spatial_packets.h

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/****************************************************************/
/*                                                              */
/*          Advanced Navigation Packet Protocol Library         */
/*          C Language Dynamic Spatial SDK, Version 2.3         */
/*   Copyright 2013, Xavier Orr, Advanced Navigation Pty Ltd    */
/*                                                              */
/****************************************************************/
/*
 * Copyright (C) 2013 Advanced Navigation Pty Ltd
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 * DEALINGS IN THE SOFTWARE.
 */
 
#ifdef __cplusplus
extern "C" {
#endif

#define MAXIMUM_PACKET_PERIODS 50
#define MAXIMUM_DETAILED_SATELLITES 32

#define START_SYSTEM_PACKETS 0
#define START_STATE_PACKETS 20
#define START_CONFIGURATION_PACKETS 180

typedef enum
{
    packet_id_acknowledge,
    packet_id_request,
    packet_id_boot_mode,
    packet_id_device_information,
    packet_id_restore_factory_settings,
    packet_id_reset,
    packet_id_print,
    packet_id_file_transfer_request,
    packet_id_file_transfer_acknowledge,
    packet_id_file_transfer,
    end_system_packets,
    
    packet_id_system_state = START_STATE_PACKETS,
    packet_id_unix_time,
    packet_id_formatted_time,
    packet_id_status,
    packet_id_position_standard_deviation,
    packet_id_velocity_standard_deviation,
    packet_id_euler_orientation_standard_deviation,
    packet_id_quaternion_orientation_standard_deviation,
    packet_id_raw_sensors,
    packet_id_raw_gnss,
    packet_id_satellites,
    packet_id_satellites_detailed,
    packet_id_geodetic_position,
    packet_id_ecef_position,
    packet_id_utm_position,
    packet_id_ned_velocity,
    packet_id_body_velocity,
    packet_id_acceleration,
    packet_id_body_acceleration,
    packet_id_euler_orientation,
    packet_id_quaternion_orientation,
    packet_id_dcm_orientation,
    packet_id_angular_velocity,
    packet_id_angular_acceleration,
    packet_id_external_position_velocity,
    packet_id_external_position,
    packet_id_external_velocity,
    packet_id_external_body_velocity,
    packet_id_external_heading,
    packet_id_running_time,
        packet_id_local_magnetics,
        packet_id_odometer_state,
        packet_id_external_time,
        packet_id_external_depth,
        packet_id_geoid_height,
        packet_id_rtcm_corrections,
        packet_id_external_pitot_pressure,
        packet_id_wind_estimation,
        packet_id_heave,
    end_state_packets,
    
    packet_id_packet_timer_period = START_CONFIGURATION_PACKETS,
    packet_id_packet_periods,
    packet_id_baud_rates,
    packet_id_bus_configuration,
    packet_id_sensor_ranges,
    packet_id_installation_alignment,
    packet_id_filter_options,
    packet_id_filter_advanced_parameters,
    packet_id_gpio_configuration,
    packet_id_magnetic_calibration_values,
    packet_id_magnetic_calibration_configuration,
    packet_id_magnetic_calibration_status,
    packet_id_odometer_configuration,
        packet_id_zero_alignment,
        packet_id_heave_offset,
    end_configuration_packets
}packet_id_e;

/* start of system packets typedef structs */

typedef enum
{
        acknowledge_success,
        acknowledge_failure_crc,
        acknowledge_failure_length,
        acknowledge_failure_range,
        acknowledge_failure_flash,
        acknowledge_failure_not_ready,
        acknowledge_failure_unknown_packet
} acknowledge_result_e;

typedef struct
{
        uint8_t packet_id;
        uint16_t packet_crc;
        uint8_t acknowledge_result;
} acknowledge_packet_t;

typedef enum
{
        boot_mode_bootloader,
        boot_mode_main_program
} boot_mode_e;

typedef struct
{
        uint8_t boot_mode;
} boot_mode_packet_t;

typedef struct
{
        uint32_t software_version;
        uint32_t device_id;
        uint32_t hardware_revision;
        uint32_t serial_number[3];
} device_information_packet_t;

/* start of state packets typedef structs */

typedef struct
{
        union
        {
                uint16_t r;
                struct
                {
                        unsigned int system_failure :1;
                        unsigned int accelerometer_sensor_failure :1;
                        unsigned int gyroscope_sensor_failure :1;
                        unsigned int magnetometer_sensor_failure :1;
                        unsigned int pressure_sensor_failure :1;
                        unsigned int gnss_failure :1;
                        unsigned int accelerometer_over_range :1;
                        unsigned int gyroscope_over_range :1;
                        unsigned int magnetometer_over_range :1;
                        unsigned int pressure_over_range :1;
                        unsigned int minimum_temperature_alarm :1;
                        unsigned int maximum_temperature_alarm :1;
                        unsigned int low_voltage_alarm :1;
                        unsigned int high_voltage_alarm :1;
                        unsigned int gnss_antenna_disconnected :1;
                        unsigned int serial_port_overflow_alarm :1;
                } b;
        } system_status;
        union
        {
                uint16_t r;
                struct
                {
                        unsigned int orientation_filter_initialised :1;
                        unsigned int ins_filter_initialised :1;
                        unsigned int heading_initialised :1;
                        unsigned int utc_time_initialised :1;
                        unsigned int gnss_2d_fix :1;
                        unsigned int gnss_3d_fix :1;
                        unsigned int gnss_sbas_fix :1;
                        unsigned int gnss_differential_fix :1;
                        unsigned int gnss_rtk_fix :1;
                        unsigned int internal_gnss_enabled :1;
                        unsigned int magnetometers_enabled :1;
                        unsigned int velocity_heading_enabled :1;
                        unsigned int atmospheric_altitude_enabled :1;
                        unsigned int external_position_active :1;
                        unsigned int external_velocity_active :1;
                        unsigned int external_heading_active :1;
                } b;
        } filter_status;
        uint32_t unix_time_seconds;
        uint32_t microseconds;
        double latitude;
        double longitude;
        double height;
        float velocity[3];
        float body_acceleration[3];
        float g_force;
        float orientation[3];
        float angular_velocity[3];
        float standard_deviation[3];
} system_state_packet_t;

typedef struct
{
    uint32_t unix_time_seconds;
    uint32_t microseconds;
} unix_time_packet_t;

typedef struct
{
    uint32_t microseconds;
    uint16_t year;
    uint16_t year_day;
    uint8_t month;
    uint8_t month_day;
    uint8_t week_day;
    uint8_t hour;
    uint8_t minute;
    uint8_t second;
} formatted_time_packet_t;

typedef struct
{
    union
        {
                uint16_t r;
                struct
                {
                        unsigned int system_failure :1;
                        unsigned int accelerometer_sensor_failure :1;
                        unsigned int gyroscope_sensor_failure :1;
                        unsigned int magnetometer_sensor_failure :1;
                        unsigned int pressure_sensor_failure :1;
                        unsigned int gnss_failure :1;
                        unsigned int accelerometer_over_range :1;
                        unsigned int gyroscope_over_range :1;
                        unsigned int magnetometer_over_range :1;
                        unsigned int pressure_over_range :1;
                        unsigned int minimum_temperature_alarm :1;
                        unsigned int maximum_temperature_alarm :1;
                        unsigned int low_voltage_alarm :1;
                        unsigned int high_voltage_alarm :1;
                        unsigned int gnss_antenna_disconnected :1;
                        unsigned int serial_port_overflow_alarm :1;
                } b;
        } system_status;
        union
        {
                uint16_t r;
                struct
                {
                        unsigned int orientation_filter_initialised :1;
                        unsigned int ins_filter_initialised :1;
                        unsigned int heading_initialised :1;
                        unsigned int utc_time_initialised :1;
                        unsigned int gnss_2d_fix :1;
                        unsigned int gnss_3d_fix :1;
                        unsigned int gnss_sbas_fix :1;
                        unsigned int gnss_differential_fix :1;
                        unsigned int gnss_rtk_fix :1;
                        unsigned int internal_gnss_enabled :1;
                        unsigned int magnetometers_enabled :1;
                        unsigned int velocity_heading_enabled :1;
                        unsigned int atmospheric_altitude_enabled :1;
                        unsigned int external_position_active :1;
                        unsigned int external_velocity_active :1;
                        unsigned int external_heading_active :1;
                } b;
        } filter_status;
} status_packet_t;

typedef struct
{
    float standard_deviation[3];
} position_standard_deviation_packet_t;

typedef struct
{
    float standard_deviation[3];
} velocity_standard_deviation_packet_t;

typedef struct
{
    float standard_deviation[3];
} euler_orientation_standard_deviation_packet_t;

typedef struct
{
    float standard_deviation[4];
} quaternion_orientation_standard_deviation_packet_t;

typedef struct
{
        float accelerometers[3];
        float gyroscopes[3];
        float magnetometers[3];
        float imu_temperature;
        float pressure;
        float pressure_temperature;
} raw_sensors_packet_t;

typedef struct
{
    double position[3];
    float velocity[3];
} raw_gnss_packet_t;

typedef struct
{
    float hdop;
    float vdop;
    uint8_t gps_satellites;
    uint8_t glonass_satellites;
    uint8_t compass_satellites;
    uint8_t galileo_satellites;
    uint8_t sbas_satellites;
} satellites_packet_t;

typedef enum
{
    satellite_system_gps = 1,
    satellite_system_glonass = 2,
    satellite_system_galileo = 5,
    satellite_system_compass = 6,
    satellite_system_sbas = 4
} satellite_system_e;

typedef struct
{
    uint8_t satellite_system;
    uint8_t number;
    int8_t frequency;
    uint8_t elevation;
    uint16_t azimuth;
    uint8_t snr;
} satellite_t;

typedef struct
{
    satellite_t satellites[MAXIMUM_DETAILED_SATELLITES];
} detailed_satellites_packet_t;

typedef struct
{
    double position[3];
} geodetic_position_packet_t;

typedef struct
{
    double position[3];
} ecef_position_packet_t;

typedef struct
{
    double position[3];
    char zone;
} utm_position_packet_t;

typedef struct
{
    float velocity[3];
} ned_velocity_packet_t;

typedef struct
{
    float velocity[3];
} body_velocity_packet_t;

typedef struct
{
    float acceleration[3];
} acceleration_packet_t;

typedef struct
{
    float acceleration[3];
    float g_force;
} body_acceleration_packet_t;

typedef struct
{
    float orientation[3];
} euler_orientation_packet_t;

typedef struct
{
    float orientation[4];
} quaternion_orientation_packet_t;

typedef struct
{
    float orientation[3][3];
} dcm_orientation_packet_t;

typedef struct
{
    float angular_velocity[3];
} angular_velocity_packet_t;

typedef struct
{
    float angular_acceleration[3];
} angular_acceleration_packet_t;

typedef struct
{
    double position[3];
    float velocity[3];
    float position_standard_deviation[3];
    float velocity_standard_deviation[3];
} external_position_velocity_packet_t;

typedef struct
{
    double position[3];
    float standard_deviation[3];
} external_position_packet_t;

typedef struct
{
    float velocity[3];
    float standard_deviation[3];
} external_velocity_packet_t;

typedef struct
{
    float velocity[3];
    float standard_deviation;
} external_body_velocity_packet_t;

typedef struct
{
    float heading;
    float standard_deviation;
} external_heading_packet_t;

typedef struct
{
        uint32_t seconds;
        uint32_t microseconds;
} running_time_packet_t;

typedef struct
{
        float magnetic_field[3];
} local_magnetics_packet_t;

typedef struct
{
        uint32_t pulse_count;
        float distance;
        float speed;
        float slip;
        uint8_t active;
} odometer_state_packet_t;

typedef struct
{
        uint32_t unix_time_seconds;
        uint32_t microseconds;
} external_time_packet_t;

typedef struct
{
        float depth;
        float standard_deviation;
} external_depth_packet_t;

typedef struct
{
        float geoid_height;
} geoid_height_packet_t;

typedef struct
{
        float differential_pressure;
        float outside_air_temperature;
} external_pitot_pressure_packet_t;

typedef struct
{
        float wind_velocity[3];
} wind_estimation_packet_t;

typedef struct
{
        float heave_point_1;
        float heave_point_2;
        float heave_point_3;
        float heave_point_4;
} heave_packet_t;

/* start of configuration packets typedef structs */

typedef struct
{
    uint8_t permanent;
    uint8_t utc_synchronisation;
    uint16_t packet_timer_period;
} packet_timer_period_packet_t;

typedef struct
{
    uint8_t packet_id;
    uint32_t period;
} packet_period_t;

typedef struct
{
    uint8_t permanent;
    uint8_t clear_existing_packets;
    packet_period_t packet_periods[MAXIMUM_PACKET_PERIODS];
} packet_periods_packet_t;

typedef struct
{
    uint8_t permanent;
    uint32_t primary_baud_rate;
    uint32_t gpio_1_2_baud_rate;
    uint32_t gpio_3_4_baud_rate;
    uint32_t reserved;
} baud_rates_packet_t;

typedef enum
{
    accelerometer_range_2g,
    accelerometer_range_4g,
    accelerometer_range_16g
} accelerometer_range_e;

typedef enum
{
    gyroscope_range_250dps,
    gyroscope_range_500dps,
    gyroscope_range_2000dps
} gyroscope_range_e;

typedef enum
{
    magnetometer_range_2g,
    magnetometer_range_4g,
    magnetometer_range_8g
} magnetometer_range_e;

typedef struct
{
    uint8_t permanent;
    uint8_t accelerometers_range;
    uint8_t gyroscopes_range;
    uint8_t magnetometers_range;
} sensor_ranges_packet_t;

typedef struct
{
    uint8_t permanent;
    float alignment_dcm[3][3];
    float gnss_antenna_offset[3];
        float odometer_offset[3];
    float external_data_offset[3];
} installation_alignment_packet_t;

typedef enum
{
    vehicle_type_unconstrained,
    vehicle_type_motorcycle,
    vehicle_type_car,
    vehicle_type_hovercraft,
    vehicle_type_submarine,
    vehicle_type_3d_underwater,
    vehicle_type_fixed_wing_plane,
    vehicle_type_3d_aircraft,
    vehicle_type_human
} vehicle_type_e;

typedef struct
{
    uint8_t permanent;
    uint8_t vehicle_type;
    uint8_t internal_gnss_enabled;
    uint8_t magnetometers_enabled;
    uint8_t atmospheric_altitude_enabled;
    uint8_t velocity_heading_enabled;
} filter_options_packet_t;

typedef enum
{
        inactive,
        pps_output,
        gnss_fix_output,
        odometer_input,
        stationary_input,
        pitot_tube_input,
        nmea_input,
        nmea_output,
        novatel_gnss_input,
        topcon_gnss_input,
        motec_output,
        anpp_input,
        anpp_output,
        disable_magnetometers,
        disable_gnss,
        disable_pressure,
        set_zero_alignment,
        packet_trigger_system_state,
        packet_trigger_raw_sensors,
        rtcm_corrections_input,
        trimble_gnss_input,
        ublox_gnss_input,
        hemisphere_gnss_input,
        teledyne_dvl_input,
        tritech_usbl_input,
        linkquest_dvl_input,
        pressure_depth_sensor,
        left_wheel_speed_sensor,
        right_wheel_speed_sensor
} gpio_function_e;

typedef enum
{
    gpio1,
    gpio2,
    gpio3,
    gpio4,
    gpio5,
    gpio6
} gpio_index_e;

typedef struct
{
    uint8_t permanent;
    uint8_t gpio_function[4];
} gpio_configuration_packet_t;

typedef struct
{
    uint8_t permanent;
    float hard_iron[3];
    float soft_iron[3][3];
} magnetic_calibration_values_packet_t;

typedef enum
{
    magnetic_calibration_action_cancel,
    magnetic_calibration_action_stabilise,
    magnetic_calibration_action_start_2d,
    magnetic_calibration_action_start_3d
} magnetic_calibration_action_e;

typedef struct
{
    uint8_t magnetic_calibration_action;
} magnetic_calibration_configuration_packet_t;

typedef enum
{
        magnetic_calibration_status_not_completed,
        magnetic_calibration_status_completed_2d,
        magnetic_calibration_status_completed_3d,
        magnetic_calibration_status_completed_user,
        magnetic_calibration_status_stabilizing,
        magnetic_calibration_status_in_progress_2d,
        magnetic_calibration_status_in_progress_3d,
        magnetic_calibration_status_error_excessive_roll,
        magnetic_calibration_status_error_excessive_pitch,
        magnetic_calibration_status_error_overrange_event,
        magnetic_calibration_status_error_timeout,
        magnetic_calibration_status_error_system
} magnetic_calibration_status_e;

typedef struct
{
    uint8_t magnetic_calibration_status;
    uint8_t magnetic_calibration_progress_percentage;
    uint8_t local_magnetic_error_percentage;
} magnetic_calibration_status_packet_t;

typedef struct
{
        uint8_t permanent;
        uint8_t automatic_calibration;
        float pulse_length;
} odometer_configuration_packet_t;

typedef struct
{
        uint8_t permanent;
} zero_alignment_packet_t;

typedef struct
{
        uint8_t permanent;
        float heave_point_1_offset[3];
        float heave_point_2_offset[3];
        float heave_point_3_offset[3];
        float heave_point_4_offset[3];
} heave_offset_packet_t;

int decode_acknowledge_packet(acknowledge_packet_t *acknowledge_packet, an_packet_t *an_packet);
an_packet_t *encode_request_packet(uint8_t requested_packet_id);
int decode_boot_mode_packet(boot_mode_packet_t *boot_mode_packet, an_packet_t *an_packet);
an_packet_t *encode_boot_mode_packet(boot_mode_packet_t *boot_mode_packet);
int decode_device_information_packet(device_information_packet_t *device_information_packet, an_packet_t *an_packet);
an_packet_t *encode_restore_factory_settings_packet();
an_packet_t *encode_reset_packet();
int decode_system_state_packet(system_state_packet_t *system_state_packet, an_packet_t *an_packet);
int decode_unix_time_packet(unix_time_packet_t *unix_time_packet, an_packet_t *an_packet);
int decode_formatted_time_packet(formatted_time_packet_t *formatted_time_packet, an_packet_t *an_packet);
int decode_status_packet(status_packet_t *status_packet, an_packet_t *an_packet);
int decode_position_standard_deviation_packet(position_standard_deviation_packet_t *position_standard_deviation_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_euler_orientation_standard_deviation_packet(euler_orientation_standard_deviation_packet_t *euler_orientation_standard_deviation, 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_raw_sensors_packet(raw_sensors_packet_t *raw_sensors_packet, an_packet_t *an_packet);
int decode_raw_gnss_packet(raw_gnss_packet_t *raw_gnss_packet, an_packet_t *an_packet);
int decode_satellites_packet(satellites_packet_t *satellites_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_geodetic_position_packet(geodetic_position_packet_t *geodetic_position_packet, an_packet_t *an_packet);
int decode_ecef_position_packet(ecef_position_packet_t *ecef_position_packet, an_packet_t *an_packet);
int decode_utm_position_packet(utm_position_packet_t *utm_position_packet, an_packet_t *an_packet);
int decode_ned_velocity_packet(ned_velocity_packet_t *ned_velocity_packet, an_packet_t *an_packet);
int decode_body_velocity_packet(body_velocity_packet_t *body_velocity_packet, an_packet_t *an_packet);
int decode_acceleration_packet(acceleration_packet_t *acceleration, an_packet_t *an_packet);
int decode_body_acceleration_packet(body_acceleration_packet_t *body_acceleration, an_packet_t *an_packet);
int decode_euler_orientation_packet(euler_orientation_packet_t *euler_orientation_packet, an_packet_t *an_packet);
int decode_quaternion_orientation_packet(quaternion_orientation_packet_t *quaternion_orientation_packet, an_packet_t *an_packet);
int decode_dcm_orientation_packet(dcm_orientation_packet_t *dcm_orientation_packet, an_packet_t *an_packet);
int decode_angular_velocity_packet(angular_velocity_packet_t *angular_velocity_packet, an_packet_t *an_packet);
int decode_angular_acceleration_packet(angular_acceleration_packet_t *angular_acceleration_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);
an_packet_t *encode_external_position_velocity_packet(external_position_velocity_packet_t *external_position_velocity_packet);
int decode_external_position_packet(external_position_packet_t *external_position_packet, an_packet_t *an_packet);
an_packet_t *encode_external_position_packet(external_position_packet_t *external_position_packet);
int decode_external_velocity_packet(external_velocity_packet_t *external_velocity_packet, an_packet_t *an_packet);
an_packet_t *encode_external_velocity_packet(external_velocity_packet_t *external_velocity_packet);
int decode_external_body_velocity_packet(external_body_velocity_packet_t *external_body_velocity_packet, an_packet_t *an_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);
an_packet_t *encode_external_heading_packet(external_heading_packet_t *external_heading_packet);
int decode_running_time_packet(running_time_packet_t *running_time_packet, an_packet_t *an_packet);
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_external_time_packet(external_time_packet_t *external_time_packet, an_packet_t *an_packet);
an_packet_t *encode_external_time_packet(external_time_packet_t *external_time_packet);
int decode_external_depth_packet(external_depth_packet_t *external_depth_packet, an_packet_t *an_packet);
an_packet_t *encode_external_depth_packet(external_depth_packet_t *external_depth_packet);
int decode_geoid_height_packet(geoid_height_packet_t *geoid_height_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);
an_packet_t *encode_external_pitot_pressure_packet(external_pitot_pressure_packet_t *external_pitot_pressure_packet);
int decode_wind_estimation_packet(wind_estimation_packet_t *wind_estimation_packet, an_packet_t *an_packet);
int decode_heave_packet(heave_packet_t *heave_packet, an_packet_t *an_packet);
int decode_packet_timer_period_packet(packet_timer_period_packet_t *packet_timer_period_packet, an_packet_t *an_packet);
an_packet_t *encode_packet_timer_period_packet(packet_timer_period_packet_t *packet_timer_period_packet);
int decode_packet_periods_packet(packet_periods_packet_t *packet_periods_packet, an_packet_t *an_packet);
an_packet_t *encode_packet_periods_packet(packet_periods_packet_t *packet_periods_packet);
int decode_baud_rates_packet(baud_rates_packet_t *baud_rates_packet, an_packet_t *an_packet);
an_packet_t *encode_baud_rates_packet(baud_rates_packet_t *baud_rates_packet);
int decode_sensor_ranges_packet(sensor_ranges_packet_t *sensor_ranges_packet, an_packet_t *an_packet);
an_packet_t *encode_sensor_ranges_packet(sensor_ranges_packet_t *sensor_ranges_packet);
int decode_installation_alignment_packet(installation_alignment_packet_t *installation_alignment_packet, an_packet_t *an_packet);
an_packet_t *encode_installation_alignment_packet(installation_alignment_packet_t *installation_alignment_packet);
int decode_filter_options_packet(filter_options_packet_t *filter_options_packet, an_packet_t *an_packet);
an_packet_t *encode_filter_options_packet(filter_options_packet_t *filter_options_packet);
int decode_gpio_configuration_packet(gpio_configuration_packet_t *gpio_configuration_packet, an_packet_t *an_packet);
an_packet_t *encode_gpio_configuration_packet(gpio_configuration_packet_t *gpio_configuration_packet);
int decode_magnetic_calibration_values_packet(magnetic_calibration_values_packet_t *magnetic_calibration_values_packet, an_packet_t *an_packet);
an_packet_t *encode_magnetic_calibration_values_packet(magnetic_calibration_values_packet_t *magnetic_calibration_values_packet);
an_packet_t *encode_magnetic_calibration_configuration_packet(magnetic_calibration_configuration_packet_t *magnetic_calibration_configuration_packet);
int decode_magnetic_calibration_status_packet(magnetic_calibration_status_packet_t *magnetic_calibration_status_packet, an_packet_t *an_packet);
int decode_odometer_configuration_packet(odometer_configuration_packet_t *odometer_configuration_packet, an_packet_t *an_packet);
an_packet_t *encode_odometer_configuration_packet(odometer_configuration_packet_t *odometer_configuration_packet);
an_packet_t *encode_zero_alignment_packet(zero_alignment_packet_t *zero_alignment_packet);
int decode_heave_offset_packet(heave_offset_packet_t *heave_offset_packet, an_packet_t *an_packet);
an_packet_t *encode_heave_offset_packet(heave_offset_packet_t *heave_offset_packet);

#ifdef __cplusplus
}
#endif