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Macros | |
| #define | SBG_ECOM_BUILD_ID(classId, logId) (((uint16_t)classId << 8) | (uint8_t)logId) |
Typedefs | |
| typedef enum _SbgEComClass | SbgEComClass |
| typedef enum _SbgEComCmd | SbgEComCmd |
| typedef enum _SbgEComIdNmea1Log | SbgEComIdNmea1Log |
| typedef enum _SbgEComIdThirdParty | SbgEComIdThirdParty |
| typedef enum _SbgEComLog | SbgEComLog |
| typedef enum _SbgEComLog1MsgId | SbgEComLog1 |
| typedef uint8_t | SbgEComMsgId |
| typedef enum _SbgEComNmeaLog | SbgEComNmeaLog |
Functions | |
| SBG_INLINE bool | sbgEComMsgClassIsALog (SbgEComClass msgClass) |
Macro Definition Documentation
◆ SBG_ECOM_BUILD_ID
| #define SBG_ECOM_BUILD_ID | ( | classId, | |
| logId | |||
| ) | (((uint16_t)classId << 8) | (uint8_t)logId) |
Helper macro to build an id with its class
Definition at line 37 of file sbgEComIds.h.
Typedef Documentation
◆ SbgEComClass
| typedef enum _SbgEComClass SbgEComClass |
Enum that defines all the message classes available.
◆ SbgEComCmd
| typedef enum _SbgEComCmd SbgEComCmd |
Enum that defines all the available commands for the sbgECom library.
◆ SbgEComIdNmea1Log
| typedef enum _SbgEComIdNmea1Log SbgEComIdNmea1Log |
Enum that defines all the available Proprietary Nmea output logs from the sbgECom library.
◆ SbgEComIdThirdParty
| typedef enum _SbgEComIdThirdParty SbgEComIdThirdParty |
Enum that defines all the available Proprietary output logs from the sbgECom library.
◆ SbgEComLog
| typedef enum _SbgEComLog SbgEComLog |
Enum that defines all the available ECom output logs from the sbgECom library.
◆ SbgEComLog1
| typedef enum _SbgEComLog1MsgId SbgEComLog1 |
Enum that defines all the available ECom output logs in the class SBG_ECOM_CLASS_LOG_ECOM_1
◆ SbgEComMsgId
| typedef uint8_t SbgEComMsgId |
This type defines any message identifier. Because message identifiers enum will be different with each class id, we use a generic uint8_t rather than an enum.
Definition at line 289 of file sbgEComIds.h.
◆ SbgEComNmeaLog
| typedef enum _SbgEComNmeaLog SbgEComNmeaLog |
Enum that defines all the available Nmea output logs from the sbgECom library.
Enumeration Type Documentation
◆ _SbgEComClass
| enum _SbgEComClass |
Enum that defines all the message classes available.
Definition at line 46 of file sbgEComIds.h.
◆ _SbgEComCmd
| enum _SbgEComCmd |
Enum that defines all the available commands for the sbgECom library.
| Enumerator | |
|---|---|
| SBG_ECOM_CMD_ACK | Acknowledge |
| SBG_ECOM_CMD_SETTINGS_ACTION | Performs various settings actions |
| SBG_ECOM_CMD_IMPORT_SETTINGS | Imports a new settings structure to the sensor |
| SBG_ECOM_CMD_EXPORT_SETTINGS | Export the whole configuration from the sensor |
| SBG_ECOM_CMD_INFO | Get basic device information |
| SBG_ECOM_CMD_INIT_PARAMETERS | Initial configuration |
| SBG_ECOM_CMD_MOTION_PROFILE_ID | Set/get motion profile information |
| SBG_ECOM_CMD_IMU_ALIGNMENT_LEVER_ARM | Sensor alignment and lever arm on vehicle configuration |
| SBG_ECOM_CMD_AIDING_ASSIGNMENT | Aiding assignments such as RTCM / GPS / Odometer configuration |
| SBG_ECOM_CMD_MAGNETOMETER_MODEL_ID | Set/get magnetometer error model information |
| SBG_ECOM_CMD_MAGNETOMETER_REJECT_MODE | Magnetometer aiding rejection mode |
| SBG_ECOM_CMD_SET_MAG_CALIB | Set magnetic soft and hard Iron calibration data |
| SBG_ECOM_CMD_START_MAG_CALIB | Start / reset internal magnetic field logging for calibration. |
| SBG_ECOM_CMD_COMPUTE_MAG_CALIB | Compute a magnetic calibration based on previously logged data. |
| SBG_ECOM_CMD_GNSS_1_MODEL_ID | Set/get GNSS model information |
| SBG_ECOM_CMD_GNSS_1_LEVER_ARM_ALIGNMENT | DEPRECATED: GNSS installation configuration (lever arm, antenna alignments) |
| SBG_ECOM_CMD_GNSS_1_INSTALLATION | Define or retrieve the GNSS 1 main and secondary lever arms configuration. |
| SBG_ECOM_CMD_GNSS_1_REJECT_MODES | GNSS aiding rejection modes configuration. |
| SBG_ECOM_CMD_ODO_CONF | Odometer gain, direction configuration |
| SBG_ECOM_CMD_ODO_LEVER_ARM | Odometer installation configuration (lever arm) |
| SBG_ECOM_CMD_ODO_REJECT_MODE | Odometer aiding rejection mode configuration. |
| SBG_ECOM_CMD_UART_CONF | UART interfaces configuration |
| SBG_ECOM_CMD_CAN_BUS_CONF | CAN bus interface configuration |
| SBG_ECOM_CMD_CAN_OUTPUT_CONF | CAN identifiers configuration |
| SBG_ECOM_CMD_SYNC_IN_CONF | Synchronization inputs configuration |
| SBG_ECOM_CMD_SYNC_OUT_CONF | Synchronization outputs configuration |
| SBG_ECOM_CMD_NMEA_TALKER_ID | NMEA talker ID configuration |
| SBG_ECOM_CMD_OUTPUT_CONF | Output configuration |
| SBG_ECOM_CMD_LEGACY_CONT_OUTPUT_CONF | Legacy serial output mode configuration |
| SBG_ECOM_CMD_ADVANCED_CONF | Advanced settings configuration |
| SBG_ECOM_CMD_FEATURES | Retrieve device features |
| SBG_ECOM_CMD_LICENSE_APPLY | Upload and apply a new license |
| SBG_ECOM_CMD_OUTPUT_CLASS_ENABLE | Enable/disable the output of an entire class |
| SBG_ECOM_CMD_ETHERNET_CONF | Set/get Ethernet configuration such as DHCP mode and IP address. |
| SBG_ECOM_CMD_ETHERNET_INFO | Return the current IP used by the device. |
| SBG_ECOM_CMD_VALIDITY_THRESHOLDS | Set/get Validity flag thresholds for position, velocity, attitude and heading |
| SBG_ECOM_CMD_DVL_MODEL_ID | Set/get DVL model id to use |
| SBG_ECOM_CMD_DVL_INSTALLATION | DVL installation configuration (lever arm, alignments) |
| SBG_ECOM_CMD_DVL_REJECT_MODES | DVL aiding rejection modes configuration. |
| SBG_ECOM_CMD_AIRDATA_MODEL_ID | Set/get AirData model id and protocol to use. |
| SBG_ECOM_CMD_AIRDATA_LEVER_ARM | AirData installation configuration (lever arm, offsets) |
| SBG_ECOM_CMD_AIRDATA_REJECT_MODES | AirData aiding rejection modes configuration. |
| SBG_ECOM_CMD_ODO_CAN_CONF | Configuration for CAN based odometer (CAN ID & DBC) |
| SBG_ECOM_LOG_ECOM_NUM_CMDS | Helper definition to know the number of commands |
Definition at line 196 of file sbgEComIds.h.
◆ _SbgEComIdNmea1Log
| enum _SbgEComIdNmea1Log |
Enum that defines all the available Proprietary Nmea output logs from the sbgECom library.
| Enumerator | |
|---|---|
| SBG_ECOM_LOG_NMEA_1_PRDID | RDI proprietary sentence. Pitch, Roll, Heading |
| SBG_ECOM_LOG_NMEA_1_PSBGI | SBG Systems proprietary sentence. Rotation rates, accelerations. |
| SBG_ECOM_LOG_NMEA_1_PASHR | Proprietary sentence. Roll, Pitch, Heading, Heave. |
| SBG_ECOM_LOG_NMEA_1_PSBGB | SBG Systems proprietary sentence. Attitude, heading, heave, angular rates, velocity. |
| SBG_ECOM_LOG_NMEA_1_PHINF | Ixblue NMEA like log used to output Status information. |
| SBG_ECOM_LOG_NMEA_1_PHTRO | Ixblue NMEA like log used to output Roll and Pitch. |
| SBG_ECOM_LOG_NMEA_1_PHLIN | Ixblue NMEA like log used to output Surge, Sway and Heave. |
| SBG_ECOM_LOG_NMEA_1_PHOCT | Ixblue NMEA like log used to output attitude and ship motion. |
| SBG_ECOM_LOG_NMEA_1_INDYN | Ixblue NMEA like log used to output position, heading, attitude, attitude rate and speed. |
| SBG_ECOM_LOG_NMEA_1_NUM_MESSAGES | Helper definition to know the number of NMEA messages |
Definition at line 158 of file sbgEComIds.h.
◆ _SbgEComIdThirdParty
| enum _SbgEComIdThirdParty |
Enum that defines all the available Proprietary output logs from the sbgECom library.
| Enumerator | |
|---|---|
| SBG_ECOM_THIRD_PARTY_TSS1 | Roll, Pitch, Heave, heave accelerations |
| SBG_ECOM_THIRD_PARTY_KVH | Roll, Pitch, Yaw |
| SBG_ECOM_THIRD_PARTY_PD0 | Teledyne PD0 DVL proprietary frame. |
| SBG_ECOM_THIRD_PARTY_SIMRAD_1000 | Konsberg SimRad 1000 proprietary frame that outputs Roll, Pitch and Heading. |
| SBG_ECOM_THIRD_PARTY_SIMRAD_3000 | Konsberg SimRad 3000 proprietary frame that outputs Roll, Pitch and Heading. |
| SBG_ECOM_THIRD_PARTY_SEAPATH_B26 | Konsberg Seapth Binary Log 26 used for MBES FM mode. |
| SBG_ECOM_THIRD_PARTY_DOLOG_HRP | DOLOG Heading, Roll, Pitch proprietary and binary message. |
| SBG_ECOM_THIRD_PARTY_AHRS_500 | Crossbow AHRS-500 Data Packet output with attitude, rate, acceleration and status. |
| SBG_ECOM_LOG_THIRD_PARTY_NUM_MESSAGES | Helper definition to know the number of third party messages |
Definition at line 177 of file sbgEComIds.h.
◆ _SbgEComLog
| enum _SbgEComLog |
Enum that defines all the available ECom output logs from the sbgECom library.
| Enumerator | |
|---|---|
| SBG_ECOM_LOG_STATUS | Status general, clock, com aiding, solution, heave |
| SBG_ECOM_LOG_UTC_TIME | Provides UTC time reference |
| SBG_ECOM_LOG_IMU_DATA | Includes IMU status, acc., gyro, temp delta speeds and delta angles values |
| SBG_ECOM_LOG_MAG | Magnetic data with associated accelerometer on each axis |
| SBG_ECOM_LOG_MAG_CALIB | Magnetometer calibration data (raw buffer) |
| SBG_ECOM_LOG_EKF_EULER | Includes roll, pitch, yaw and their accuracies on each axis |
| SBG_ECOM_LOG_EKF_QUAT | Includes the 4 quaternions values |
| SBG_ECOM_LOG_EKF_NAV | Position and velocities in NED coordinates with the accuracies on each axis |
| SBG_ECOM_LOG_SHIP_MOTION | Heave, surge and sway and accelerations on each axis. |
| SBG_ECOM_LOG_GPS1_VEL | GPS velocities from primary or secondary GPS receiver |
| SBG_ECOM_LOG_GPS1_POS | GPS positions from primary or secondary GPS receiver |
| SBG_ECOM_LOG_GPS1_HDT | GPS true heading from dual antenna system |
| SBG_ECOM_LOG_GPS1_RAW | GPS 1 raw data for post processing. |
| SBG_ECOM_LOG_GPS2_VEL | GPS 2 velocity log data. |
| SBG_ECOM_LOG_GPS2_POS | GPS 2 position log data. |
| SBG_ECOM_LOG_GPS2_HDT | GPS 2 true heading log data. |
| SBG_ECOM_LOG_GPS2_RAW | GPS 2 raw data for post processing. |
| SBG_ECOM_LOG_ODO_VEL | Provides odometer velocity |
| SBG_ECOM_LOG_EVENT_A | Event markers sent when events are detected on sync in A pin |
| SBG_ECOM_LOG_EVENT_B | Event markers sent when events are detected on sync in B pin |
| SBG_ECOM_LOG_EVENT_C | Event markers sent when events are detected on sync in C pin |
| SBG_ECOM_LOG_EVENT_D | Event markers sent when events are detected on sync in D pin |
| SBG_ECOM_LOG_EVENT_E | Event markers sent when events are detected on sync in E pin |
| SBG_ECOM_LOG_DVL_BOTTOM_TRACK | Doppler Velocity Log for bottom tracking data. |
| SBG_ECOM_LOG_DVL_WATER_TRACK | Doppler Velocity log for water layer data. |
| SBG_ECOM_LOG_SHIP_MOTION_HP | Return delayed ship motion such as surge, sway, heave. |
| SBG_ECOM_LOG_AIR_DATA | Air Data aiding such as barometric altimeter and true air speed. |
| SBG_ECOM_LOG_USBL | Raw USBL position data for subsea navigation. |
| SBG_ECOM_LOG_DEBUG_0 | Debug Log. |
| SBG_ECOM_LOG_IMU_RAW_DATA | Factory only log. |
| SBG_ECOM_LOG_DEBUG_1 | Debug Log. |
| SBG_ECOM_LOG_DEBUG_2 | Debug Log. |
| SBG_ECOM_LOG_DEBUG_3 | Debug Log. |
| SBG_ECOM_LOG_IMU_SHORT | Short IMU message recommended for post processing usages. |
| SBG_ECOM_LOG_EVENT_OUT_A | Event marker used to time stamp each generated Sync Out A signal. |
| SBG_ECOM_LOG_EVENT_OUT_B | Event marker used to time stamp each generated Sync Out B signal. |
| SBG_ECOM_LOG_DEPTH | Depth sensor measurement log used for subsea navigation. |
| SBG_ECOM_LOG_DIAG | Diagnostic log. |
| SBG_ECOM_LOG_ECOM_NUM_MESSAGES | Helper definition to know the number of ECom messages |
Definition at line 69 of file sbgEComIds.h.
◆ _SbgEComLog1MsgId
| enum _SbgEComLog1MsgId |
Enum that defines all the available ECom output logs in the class SBG_ECOM_CLASS_LOG_ECOM_1
| Enumerator | |
|---|---|
| SBG_ECOM_LOG_FAST_IMU_DATA | Provides accelerometers, gyroscopes, time and status at 1KHz rate. |
| SBG_ECOM_LOG_ECOM_1_NUM_MESSAGES | Helper definition to know the number of ECom messages |
Definition at line 133 of file sbgEComIds.h.
◆ _SbgEComNmeaLog
| enum _SbgEComNmeaLog |
Enum that defines all the available Nmea output logs from the sbgECom library.
| Enumerator | |
|---|---|
| SBG_ECOM_LOG_NMEA_GGA | Latitude, Longitude, Altitude, Quality indicator. |
| SBG_ECOM_LOG_NMEA_RMC | Latitude, Longitude, velocity, course over ground. |
| SBG_ECOM_LOG_NMEA_ZDA | UTC Time. |
| SBG_ECOM_LOG_NMEA_HDT | Heading (True). |
| SBG_ECOM_LOG_NMEA_GST | GPS Pseudorange Noise Statistics. |
| SBG_ECOM_LOG_NMEA_VBW | Water referenced and ground referenced speed data. |
| SBG_ECOM_LOG_NMEA_DPT | Depth sensor output. |
| SBG_ECOM_LOG_NMEA_VTG | Track an Speed over the ground. |
| SBG_ECOM_LOG_NMEA_NUM_MESSAGES | Helper definition to know the number of NMEA messages |
Definition at line 142 of file sbgEComIds.h.
Function Documentation
◆ sbgEComMsgClassIsALog()
| SBG_INLINE bool sbgEComMsgClassIsALog | ( | SbgEComClass | msgClass | ) |
Test if the message class is a binary log one.
- Parameters
-
[in] msgClass Message class.
- Returns
- TRUE if the message class corresponds to a binary log.
Definition at line 301 of file sbgEComIds.h.