spatial_packets.h

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/****************************************************************/
/*                                                              */
/*          Advanced Navigation Packet Protocol Library         */
/*          C Language Dynamic Spatial SDK, Version 4.0         */
/*          Copyright 2014, Advanced Navigation Pty Ltd         */
/*                                                              */
/****************************************************************/
/*
 * Copyright (C) 2014 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.
 */

#ifndef SPATIAL 
#define SPATIAL

#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,
        packet_id_serial_port_passthrough,
        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,
        packet_id_heave,
        packet_id_post_processing,
        packet_id_raw_satellite_data,
        packet_id_raw_satellite_ephemeris,
        packet_id_depth,
        packet_id_water_profiling,
        packet_id_external_usbl,
        packet_id_speed_of_sound,
        packet_id_lockheed,
        packet_id_external_odometer,
        packet_id_external_air_data,
        packet_id_gnss_receiver_information,
        packet_id_raw_dvl_data,
        packet_id_north_seeking_status,
        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_trust,
        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,
        packet_id_gpio_output_configuration,
        packet_id_dual_antenna_configuration,
        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;

typedef enum
{
        data_encoding_binary,
        data_encoding_aes256
} data_encoding_e;

typedef enum
{
        file_transfer_response_completed_successfully,
        file_transfer_response_ready,
        file_transfer_response_index_mismatch,
        file_transfer_response_refused = 64,
        file_transfer_response_bad_metadata,
        file_transfer_response_timeout,
        file_transfer_response_retry_error,
        file_transfer_response_storage_error,
        file_transfer_response_data_invalid,
        file_transfer_response_packet_length_invalid,
        file_transfer_response_total_size_invalid,
        file_transfer_response_overflow_error,
        file_transfer_response_busy,
        file_transfer_response_cancelled,
        file_transfer_response_file_not_found = 128,
        file_transfer_response_access_denied
} file_transfer_response_e;

typedef enum
{
        file_transfer_metadata_none,
        file_transfer_metadata_extended_anpp,
        file_transfer_metadata_utf8_filename,
        file_transfer_metadata_an_firmware
} file_transfer_metadata_e;

typedef struct
{
        uint32_t unique_id;
        uint32_t data_index;
        uint8_t response_code;
} file_transfer_acknowledge_packet_t;

typedef struct
{
        uint32_t unique_id;
        uint32_t data_index;
        uint32_t total_size;
        uint8_t data_encoding;
        uint8_t metadata_type;
        uint8_t *metadata;
        uint8_t *packet_data;
} file_transfer_first_packet_t;

typedef struct
{
        uint32_t unique_id;
        uint32_t data_index;
        uint8_t *packet_data;
} file_transfer_ongoing_packet_t;

/* start of state packets typedef structs */

typedef enum
{
        gnss_fix_none,
        gnss_fix_2d,
        gnss_fix_3d,
        gnss_fix_sbas,
        gnss_fix_differential,
        gnss_fix_omnistar,
        gnss_fix_rtk_float,
        gnss_fix_rtk_fixed
} gnss_fix_type_e;

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_fix_type :3;
                        unsigned int event1_flag :1;
                        unsigned int event2_flag :1;
                        unsigned int internal_gnss_enabled :1;
                        unsigned int dual_antenna_heading_active :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_fix_type :3;
                        unsigned int event1_flag :1;
                        unsigned int event2_flag :1;
                        unsigned int internal_gnss_enabled :1;
                        unsigned int dual_antenna_heading_active :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
{
        uint32_t unix_time_seconds;
        uint32_t microseconds;
        double position[3];
        float velocity[3];
        float position_standard_deviation[3];
        float tilt; /* This field will only be valid if an external dual antenna GNSS system is connected */
        float heading; /* This field will only be valid if an external dual antenna GNSS system is connected */
        float tilt_standard_deviation; /* This field will only be valid if an external dual antenna GNSS system is connected */
        float heading_standard_deviation; /* This field will only be valid if an external dual antenna GNSS system is connected */
        union
        {
                uint16_t r;
                struct
                {
                        unsigned int fix_type :3;
                        unsigned int velocity_valid :1;
                        unsigned int time_valid :1;
                        unsigned int external_gnss :1;
                        unsigned int tilt_valid :1; /* This field will only be valid if an external dual antenna GNSS system is connected */
                        unsigned int heading_valid :1; /* This field will only be valid if an external dual antenna GNSS system is connected */
                } b;
        } flags;
} raw_gnss_packet_t;

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

typedef enum
{
        satellite_system_unknown,
        satellite_system_gps,
        satellite_system_glonass,
        satellite_system_beidou,
        satellite_system_galileo,
        satellite_system_sbas,
        satellite_system_qzss,
        satellite_system_starfire,
        satellite_system_omnistar
} satellite_system_e;

typedef struct
{
        uint8_t satellite_system;
        uint8_t number;
        union
        {
                uint8_t r;
                struct
                {
                        unsigned int l1_ca :1;
                        unsigned int l1_c :1;
                        unsigned int l1_p :1;
                        unsigned int l1_m :1;
                        unsigned int l2_c :1;
                        unsigned int l2_p :1;
                        unsigned int l2_m :1;
                        unsigned int l5 :1;
                } b;
        } frequencies;
        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
{
        int32_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[2];
        float wind_standard_deviation;
} wind_packet_t;

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

typedef enum
{
        satellite_frequency_unknown,
        satellite_frequency_l1_ca,
        satellite_frequency_l1_c,
        satellite_frequency_l1_p,
        satellite_frequency_l1_m,
        satellite_frequency_l2_c,
        satellite_frequency_l2_p,
        satellite_frequency_l2_m,
        satellite_frequency_l5,
        satellite_frequency_l3
} satellite_frequencies_e;

typedef struct
{
        uint32_t unix_time_seconds;
        uint32_t nanoseconds;
        int32_t receiver_clock_offset;
        uint8_t receiver_number;
        uint8_t packet_number;
        uint8_t total_packets;
        uint8_t number_of_satellites;
        struct
        {
                uint8_t satellite_system;
                uint8_t prn;
                uint8_t elevation;
                uint16_t azimuth;
                uint8_t number_of_frequencies;
                struct
                {
                        uint8_t satellite_frequency;
                        union
                        {
                                uint8_t r;
                                struct
                                {
                                        unsigned int carrier_phase_valid :1;
                                        unsigned int carrier_phase_cycle_slip_detected :1;
                                        unsigned int carrier_phase_half_cycle_ambiguity :1;
                                        unsigned int pseudo_range_valid :1;
                                        unsigned int doppler_valid :1;
                                        unsigned int signal_to_noise_ratio_valid :1;
                                } b;
                        } tracking_status;
                        double carrier_phase;
                        double pseudo_range;
                        float doppler_frequency;
                        float signal_to_noise_ratio;
                }*frequency;
        }*satellite;
} raw_satellite_data_packet_t;

typedef struct
{
        float delay;
        float speed;
        float distance_travelled;
        union
        {
                uint8_t r;
                struct
                {
                        unsigned int reverse_detection_supported :1;
                } b;
        } flags;
} odometer_packet_t;

typedef struct
{
        float altitude_delay;
        float airspeed_delay;
        float altitude;
        float airspeed;
        float altitude_standard_deviation;
        float airspeed_standard_deviation;
        union
        {
                uint8_t r;
                struct
                {
                        unsigned int altitude_set :1;
                        unsigned int airspeed_set :1;
                        unsigned int reset_qnh :1;
                } b;
        } flags;
} external_air_data_packet_t;

typedef enum
{
        gnss_manufacturer_unknown,
        gnss_manufacturer_trimble
} gnss_manufacturers_e;

typedef enum
{
        gnss_receiver_model_unknown,
        gnss_receiver_model_trimble_bd920,
        gnss_receiver_model_trimble_bd930,
        gnss_receiver_model_trimble_bd982
} gnss_receiver_models_e;

typedef struct
{
        uint8_t gnss_manufacturer_id;
        uint8_t gnss_receiver_model;
        char serial_number[10];
        uint32_t firmware_version;
        uint32_t software_license[3];
} gnss_receiver_information_packet_t;

typedef struct
{
        union
        {
                uint16_t r;
                struct
                {
                        unsigned int north_seeking_initialised :1;
                        unsigned int position_not_ready :1;
                        unsigned int excessive_roll :1;
                        unsigned int excessive_pitch :1;
                        unsigned int excessive_movement :1;
                } b;
        } north_seeking_status;
        uint8_t quadrant_data_collection_progress[4];
        float current_rotation_angle;
        float current_gyroscope_bias_solution[3];
        float current_gyroscope_bias_solution_error; /* % */
} north_seeking_status_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 auxiliary_baud_rate;
        uint32_t reserved;
} baud_rates_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_unlimited,
        vehicle_type_bicycle,
        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_small_boat,
        vehicle_type_ship,
        vehicle_type_stationary,
        vehicle_type_stunt_plane
} vehicle_type_e;

typedef struct
{
        uint8_t permanent;
        uint8_t vehicle_type;
        uint8_t internal_gnss_enabled;
        uint8_t reserved;
        uint8_t atmospheric_altitude_enabled;
        uint8_t velocity_heading_enabled;
        uint8_t reversing_detection_enabled;
        uint8_t motion_analysis_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,
        pps_input,
        wheel_speed_sensor,
        wheel_encoder_phase_a,
        wheel_encoder_phase_b,
        event1_input,
        event2_input,
        linkquest_usbl_input,
        ixblue_input,
        sonardyne_input
} gpio_function_e;

typedef enum
{
        gpio1,
        gpio2,
        auxiliary_tx,
        auxiliary_rx
} gpio_index_e;

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

typedef enum
{
        gpio_rate_disabled,
        gpio_rate_0o1hz,
        gpio_rate_0o2hz,
        gpio_rate_0o5hz,
        gpio_rate_1hz,
        gpio_rate_2hz,
        gpio_rate_5hz,
        gpio_rate_10hz,
        gpio_rate_25hz,
        gpio_rate_50hz
} gpio_rate_e;

typedef enum
{
        nmea_fix_behaviour_normal,
        nmea_fix_behaviour_always_3d
} nmea_fix_behaviour_e;

typedef union
{
        uint16_t r;
        struct
        {
                unsigned int gpio1_rate :4;
                unsigned int auxiliary_rate :4;
        } b;
} gpio_output_rate_u;

typedef struct
{
        uint8_t permanent;
        uint8_t nmea_fix_behaviour;
        gpio_output_rate_u gpzda_rate;
        gpio_output_rate_u gpgga_rate;
        gpio_output_rate_u gpvtg_rate;
        gpio_output_rate_u gprmc_rate;
        gpio_output_rate_u gphdt_rate;
        gpio_output_rate_u gpgll_rate;
        gpio_output_rate_u pashr_rate;
        gpio_output_rate_u tss1_rate;
        gpio_output_rate_u simrad_rate;
        uint8_t reserved[13];
} gpio_output_configuration_packet_t;

typedef enum
{
        dual_antenna_offset_type_manual,
        dual_antenna_offset_type_automatic
} dual_antenna_offset_type_e;

typedef enum
{
        dual_antenna_automatic_offset_primary_front_secondary_rear,
        dual_antenna_automatic_offset_primary_rear_secondary_front,
        dual_antenna_automatic_offset_primary_right_secondary_left,
        dual_antenna_automatic_offset_primary_left_secondary_right
} dual_antenna_automatic_offset_orientation_e;

typedef struct
{
        uint8_t permanent;
        union
        {
                uint16_t r;
                struct
                {
                        unsigned int automatic_offset_enabled :1;
                } b;
        } options;
        uint8_t automatic_offset_orientation;
        uint8_t reserved;
        float manual_offset[3];
} dual_antenna_configuration_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_file_transfer_acknowledge_packet(file_transfer_acknowledge_packet_t *file_transfer_acknowledge_packet, an_packet_t *an_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_packet(wind_packet_t *wind_packet, an_packet_t *an_packet);
an_packet_t *encode_wind_packet(wind_packet_t *wind_packet);
int decode_heave_packet(heave_packet_t *heave_packet, an_packet_t *an_packet);
int decode_odometer_packet(odometer_packet_t *external_odometer_packet, an_packet_t *an_packet);
an_packet_t *encode_external_odometer_packet(odometer_packet_t *external_odometer_packet);
int decode_external_air_data_packet(external_air_data_packet_t *external_air_data_packet, an_packet_t *an_packet);
an_packet_t *encode_external_air_data_packet(external_air_data_packet_t *external_air_data_packet);
int decode_gnss_information_packet(gnss_receiver_information_packet_t *gnss_information_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);
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_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_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);
int decode_gpio_output_configuration_packet(gpio_output_configuration_packet_t *gpio_output_configuration_packet, an_packet_t *an_packet);
an_packet_t *encode_gpio_output_configuration_packet(gpio_output_configuration_packet_t *gpio_output_configuration_packet);
int decode_dual_antenna_configuration_packet(dual_antenna_configuration_packet_t *dual_antenna_configuration_packet, an_packet_t *an_packet);
an_packet_t *encode_dual_antenna_configuration_packet(dual_antenna_configuration_packet_t *dual_antenna_configuration_packet);

#ifdef __cplusplus
}
#endif

#endif