	The raw 32 bit tracking status value (input).
trackingStatus	The decoded tracking status information (output).

Definition at line 740 of file novatel.c.

BOOL NOVATELOEM4_FindNextMessageInFile	(	FILE *	fid,
		unsigned char *	message,
		const unsigned	maxMessageLength,
		BOOL *	wasEndOfFileReached,
		BOOL *	wasMessageFound,
		unsigned *	filePosition,
		unsigned short *	messageLength,
		unsigned short *	messageID,
		unsigned *	numberBadCRC
	)

Find the next NovAtel OEM4 message in an open file.

Search a file (FILE*), that is already open, for the next NovAtel OEM4 message. The user must provide a message buffer with an associated maximum length (8192 bytes recommended ).

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-09

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

fid	A file pointer to an open file (input).
message	A message buffer in which to place the message found (input/output).
maxMessageLength	The maximum size of the message buffer (input).
wasEndOfFileReached	Has the end of the file been reached (output).
wasMessageFound	Was a valid message found (output).
filePosition	The file position for the start of the message found (output).
messageLength	The length of the entire message found and stored in the message buffer (output).
messageID	The message ID of the message found.
numberBadCRC	The number of bad crc values found. (crc fails or mistaken messages).

Definition at line 152 of file novatel.c.

novatel.h File Reference

Detailed Description

Data Structures

Enumerations

Functions

Enumeration Type Documentation

Function Documentation


Data Structures
struct	NOVATELOEM4_structTrackingStatus
	The NovAtel OEM4 tracking status. More...
struct	NOVATELOEM4_structRxStatusBitField
	The NovAtel OEM4 receiver status bitfield. More...
struct	NOVATELOEM4_structBinaryHeader
	The NovAtel OEM4 binary message header. More...
struct	NOVATELOEM4_structObservation
	A container for a NovAtel OEM4 observation. More...
Enumerations
enum	NOVATELOEM4_enumMessageType
	This enumeration is for NovAtel OEM4 message types. More...
enum	NOVATELOEM4_enumTrackingState
	This enumeration is for NovAtel OEM4 channel tracking state. More...
enum	NOVATELOEM4_enumCorrelatorSpacing
	This enumeration is for NovAtel OEM4 correlator spacing. More...
enum	NOVATELOEM4_enumSatelliteSystem
	This enumeration is for NovAtel OEM4 satellite system. More...
enum	NOVATELOEM4_enumCodeType
	This enumeration is for NovAtel OEM4 code type. More...
enum	NOVATELOEM4_enumFrequency
	This enumeration is for NovAtel OEM4 frequency. More...
enum	NOVATELOEM4_enumTimeStatus { NOVATELOEM4_TIMESTATUS_UNKNOWN = 20, NOVATELOEM4_TIMESTATUS_APPROXIMATE = 60, NOVATELOEM4_TIMESTATUS_COARSEADJUSTING = 80, NOVATELOEM4_TIMESTATUS_COARSE = 100, NOVATELOEM4_TIMESTATUS_COARSESTEERING = 120, NOVATELOEM4_TIMESTATUS_FREEWHEELING = 130, NOVATELOEM4_TIMESTATUS_FINEADJUSTING = 140, NOVATELOEM4_TIMESTATUS_FINE = 160, NOVATELOEM4_TIMESTATUS_FINESTEERING = 180, NOVATELOEM4_TIMESTATUS_SATTIME = 200 }
	The NovAtel OEM4 time status enumeration. More...
Functions
BOOL	NOVATELOEM4_FindNextMessageInFile (FILE fid, unsigned char message, const unsigned maxMessageLength, BOOL wasEndOfFileReached, BOOL wasMessageFound, unsigned filePosition, unsigned short messageLength, unsigned short messageID, unsigned numberBadCRC)
	Find the next NovAtel OEM4 message in an open file.
BOOL	NOVATELOEM4_DecodeBinaryMessageHeader (const unsigned char message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader header)
	Decode a Novatel OEM4 binary message header given a complete binary message.
BOOL	NOVATELOEM4_DecodeRANGEB (const unsigned char message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader header, NOVATELOEM4_structObservation obsArray, const unsigned char maxNrObs, unsigned nrObs)
	Decode a NovAtel OEM4 RANGEB message.
BOOL	NOVATELOEM4_DecodeTrackingStatus (const unsigned rawTrackingStatus, NOVATELOEM4_structTrackingStatus *trackingStatus)
	Decode the raw 32 bit value that contains tracking status information.
BOOL	NOVATELOEM4_DecodeRAWEPHEMB (const unsigned char message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader header, unsigned prn, unsigned reference_week, unsigned reference_time, unsigned tow, unsigned short iodc, unsigned char iode, unsigned toe, unsigned toc, unsigned short week, unsigned char health, unsigned char alert_flag, unsigned char anti_spoof, unsigned char code_on_L2, unsigned char ura, unsigned char L2_P_data_flag, unsigned char fit_interval_flag, unsigned short age_of_data_offset, double tgd, double af2, double af1, double af0, double m0, double delta_n, double ecc, double sqrta, double omega0, double i0, double w, double omegadot, double idot, double cuc, double cus, double crc, double crs, double cic, double cis)
	Decode a NovAtel OEM4 RAWEPHEMB message.
BOOL	NOVATELOEM4_DecodeRANGECMPB (const unsigned char message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader header, NOVATELOEM4_structObservation obsArray, const unsigned char maxNrObs, unsigned nrObs)
	Decode a NovAtel OEM4 RANGEBCMPB message.