00001 /* 00002 * Copyright (C) 2013 Swift Navigation Inc. 00003 * Contact: Fergus Noble <fergus@swift-nav.com> 00004 * 00005 * This source is subject to the license found in the file 'LICENSE' which must 00006 * be be distributed together with this source. All other rights reserved. 00007 * 00008 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, 00009 * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED 00010 * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. 00011 */ 00012 00013 /***************************************************************************** 00014 * Automatically generated from sbp.yaml with generate.py, do not hand edit! * 00015 *****************************************************************************/ 00016 00017 #ifndef LIBSWIFTNAV_SBP_MESSAGES_H 00018 #define LIBSWIFTNAV_SBP_MESSAGES_H 00019 00020 #include "common.h" 00021 00022 00029 #define SBP_STARTUP 0xFF00 00030 00031 typedef struct __attribute__((packed)) { 00032 u32 reserved; 00033 } sbp_startup_t; 00034 00035 00047 #define SBP_HEARTBEAT 0xFFFF 00048 00049 typedef struct __attribute__((packed)) { 00050 u32 flags; 00051 } sbp_heartbeat_t; 00052 00053 00057 #define SBP_GPS_TIME 0x0100 00058 00059 typedef struct __attribute__((packed)) { 00060 u16 wn; 00061 u32 tow; 00062 s32 ns; 00063 u8 flags; 00064 } sbp_gps_time_t; 00065 00066 00070 #define SBP_DOPS 0x0206 00071 00072 typedef struct __attribute__((packed)) { 00073 u32 tow; 00074 u16 gdop; 00075 u16 pdop; 00076 u16 tdop; 00077 u16 hdop; 00078 u16 vdop; 00079 } sbp_dops_t; 00080 00081 00085 #define SBP_POS_ECEF 0x0200 00086 00087 typedef struct __attribute__((packed)) { 00088 u32 tow; 00089 double x; 00090 double y; 00091 double z; 00092 u16 accuracy; 00093 u8 n_sats; 00094 u8 flags; 00095 } sbp_pos_ecef_t; 00096 00097 00101 #define SBP_POS_LLH 0x0201 00102 00103 typedef struct __attribute__((packed)) { 00104 u32 tow; 00105 double lat; 00106 double lon; 00107 double height; 00108 u16 h_accuracy; 00109 u16 v_accuracy; 00110 u8 n_sats; 00111 u8 flags; 00112 } sbp_pos_llh_t; 00113 00114 00118 #define SBP_BASELINE_ECEF 0x0202 00119 00120 typedef struct __attribute__((packed)) { 00121 u32 tow; 00122 s32 x; 00123 s32 y; 00124 s32 z; 00125 u16 accuracy; 00126 u8 n_sats; 00127 u8 flags; 00128 } sbp_baseline_ecef_t; 00129 00130 00134 #define SBP_BASELINE_NED 0x0203 00135 00136 typedef struct __attribute__((packed)) { 00137 u32 tow; 00138 s32 n; 00139 s32 e; 00140 s32 d; 00141 u16 h_accuracy; 00142 u16 v_accuracy; 00143 u8 n_sats; 00144 u8 flags; 00145 } sbp_baseline_ned_t; 00146 00147 00151 #define SBP_VEL_ECEF 0x0204 00152 00153 typedef struct __attribute__((packed)) { 00154 u32 tow; 00155 s32 x; 00156 s32 y; 00157 s32 z; 00158 u16 accuracy; 00159 u8 n_sats; 00160 u8 flags; 00161 } sbp_vel_ecef_t; 00162 00163 00167 #define SBP_VEL_NED 0x0205 00168 00169 typedef struct __attribute__((packed)) { 00170 u32 tow; 00171 s32 n; 00172 s32 e; 00173 s32 d; 00174 u16 h_accuracy; 00175 u16 v_accuracy; 00176 u8 n_sats; 00177 u8 flags; 00178 } sbp_vel_ned_t; 00179 00180 00181 #endif /* LIBSWIFTNAV_SBP_MESSAGES_H */ 00182