38 #define MAXIMUM_PACKET_PERIODS 50 39 #define MAXIMUM_DETAILED_SATELLITES 32 41 #define START_SYSTEM_PACKETS 0 42 #define START_STATE_PACKETS 20 43 #define START_CONFIGURATION_PACKETS 180 170 uint32_t serial_number[3];
253 unsigned int system_failure :1;
254 unsigned int accelerometer_sensor_failure :1;
255 unsigned int gyroscope_sensor_failure :1;
256 unsigned int magnetometer_sensor_failure :1;
257 unsigned int pressure_sensor_failure :1;
258 unsigned int gnss_failure :1;
259 unsigned int accelerometer_over_range :1;
260 unsigned int gyroscope_over_range :1;
261 unsigned int magnetometer_over_range :1;
262 unsigned int pressure_over_range :1;
263 unsigned int minimum_temperature_alarm :1;
264 unsigned int maximum_temperature_alarm :1;
265 unsigned int low_voltage_alarm :1;
266 unsigned int high_voltage_alarm :1;
267 unsigned int gnss_antenna_disconnected :1;
268 unsigned int serial_port_overflow_alarm :1;
276 unsigned int orientation_filter_initialised :1;
277 unsigned int ins_filter_initialised :1;
278 unsigned int heading_initialised :1;
279 unsigned int utc_time_initialised :1;
280 unsigned int gnss_fix_type :3;
281 unsigned int event1_flag :1;
282 unsigned int event2_flag :1;
283 unsigned int internal_gnss_enabled :1;
284 unsigned int dual_antenna_heading_active :1;
285 unsigned int velocity_heading_enabled :1;
286 unsigned int atmospheric_altitude_enabled :1;
287 unsigned int external_position_active :1;
288 unsigned int external_velocity_active :1;
289 unsigned int external_heading_active :1;
298 float body_acceleration[3];
300 float orientation[3];
301 float angular_velocity[3];
302 float standard_deviation[3];
331 unsigned int system_failure :1;
332 unsigned int accelerometer_sensor_failure :1;
333 unsigned int gyroscope_sensor_failure :1;
334 unsigned int magnetometer_sensor_failure :1;
335 unsigned int pressure_sensor_failure :1;
336 unsigned int gnss_failure :1;
337 unsigned int accelerometer_over_range :1;
338 unsigned int gyroscope_over_range :1;
339 unsigned int magnetometer_over_range :1;
340 unsigned int pressure_over_range :1;
341 unsigned int minimum_temperature_alarm :1;
342 unsigned int maximum_temperature_alarm :1;
343 unsigned int low_voltage_alarm :1;
344 unsigned int high_voltage_alarm :1;
345 unsigned int gnss_antenna_disconnected :1;
346 unsigned int serial_port_overflow_alarm :1;
354 unsigned int orientation_filter_initialised :1;
355 unsigned int ins_filter_initialised :1;
356 unsigned int heading_initialised :1;
357 unsigned int utc_time_initialised :1;
358 unsigned int gnss_fix_type :3;
359 unsigned int event1_flag :1;
360 unsigned int event2_flag :1;
361 unsigned int internal_gnss_enabled :1;
362 unsigned int dual_antenna_heading_active :1;
363 unsigned int velocity_heading_enabled :1;
364 unsigned int atmospheric_altitude_enabled :1;
365 unsigned int external_position_active :1;
366 unsigned int external_velocity_active :1;
367 unsigned int external_heading_active :1;
374 float standard_deviation[3];
379 float standard_deviation[3];
384 float standard_deviation[3];
389 float standard_deviation[4];
394 float accelerometers[3];
396 float magnetometers[3];
408 float position_standard_deviation[3];
418 unsigned int fix_type :3;
419 unsigned int velocity_valid :1;
420 unsigned int time_valid :1;
421 unsigned int external_gnss :1;
422 unsigned int tilt_valid :1;
423 unsigned int heading_valid :1;
461 unsigned int l1_ca :1;
462 unsigned int l1_c :1;
463 unsigned int l1_p :1;
464 unsigned int l1_m :1;
465 unsigned int l2_c :1;
466 unsigned int l2_p :1;
467 unsigned int l2_m :1;
509 float acceleration[3];
514 float acceleration[3];
520 float orientation[3];
525 float orientation[4];
530 float orientation[3][3];
535 float angular_velocity[3];
540 float angular_acceleration[3];
547 float position_standard_deviation[3];
548 float velocity_standard_deviation[3];
554 float standard_deviation[3];
560 float standard_deviation[3];
583 float magnetic_field[3];
620 float wind_velocity[2];
670 unsigned int carrier_phase_valid :1;
671 unsigned int carrier_phase_cycle_slip_detected :1;
672 unsigned int carrier_phase_half_cycle_ambiguity :1;
673 unsigned int pseudo_range_valid :1;
674 unsigned int doppler_valid :1;
675 unsigned int signal_to_noise_ratio_valid :1;
696 unsigned int reverse_detection_supported :1;
714 unsigned int altitude_set :1;
715 unsigned int airspeed_set :1;
716 unsigned int reset_qnh :1;
739 char serial_number[10];
741 uint32_t software_license[3];
751 unsigned int north_seeking_initialised :1;
752 unsigned int position_not_ready :1;
753 unsigned int excessive_roll :1;
754 unsigned int excessive_pitch :1;
755 unsigned int excessive_movement :1;
757 } north_seeking_status;
758 uint8_t quadrant_data_collection_progress[4];
760 float current_gyroscope_bias_solution[3];
798 float alignment_dcm[3][3];
799 float gnss_antenna_offset[3];
800 float odometer_offset[3];
801 float external_data_offset[3];
886 uint8_t gpio_function[4];
904 float heave_point_1_offset[3];
905 float heave_point_2_offset[3];
906 float heave_point_3_offset[3];
907 float heave_point_4_offset[3];
935 unsigned int gpio1_rate :4;
936 unsigned int auxiliary_rate :4;
953 uint8_t reserved[13];
978 unsigned int automatic_offset_enabled :1;
983 float manual_offset[3];
gpio_output_rate_u gprmc_rate
int decode_external_depth_packet(external_depth_packet_t *external_depth_packet, an_packet_t *an_packet)
float pressure_temperature
an_packet_t * encode_odometer_configuration_packet(odometer_configuration_packet_t *odometer_configuration_packet)
an_packet_t * encode_external_position_velocity_packet(external_position_velocity_packet_t *external_position_velocity_packet)
float current_rotation_angle
int decode_external_position_packet(external_position_packet_t *external_position_packet, an_packet_t *an_packet)
int decode_gpio_output_configuration_packet(gpio_output_configuration_packet_t *gpio_output_configuration_packet, an_packet_t *an_packet)
int decode_north_seeking_status_packet(north_seeking_status_packet_t *north_seeking_status_packet, an_packet_t *an_packet)
uint32_t unix_time_seconds
an_packet_t * encode_filter_options_packet(filter_options_packet_t *filter_options_packet)
int decode_installation_alignment_packet(installation_alignment_packet_t *installation_alignment_packet, an_packet_t *an_packet)
int decode_ned_velocity_packet(ned_velocity_packet_t *ned_velocity_packet, an_packet_t *an_packet)
an_packet_t * encode_dual_antenna_configuration_packet(dual_antenna_configuration_packet_t *dual_antenna_configuration_packet)
int decode_gpio_configuration_packet(gpio_configuration_packet_t *gpio_configuration_packet, an_packet_t *an_packet)
uint8_t automatic_calibration
float signal_to_noise_ratio
uint8_t motion_analysis_enabled
int decode_heave_packet(heave_packet_t *heave_packet, an_packet_t *an_packet)
float differential_pressure
uint8_t beidou_satellites
int decode_external_body_velocity_packet(external_body_velocity_packet_t *external_body_velocity_packet, an_packet_t *an_packet)
int decode_formatted_time_packet(formatted_time_packet_t *formatted_time_packet, an_packet_t *an_packet)
uint8_t number_of_frequencies
an_packet_t * encode_external_time_packet(external_time_packet_t *external_time_packet)
an_packet_t * encode_gpio_configuration_packet(gpio_configuration_packet_t *gpio_configuration_packet)
uint32_t unix_time_seconds
int decode_external_air_data_packet(external_air_data_packet_t *external_air_data_packet, an_packet_t *an_packet)
gpio_output_rate_u gpvtg_rate
int decode_geoid_height_packet(geoid_height_packet_t *geoid_height_packet, an_packet_t *an_packet)
dual_antenna_offset_type_e
int decode_body_acceleration_packet(body_acceleration_packet_t *body_acceleration, an_packet_t *an_packet)
float airspeed_standard_deviation
int decode_body_velocity_packet(body_velocity_packet_t *body_velocity_packet, an_packet_t *an_packet)
gpio_output_rate_u simrad_rate
gpio_output_rate_u pashr_rate
gpio_output_rate_u gphdt_rate
int decode_odometer_packet(odometer_packet_t *external_odometer_packet, an_packet_t *an_packet)
uint32_t unix_time_seconds
an_packet_t * encode_external_heading_packet(external_heading_packet_t *external_heading_packet)
int decode_packet_periods_packet(packet_periods_packet_t *packet_periods_packet, an_packet_t *an_packet)
int decode_filter_options_packet(filter_options_packet_t *filter_options_packet, an_packet_t *an_packet)
int decode_gnss_information_packet(gnss_receiver_information_packet_t *gnss_information_packet, an_packet_t *an_packet)
int32_t receiver_clock_offset
float tilt_standard_deviation
uint16_t packet_timer_period
int decode_boot_mode_packet(boot_mode_packet_t *boot_mode_packet, an_packet_t *an_packet)
int decode_quaternion_orientation_standard_deviation_packet(quaternion_orientation_standard_deviation_packet_t *quaternion_orientation_standard_deviation_packet, an_packet_t *an_packet)
int decode_detailed_satellites_packet(detailed_satellites_packet_t *detailed_satellites_packet, an_packet_t *an_packet)
int decode_external_time_packet(external_time_packet_t *external_time_packet, an_packet_t *an_packet)
an_packet_t * encode_heave_offset_packet(heave_offset_packet_t *heave_offset_packet)
an_packet_t * encode_zero_alignment_packet(zero_alignment_packet_t *zero_alignment_packet)
uint8_t atmospheric_altitude_enabled
int decode_acceleration_packet(acceleration_packet_t *acceleration, an_packet_t *an_packet)
an_packet_t * encode_request_packet(uint8_t requested_packet_id)
float heading_standard_deviation
uint32_t unix_time_seconds
int decode_heave_offset_packet(heave_offset_packet_t *heave_offset_packet, an_packet_t *an_packet)
uint8_t number_of_satellites
an_packet_t * encode_baud_rates_packet(baud_rates_packet_t *baud_rates_packet)
an_packet_t * encode_external_body_velocity_packet(external_body_velocity_packet_t *external_body_velocity_packet)
int decode_external_heading_packet(external_heading_packet_t *external_heading_packet, an_packet_t *an_packet)
int decode_raw_sensors_packet(raw_sensors_packet_t *raw_sensors_packet, an_packet_t *an_packet)
int decode_euler_orientation_standard_deviation_packet(euler_orientation_standard_deviation_packet_t *euler_orientation_standard_deviation, an_packet_t *an_packet)
#define MAXIMUM_PACKET_PERIODS
an_packet_t * encode_packet_periods_packet(packet_periods_packet_t *packet_periods_packet)
#define MAXIMUM_DETAILED_SATELLITES
an_packet_t * encode_gpio_output_configuration_packet(gpio_output_configuration_packet_t *gpio_output_configuration_packet)
gpio_output_rate_u gpgga_rate
int decode_packet_timer_period_packet(packet_timer_period_packet_t *packet_timer_period_packet, an_packet_t *an_packet)
dual_antenna_automatic_offset_orientation_e
uint32_t unix_time_seconds
int decode_raw_gnss_packet(raw_gnss_packet_t *raw_gnss_packet, an_packet_t *an_packet)
int decode_baud_rates_packet(baud_rates_packet_t *baud_rates_packet, an_packet_t *an_packet)
#define START_CONFIGURATION_PACKETS
an_packet_t * encode_external_air_data_packet(external_air_data_packet_t *external_air_data_packet)
uint32_t gpio_1_2_baud_rate
float wind_standard_deviation
int decode_angular_acceleration_packet(angular_acceleration_packet_t *angular_acceleration_packet, an_packet_t *an_packet)
an_packet_t * encode_installation_alignment_packet(installation_alignment_packet_t *installation_alignment_packet)
int decode_geodetic_position_packet(geodetic_position_packet_t *geodetic_position_packet, an_packet_t *an_packet)
uint8_t nmea_fix_behaviour
uint8_t galileo_satellites
an_packet_t * encode_external_odometer_packet(odometer_packet_t *external_odometer_packet)
int decode_external_pitot_pressure_packet(external_pitot_pressure_packet_t *external_pitot_pressure_packet, an_packet_t *an_packet)
int decode_external_position_velocity_packet(external_position_velocity_packet_t *external_position_velocity_packet, an_packet_t *an_packet)
int decode_angular_velocity_packet(angular_velocity_packet_t *angular_velocity_packet, an_packet_t *an_packet)
an_packet_t * encode_boot_mode_packet(boot_mode_packet_t *boot_mode_packet)
uint8_t internal_gnss_enabled
int decode_position_standard_deviation_packet(position_standard_deviation_packet_t *position_standard_deviation_packet, an_packet_t *an_packet)
uint8_t clear_existing_packets
int decode_local_magnetics_packet(local_magnetics_packet_t *local_magnetics_packet, an_packet_t *an_packet)
int decode_odometer_state_packet(odometer_state_packet_t *odometer_state_packet, an_packet_t *an_packet)
int decode_ecef_position_packet(ecef_position_packet_t *ecef_position_packet, an_packet_t *an_packet)
uint32_t auxiliary_baud_rate
uint8_t glonass_satellites
an_packet_t * encode_external_velocity_packet(external_velocity_packet_t *external_velocity_packet)
an_packet_t * encode_external_pitot_pressure_packet(external_pitot_pressure_packet_t *external_pitot_pressure_packet)
float current_gyroscope_bias_solution_error
gpio_output_rate_u tss1_rate
int decode_device_information_packet(device_information_packet_t *device_information_packet, an_packet_t *an_packet)
an_packet_t * encode_wind_packet(wind_packet_t *wind_packet)
uint8_t reversing_detection_enabled
an_packet_t * encode_restore_factory_settings_packet()
uint8_t utc_synchronisation
int decode_quaternion_orientation_packet(quaternion_orientation_packet_t *quaternion_orientation_packet, an_packet_t *an_packet)
an_packet_t * encode_external_position_packet(external_position_packet_t *external_position_packet)
int decode_odometer_configuration_packet(odometer_configuration_packet_t *odometer_configuration_packet, an_packet_t *an_packet)
int decode_satellites_packet(satellites_packet_t *satellites_packet, an_packet_t *an_packet)
int decode_external_velocity_packet(external_velocity_packet_t *external_velocity_packet, an_packet_t *an_packet)
int decode_status_packet(status_packet_t *status_packet, an_packet_t *an_packet)
float outside_air_temperature
an_packet_t * encode_packet_timer_period_packet(packet_timer_period_packet_t *packet_timer_period_packet)
int decode_unix_time_packet(unix_time_packet_t *unix_time_packet, an_packet_t *an_packet)
uint32_t primary_baud_rate
#define START_STATE_PACKETS
float altitude_standard_deviation
an_packet_t * encode_external_depth_packet(external_depth_packet_t *external_depth_packet)
uint8_t acknowledge_result
int decode_utm_position_packet(utm_position_packet_t *utm_position_packet, an_packet_t *an_packet)
int decode_velocity_standard_deviation_packet(velocity_standard_deviation_packet_t *velocity_standard_deviation_packet, an_packet_t *an_packet)
int decode_dcm_orientation_packet(dcm_orientation_packet_t *dcm_orientation_packet, an_packet_t *an_packet)
gpio_output_rate_u gpzda_rate
int decode_file_transfer_acknowledge_packet(file_transfer_acknowledge_packet_t *file_transfer_acknowledge_packet, an_packet_t *an_packet)
int decode_euler_orientation_packet(euler_orientation_packet_t *euler_orientation_packet, an_packet_t *an_packet)
uint8_t automatic_offset_orientation
uint8_t satellite_frequency
int decode_system_state_packet(system_state_packet_t *system_state_packet, an_packet_t *an_packet)
an_packet_t * encode_reset_packet()
int decode_running_time_packet(running_time_packet_t *running_time_packet, an_packet_t *an_packet)
uint8_t velocity_heading_enabled
int decode_wind_packet(wind_packet_t *wind_packet, an_packet_t *an_packet)
int decode_acknowledge_packet(acknowledge_packet_t *acknowledge_packet, an_packet_t *an_packet)
int decode_dual_antenna_configuration_packet(dual_antenna_configuration_packet_t *dual_antenna_configuration_packet, an_packet_t *an_packet)
gpio_output_rate_u gpgll_rate