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/**************************************************************************
*
* $Id: mbggeo.h 1.10 2008/09/03 14:54:28 martin REL_M $
*
* Copyright (c) Meinberg Funkuhren, Bad Pyrmont, Germany
*
* Description:
* Definitions and prototypes for mbggeo.c.
*
* Terms used:
*
* WGS84 world geodetic system of 1984
*
* XYZ WGS84 earth centered, earth fixed (ECEF) kartesian
* coordinates
*
* LLA longitude, latitude, altitude depending on the reference
* ellipsoid used.
*
* DMS degrees, minutes, seconds
*
* -----------------------------------------------------------------------
* $Log: mbggeo.h $
* Revision 1.10 2008/09/03 14:54:28 martin
* Added macros to swap endianess of structures.
* Revision 1.9 2008/01/17 09:31:33 daniel
* Made comments compatible for doxygen parser.
* No sourcecode changes.
* Revision 1.8 2004/11/09 14:16:00Z martin
* Redefined interface data types using C99 fixed-size definitions.
* Revision 1.7 2003/02/14 13:23:04Z martin
* Omit inclusion of mystd.h.
* Revision 1.6 2003/01/13 15:17:15 martin
* Structures were defined with default alignment which
* could result in different data sizes on different platforms.
* Revision 1.5 2002/12/18 14:46:41Z martin
* Removed variable USER_POS meinberg.
* Updated function prototypes.
* Revision 1.4 2002/12/12 12:04:25Z martin
* Moved some definitions here.
* Use standard file format.
*
**************************************************************************/
#ifndef _MBGGEO_H
#define _MBGGEO_H
/* Other headers to be included */
#include <gpsdefs.h>
#include <use_pack.h>
#ifdef _MBGGEO
#define _ext
#define _DO_INIT
#else
#define _ext extern
#endif
/* Start of header body */
#if defined( _USE_PACK ) // set byte alignment
#pragma pack( 1 )
#endif
/**
Geographic longitude or latitude in [degrees, minutes, seconds]
longitude East latitude North and positve, South or West angles negative
*/
typedef struct
{
uint16_t prefix; /**< 'N', 'E', 'S' or 'W' */
uint16_t deg; /**< [0...90 (lat) or 0...180 (lon)] */
uint16_t min; /**< [0...59] */
double sec; /**< [0...59.999] */
} DMS;
// The corresponding macro _mbg_swab_dms() is defined in gpsdefs.h.
#define _mbg_swab_dms( _p ) \
{ \
_mbg_swab16( &(_p)->prefix ); \
_mbg_swab16( &(_p)->deg ); \
_mbg_swab16( &(_p)->min ); \
_mbg_swab_double( &(_p)->sec ); \
}
typedef struct
{
XYZ xyz; /**< always WGS84 ECEF coordinates */
LLA lla; /**< depending on the ellipsoid used for reference */
DMS longitude; /**< longitude in degrees, minutes, seconds */
DMS latitude; /**< latitude in degrees, minutes, seconds */
int16_t ellipsoid; /**< ellipsoid used for reference */
} POS;
#define _mbg_swab_pos( _p ) \
{ \
_mbg_swab_xyz( (_p)->xyz ); \
_mbg_swab_lla( (_p)->lla ); \
_mbg_swab_dms( &(_p)->longitude ); \
_mbg_swab_dms( &(_p)->latitude ); \
_mbg_swab16( &(_p)->ellipsoid ); \
}
typedef struct
{
CSUM csum; /* checksum of the remaining bytes */
int16_t valid; /* flag data are valid */
char name[40];
POS pos; /* the position in WGS84 ECEF coords and LLA */
double det;
/* The components below hold the results of intermediate terms */
/* computed in complete_user_pos(). */
/* The sin.., cos.., nt.. and ut.. variables are used to compute the */
/* enu_dcos[] parameters of a SV structure in xyz_to_ead(). */
/* The e_radius.. variables are used to compute the latitude, longitude */
/* and altitude from ECEF coordinates in lla_to_xyz(). */
double sin_lat; /* sin( latitude ) */
double cos_lat; /* cos( latitude ) */
double sin_lon; /* sin( longitude ) */
double cos_lon; /* cos( longitude ) */
double nt1; /* -sin_lat * cos_lon */
double nt2; /* -sin_lat * sin_lon */
double utx; /* cos_lat * cos_lon */
double uty; /* cos_lat * sin_lon */
double e_radius; /* N */
double e_radius_alt; /* N + h */
} USER_POS;
typedef struct
{
CSUM csum; /* checksum of the remaining bytes */
int16_t valid; /* flag data are valid */
char name[40];
XYZ dxyz; /* offset from the WGS84 ECEF coords */
double a; /* semi major axis */
double rcp_f; /* reciproke of flatness */
/* the variables below will be computed in the init_mbggeo() function: */
double f; /* flatness */
double b; /* semi minor axis */
double sqr_e; /* square of numerical eccentricity */
} ELLIPSOID;
enum { WGS84, BESSEL, N_ELLIPSOIDS };
_ext ELLIPSOID ellipsoid[N_ELLIPSOIDS]
#ifdef _DO_INIT
= { { 0, 0,
"WGS 84",
{ 0.0, 0.0, 0.0 },
6378137.0,
298.257223563
},
{ 0, 0,
"Bessel",
{ -128.0, 481.0, 664.0 },
6377397.0,
299.15
}
}
#endif
;
/* WGS84 constants used */
_ext double OMEGADOTe /* earth's rotation rate [rad/sec] */
#ifdef _DO_INIT
= 7.2921151467e-5
#endif
;
_ext double mue /* earth's gravitational constant [m^3/sec^2] */
#ifdef _DO_INIT
= 3.986005e14
#endif
;
_ext double vr_to_doppler;
_ext double gps_pi
#ifdef _DO_INIT
= 3.1415926535898
#endif
;
_ext double gps_c0
#ifdef _DO_INIT
= 2.99792458e8
#endif
;
#ifndef PI
#define PI 3.1415926535897932
#endif
_ext double pi
#ifdef _DO_INIT
= PI
#endif
;
_ext double r2d
#ifdef _DO_INIT
= 180.0 / PI
#endif
;
_ext double d2r
#ifdef _DO_INIT
= PI / 180.0
#endif
;
/* variables for simplifying computations */
_ext double gps_two_pi;
_ext double sqrt_mue; /* sqrt( mue ) */
/* function prototypes: */
#ifdef __cplusplus
extern "C" {
#endif
/* ----- function prototypes begin ----- */
/* This section was generated automatically */
/* by MAKEHDR, do not remove the comments. */
void dms_to_rad( const DMS *dms, double *rad ) ;
void rad_to_dms( const double *rad, DMS *dms, const char prefix ) ;
void dms_to_lla( POS *pos ) ;
void lla_to_dms( POS *pos ) ;
void lla_to_xyz( USER_POS *pos ) ;
void xyz_to_lla( POS *pos, void (*cyclic_func)( void ) ) ;
void dms_to_xyz( USER_POS *pos ) ;
void setup_user_pos_from_dms( USER_POS *user ) ;
void setup_user_pos_from_lla( USER_POS *user ) ;
void setup_user_pos_from_xyz( USER_POS *user, void (*cyclic_func)( void ) ) ;
double distance( XYZ xyz_1, XYZ xyz_2 ) ;
void init_mbggeo( void ) ;
/* ----- function prototypes end ----- */
#ifdef __cplusplus
}
#endif
#if defined( _USE_PACK ) // set default alignment
#pragma pack()
#endif
/* End of header body */
#undef _ext
#undef _DO_INIT
#endif /* _MBGGEO_H */
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