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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];
298 float body_acceleration[3];
300 float orientation[3];
301 float angular_velocity[3];
302 float standard_deviation[3];
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];
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];
739 char serial_number[10];
741 uint32_t software_license[3];
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];
953 uint8_t reserved[13];
983 float manual_offset[3];
@ satellite_system_glonass
unsigned int magnetometer_sensor_failure
@ satellite_system_beidou
int decode_system_state_packet(system_state_packet_t *system_state_packet, an_packet_t *an_packet)
unsigned int excessive_movement
@ dual_antenna_automatic_offset_primary_front_secondary_rear
unsigned int internal_gnss_enabled
@ vehicle_type_small_boat
@ packet_id_angular_acceleration
int decode_body_velocity_packet(body_velocity_packet_t *body_velocity_packet, an_packet_t *an_packet)
@ packet_id_euler_orientation
@ satellite_frequency_unknown
an_packet_t * encode_baud_rates_packet(baud_rates_packet_t *baud_rates_packet)
uint8_t internal_gnss_enabled
uint8_t automatic_calibration
unsigned int carrier_phase_cycle_slip_detected
uint16_t packet_timer_period
@ packet_id_dcm_orientation
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)
int decode_installation_alignment_packet(installation_alignment_packet_t *installation_alignment_packet, an_packet_t *an_packet)
an_packet_t * encode_gpio_configuration_packet(gpio_configuration_packet_t *gpio_configuration_packet)
@ packet_id_external_position_velocity
@ packet_id_file_transfer_acknowledge
unsigned int magnetometer_sensor_failure
uint8_t beidou_satellites
uint8_t number_of_satellites
@ packet_id_gpio_configuration
@ packet_id_speed_of_sound
float differential_pressure
int decode_external_body_velocity_packet(external_body_velocity_packet_t *external_body_velocity_packet, an_packet_t *an_packet)
unsigned int orientation_filter_initialised
an_packet_t * encode_external_position_velocity_packet(external_position_velocity_packet_t *external_position_velocity_packet)
@ satellite_frequency_l2_m
float wind_standard_deviation
@ packet_id_magnetic_calibration_configuration
uint32_t unix_time_seconds
unsigned int airspeed_set
int decode_file_transfer_acknowledge_packet(file_transfer_acknowledge_packet_t *file_transfer_acknowledge_packet, an_packet_t *an_packet)
float current_rotation_angle
unsigned int maximum_temperature_alarm
an_packet_t * encode_dual_antenna_configuration_packet(dual_antenna_configuration_packet_t *dual_antenna_configuration_packet)
uint32_t unix_time_seconds
int decode_odometer_configuration_packet(odometer_configuration_packet_t *odometer_configuration_packet, an_packet_t *an_packet)
uint8_t motion_analysis_enabled
uint8_t reversing_detection_enabled
unsigned int accelerometer_sensor_failure
@ acknowledge_failure_length
int decode_utm_position_packet(utm_position_packet_t *utm_position_packet, an_packet_t *an_packet)
unsigned int external_heading_active
@ packet_id_gnss_receiver_information
an_packet_t * encode_external_heading_packet(external_heading_packet_t *external_heading_packet)
uint8_t velocity_heading_enabled
unsigned int automatic_offset_enabled
int decode_packet_periods_packet(packet_periods_packet_t *packet_periods_packet, an_packet_t *an_packet)
@ gnss_manufacturer_unknown
@ file_transfer_response_access_denied
@ packet_id_satellites_detailed
@ satellite_frequency_l2_c
@ packet_id_water_profiling
an_packet_t * encode_external_time_packet(external_time_packet_t *external_time_packet)
unsigned int maximum_temperature_alarm
unsigned int gnss_antenna_disconnected
@ packet_id_rtcm_corrections
@ file_transfer_response_cancelled
@ vehicle_type_fixed_wing_plane
unsigned int minimum_temperature_alarm
int decode_unix_time_packet(unix_time_packet_t *unix_time_packet, an_packet_t *an_packet)
an_packet_t * encode_wind_packet(wind_packet_t *wind_packet)
unsigned int accelerometer_sensor_failure
@ packet_id_gpio_output_configuration
unsigned int gyroscope_sensor_failure
@ file_transfer_response_file_not_found
@ packet_id_quaternion_orientation_standard_deviation
#define START_STATE_PACKETS
uint32_t unix_time_seconds
unsigned int velocity_heading_enabled
int decode_formatted_time_packet(formatted_time_packet_t *formatted_time_packet, an_packet_t *an_packet)
unsigned int gnss_failure
int decode_external_time_packet(external_time_packet_t *external_time_packet, an_packet_t *an_packet)
unsigned int external_position_active
@ file_transfer_response_refused
@ packet_id_external_air_data
@ file_transfer_response_bad_metadata
int decode_baud_rates_packet(baud_rates_packet_t *baud_rates_packet, an_packet_t *an_packet)
unsigned int velocity_heading_enabled
@ packet_id_external_usbl
unsigned int heading_initialised
unsigned int serial_port_overflow_alarm
an_packet_t * encode_filter_options_packet(filter_options_packet_t *filter_options_packet)
@ packet_id_dual_antenna_configuration
unsigned int doppler_valid
int decode_ned_velocity_packet(ned_velocity_packet_t *ned_velocity_packet, an_packet_t *an_packet)
unsigned int pressure_over_range
@ end_configuration_packets
uint32_t unix_time_seconds
unsigned int gnss_failure
int decode_gpio_configuration_packet(gpio_configuration_packet_t *gpio_configuration_packet, an_packet_t *an_packet)
int decode_body_acceleration_packet(body_acceleration_packet_t *body_acceleration, an_packet_t *an_packet)
@ vehicle_type_3d_aircraft
an_packet_t * encode_zero_alignment_packet(zero_alignment_packet_t *zero_alignment_packet)
@ file_transfer_response_packet_length_invalid
unsigned int gyroscope_over_range
int decode_local_magnetics_packet(local_magnetics_packet_t *local_magnetics_packet, an_packet_t *an_packet)
@ packet_id_external_heading
unsigned int reverse_detection_supported
unsigned int atmospheric_altitude_enabled
unsigned int carrier_phase_half_cycle_ambiguity
unsigned int external_velocity_active
@ dual_antenna_offset_type_automatic
@ file_transfer_metadata_none
gpio_output_rate_u gpgga_rate
unsigned int internal_gnss_enabled
@ packet_id_north_seeking_status
@ vehicle_type_hovercraft
an_packet_t * encode_request_packet(uint8_t requested_packet_id)
float airspeed_standard_deviation
@ dual_antenna_automatic_offset_primary_right_secondary_left
gpio_output_rate_u simrad_rate
int decode_heave_offset_packet(heave_offset_packet_t *heave_offset_packet, an_packet_t *an_packet)
gpio_output_rate_u gphdt_rate
int decode_packet_timer_period_packet(packet_timer_period_packet_t *packet_timer_period_packet, an_packet_t *an_packet)
unsigned int serial_port_overflow_alarm
unsigned int pressure_sensor_failure
unsigned int auxiliary_rate
@ packet_id_external_time
int decode_gnss_information_packet(gnss_receiver_information_packet_t *gnss_information_packet, an_packet_t *an_packet)
int decode_boot_mode_packet(boot_mode_packet_t *boot_mode_packet, an_packet_t *an_packet)
unsigned int velocity_valid
@ file_transfer_response_busy
unsigned int external_heading_active
an_packet_t * encode_boot_mode_packet(boot_mode_packet_t *boot_mode_packet)
int decode_position_standard_deviation_packet(position_standard_deviation_packet_t *position_standard_deviation_packet, an_packet_t *an_packet)
uint32_t gpio_1_2_baud_rate
uint8_t galileo_satellites
@ satellite_frequency_l1_ca
@ packet_id_external_position
int decode_odometer_state_packet(odometer_state_packet_t *odometer_state_packet, an_packet_t *an_packet)
@ file_transfer_response_completed_successfully
int decode_detailed_satellites_packet(detailed_satellites_packet_t *detailed_satellites_packet, an_packet_t *an_packet)
@ packet_id_post_processing
@ file_transfer_response_retry_error
@ file_transfer_response_index_mismatch
@ packet_id_external_velocity
unsigned int atmospheric_altitude_enabled
int decode_satellites_packet(satellites_packet_t *satellites_packet, an_packet_t *an_packet)
unsigned int gnss_fix_type
unsigned int low_voltage_alarm
float signal_to_noise_ratio
unsigned int carrier_phase_valid
gpio_output_rate_u tss1_rate
@ packet_id_filter_options
int32_t receiver_clock_offset
@ packet_id_quaternion_orientation
an_packet_t * encode_external_air_data_packet(external_air_data_packet_t *external_air_data_packet)
@ packet_id_serial_port_passthrough
int decode_status_packet(status_packet_t *status_packet, an_packet_t *an_packet)
@ packet_id_device_information
@ packet_id_euler_orientation_standard_deviation
@ dual_antenna_automatic_offset_primary_rear_secondary_front
unsigned int pressure_sensor_failure
@ gnss_receiver_model_trimble_bd982
gpio_output_rate_u gpzda_rate
an_packet_t * encode_packet_periods_packet(packet_periods_packet_t *packet_periods_packet)
@ file_transfer_response_overflow_error
uint8_t utc_synchronisation
unsigned int low_voltage_alarm
@ packet_id_odometer_state
unsigned int external_gnss
int decode_filter_options_packet(filter_options_packet_t *filter_options_packet, an_packet_t *an_packet)
unsigned int accelerometer_over_range
an_packet_t * encode_gpio_output_configuration_packet(gpio_output_configuration_packet_t *gpio_output_configuration_packet)
int decode_geodetic_position_packet(geodetic_position_packet_t *geodetic_position_packet, an_packet_t *an_packet)
@ packet_id_ecef_position
int decode_geoid_height_packet(geoid_height_packet_t *geoid_height_packet, an_packet_t *an_packet)
dual_antenna_automatic_offset_orientation_e
@ acknowledge_failure_not_ready
unsigned int dual_antenna_heading_active
@ packet_id_external_body_velocity
int decode_external_air_data_packet(external_air_data_packet_t *external_air_data_packet, an_packet_t *an_packet)
@ gnss_receiver_model_trimble_bd930
@ gnss_manufacturer_trimble
int decode_quaternion_orientation_packet(quaternion_orientation_packet_t *quaternion_orientation_packet, an_packet_t *an_packet)
gpio_output_rate_u gprmc_rate
gpio_output_rate_u pashr_rate
int decode_velocity_standard_deviation_packet(velocity_standard_deviation_packet_t *velocity_standard_deviation_packet, an_packet_t *an_packet)
float altitude_standard_deviation
unsigned int pseudo_range_valid
an_packet_t * encode_restore_factory_settings_packet()
#define START_CONFIGURATION_PACKETS
an_packet_t * encode_external_depth_packet(external_depth_packet_t *external_depth_packet)
unsigned int high_voltage_alarm
int decode_odometer_packet(odometer_packet_t *external_odometer_packet, an_packet_t *an_packet)
unsigned int gnss_fix_type
@ satellite_frequency_l1_p
uint8_t automatic_offset_orientation
@ packet_id_zero_alignment
unsigned int gyroscope_sensor_failure
int decode_euler_orientation_packet(euler_orientation_packet_t *euler_orientation_packet, an_packet_t *an_packet)
unsigned int excessive_roll
unsigned int accelerometer_over_range
unsigned int heading_initialised
@ satellite_frequency_l1_c
an_packet_t * encode_installation_alignment_packet(installation_alignment_packet_t *installation_alignment_packet)
@ satellite_system_galileo
float outside_air_temperature
unsigned int external_velocity_active
@ satellite_system_omnistar
int decode_euler_orientation_standard_deviation_packet(euler_orientation_standard_deviation_packet_t *euler_orientation_standard_deviation, an_packet_t *an_packet)
an_packet_t * encode_external_odometer_packet(odometer_packet_t *external_odometer_packet)
uint8_t satellite_frequency
@ packet_id_external_pitot_pressure
int decode_angular_acceleration_packet(angular_acceleration_packet_t *angular_acceleration_packet, an_packet_t *an_packet)
@ satellite_frequency_l1_m
an_packet_t * encode_external_body_velocity_packet(external_body_velocity_packet_t *external_body_velocity_packet)
@ packet_id_magnetic_calibration_status
unsigned int magnetometer_over_range
unsigned int high_voltage_alarm
@ packet_id_restore_factory_settings
@ file_transfer_metadata_utf8_filename
float heading_standard_deviation
int decode_external_heading_packet(external_heading_packet_t *external_heading_packet, an_packet_t *an_packet)
@ packet_id_local_magnetics
unsigned int system_failure
an_packet_t * encode_packet_timer_period_packet(packet_timer_period_packet_t *packet_timer_period_packet)
@ packet_id_angular_velocity
unsigned int magnetometer_over_range
gpio_output_rate_u gpgll_rate
@ gnss_receiver_model_trimble_bd920
@ left_wheel_speed_sensor
@ packet_id_body_acceleration
@ packet_id_odometer_configuration
int decode_gpio_output_configuration_packet(gpio_output_configuration_packet_t *gpio_output_configuration_packet, an_packet_t *an_packet)
unsigned int ins_filter_initialised
int decode_external_position_velocity_packet(external_position_velocity_packet_t *external_position_velocity_packet, an_packet_t *an_packet)
@ packet_id_external_odometer
an_packet_t * encode_odometer_configuration_packet(odometer_configuration_packet_t *odometer_configuration_packet)
@ packet_id_sensor_ranges
int decode_external_velocity_packet(external_velocity_packet_t *external_velocity_packet, an_packet_t *an_packet)
@ packet_id_raw_satellite_ephemeris
unsigned int position_not_ready
uint8_t number_of_frequencies
int decode_dcm_orientation_packet(dcm_orientation_packet_t *dcm_orientation_packet, an_packet_t *an_packet)
@ packet_trigger_raw_sensors
int decode_ecef_position_packet(ecef_position_packet_t *ecef_position_packet, an_packet_t *an_packet)
@ acknowledge_failure_range
@ right_wheel_speed_sensor
unsigned int orientation_filter_initialised
@ file_transfer_metadata_extended_anpp
float tilt_standard_deviation
@ packet_id_external_depth
@ satellite_frequency_l2_p
uint8_t glonass_satellites
an_packet_t * encode_external_velocity_packet(external_velocity_packet_t *external_velocity_packet)
uint32_t primary_baud_rate
int decode_heave_packet(heave_packet_t *heave_packet, an_packet_t *an_packet)
unsigned int dual_antenna_heading_active
an_packet_t * encode_external_pitot_pressure_packet(external_pitot_pressure_packet_t *external_pitot_pressure_packet)
@ file_transfer_response_total_size_invalid
@ acknowledge_failure_flash
float pressure_temperature
uint8_t atmospheric_altitude_enabled
float current_gyroscope_bias_solution_error
@ packet_id_raw_satellite_data
int decode_running_time_packet(running_time_packet_t *running_time_packet, an_packet_t *an_packet)
unsigned int altitude_set
@ packet_id_body_velocity
@ nmea_fix_behaviour_normal
unsigned int pressure_over_range
@ packet_id_packet_timer_period
int decode_raw_sensors_packet(raw_sensors_packet_t *raw_sensors_packet, an_packet_t *an_packet)
unsigned int utc_time_initialised
unsigned int external_position_active
an_packet_t * encode_heave_offset_packet(heave_offset_packet_t *heave_offset_packet)
int decode_angular_velocity_packet(angular_velocity_packet_t *angular_velocity_packet, an_packet_t *an_packet)
@ file_transfer_response_ready
@ vehicle_type_stationary
@ gnss_receiver_model_unknown
unsigned int gnss_antenna_disconnected
unsigned int north_seeking_initialised
int decode_acceleration_packet(acceleration_packet_t *acceleration, an_packet_t *an_packet)
@ packet_id_file_transfer
int decode_north_seeking_status_packet(north_seeking_status_packet_t *north_seeking_status_packet, an_packet_t *an_packet)
uint8_t clear_existing_packets
unsigned int ins_filter_initialised
@ dual_antenna_offset_type_manual
an_packet_t * encode_reset_packet()
an_packet_t * encode_external_position_packet(external_position_packet_t *external_position_packet)
unsigned int utc_time_initialised
@ packet_id_magnetic_calibration_values
@ packet_id_installation_alignment
unsigned int system_failure
@ packet_id_formatted_time
uint8_t nmea_fix_behaviour
@ nmea_fix_behaviour_always_3d
@ dual_antenna_automatic_offset_primary_left_secondary_right
unsigned int minimum_temperature_alarm
@ file_transfer_response_storage_error
@ vehicle_type_3d_underwater
#define MAXIMUM_PACKET_PERIODS
unsigned int gyroscope_over_range
@ packet_id_file_transfer_request
int decode_device_information_packet(device_information_packet_t *device_information_packet, an_packet_t *an_packet)
@ packet_id_velocity_standard_deviation
gpio_output_rate_u gpvtg_rate
@ satellite_system_starfire
@ packet_id_packet_periods
uint32_t unix_time_seconds
int decode_wind_packet(wind_packet_t *wind_packet, an_packet_t *an_packet)
int decode_external_pitot_pressure_packet(external_pitot_pressure_packet_t *external_pitot_pressure_packet, an_packet_t *an_packet)
@ satellite_system_unknown
int decode_external_depth_packet(external_depth_packet_t *external_depth_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)
@ acknowledge_failure_unknown_packet
int decode_raw_gnss_packet(raw_gnss_packet_t *raw_gnss_packet, an_packet_t *an_packet)
unsigned int signal_to_noise_ratio_valid
@ acknowledge_failure_crc
dual_antenna_offset_type_e
@ packet_trigger_system_state
@ packet_id_position_standard_deviation
@ file_transfer_metadata_an_firmware
@ vehicle_type_stunt_plane
int decode_external_position_packet(external_position_packet_t *external_position_packet, an_packet_t *an_packet)
@ file_transfer_response_timeout
unsigned int excessive_pitch
@ file_transfer_response_data_invalid
uint32_t auxiliary_baud_rate
@ packet_id_geodetic_position
#define MAXIMUM_DETAILED_SATELLITES
uint8_t acknowledge_result
unsigned int heading_valid
@ packet_id_bus_configuration