Defines all sbgECom commands identifiers. More...

This graph shows which files directly or indirectly include this file:

Classes
union	_SbgEComUnifiedId

Macros
#define	SBG_ECOM_BUILD_ID(classId, logId) (((uint16)classId << 8) \| (uint8)logId)

Typedefs
typedef enum _SbgEComClass	SbgEComClass

typedef enum _SbgEComCmd	SbgEComCmd

typedef uint16	SbgEComCmdId

typedef enum _SbgEComIdNmea1Log	SbgEComIdNmea1Log

typedef enum _SbgEComIdThirdParty	SbgEComIdThirdParty

typedef enum _SbgEComLog	SbgEComLog

typedef enum _SbgEComLog1MsgId	SbgEComLog1

typedef uint8	SbgEComMsgId

typedef enum _SbgEComNmeaLog	SbgEComNmeaLog

typedef union _SbgEComUnifiedId	SbgEComUnifiedId

Enumerations
enum	_SbgEComClass { SBG_ECOM_CLASS_LOG_ECOM_0 = 0x00, SBG_ECOM_CLASS_LOG_ECOM_1 = 0x01, SBG_ECOM_CLASS_LOG_NMEA_0 = 0x02, SBG_ECOM_CLASS_LOG_NMEA_1 = 0x03, SBG_ECOM_CLASS_LOG_THIRD_PARTY_0 = 0x04, SBG_ECOM_CLASS_LOG_CMD_0 = 0x10 }

enum	_SbgEComCmd { SBG_ECOM_CMD_ACK = 0, SBG_ECOM_CMD_SETTINGS_ACTION = 1, SBG_ECOM_CMD_IMPORT_SETTINGS = 2, SBG_ECOM_CMD_EXPORT_SETTINGS = 3, SBG_ECOM_CMD_INFO = 4, SBG_ECOM_CMD_INIT_PARAMETERS = 5, SBG_ECOM_CMD_SET_MOTION_PROFILE = 6, SBG_ECOM_CMD_MOTION_PROFILE_ID = 7, SBG_ECOM_CMD_IMU_ALIGNMENT_LEVER_ARM = 8, SBG_ECOM_CMD_AIDING_ASSIGNMENT = 9, SBG_ECOM_CMD_MAGNETOMETER_SET_MODEL = 10, SBG_ECOM_CMD_MAGNETOMETER_MODEL_ID = 11, SBG_ECOM_CMD_MAGNETOMETER_REJECT_MODE = 12, SBG_ECOM_CMD_SET_MAG_CALIB = 13, SBG_ECOM_CMD_START_MAG_CALIB = 14, SBG_ECOM_CMD_COMPUTE_MAG_CALIB = 15, SBG_ECOM_CMD_GNSS_1_SET_MODEL = 16, SBG_ECOM_CMD_GNSS_1_MODEL_ID = 17, SBG_ECOM_CMD_GNSS_1_LEVER_ARM_ALIGNMENT = 18, SBG_ECOM_CMD_GNSS_1_REJECT_MODES = 19, SBG_ECOM_CMD_ODO_CONF = 20, SBG_ECOM_CMD_ODO_LEVER_ARM = 21, SBG_ECOM_CMD_ODO_REJECT_MODE = 22, SBG_ECOM_CMD_UART_CONF = 23, SBG_ECOM_CMD_CAN_BUS_CONF = 24, SBG_ECOM_CMD_CAN_OUTPUT_CONF = 25, SBG_ECOM_CMD_SYNC_IN_CONF = 26, SBG_ECOM_CMD_SYNC_OUT_CONF = 27, SBG_ECOM_CMD_NMEA_TALKER_ID = 29, SBG_ECOM_CMD_OUTPUT_CONF = 30, SBG_ECOM_CMD_LEGACY_CONT_OUTPUT_CONF = 31, SBG_ECOM_CMD_ADVANCED_CONF = 32, SBG_ECOM_CMD_FEATURES = 33, SBG_ECOM_CMD_LICENSE_APPLY = 34, SBG_ECOM_CMD_OUTPUT_CLASS_ENABLE = 35, SBG_ECOM_CMD_ETHERNET_CONF = 36, SBG_ECOM_CMD_ETHERNET_INFO = 37, SBG_ECOM_LOG_ECOM_NUM_CMDS }

enum	_SbgEComIdNmea1Log { SBG_ECOM_LOG_NMEA_1_PRDID = 0, SBG_ECOM_LOG_NMEA_1_PSBGI = 1, SBG_ECOM_LOG_NMEA_1_PASHR = 2, SBG_ECOM_LOG_NMEA_1_PSBGB = 3, SBG_ECOM_THIRD_PARTY_IXBLUE_PHINF = 5, SBG_ECOM_THIRD_PARTY_IXBLUE_PHTRO = 6, SBG_ECOM_THIRD_PARTY_IXBLUE_PHLIN = 7, SBG_ECOM_THIRD_PARTY_IXBLUE_PHOCT = 8, SBG_ECOM_LOG_NMEA_1_NUM_MESSAGES }

enum	_SbgEComIdThirdParty { SBG_ECOM_THIRD_PARTY_TSS1 = 0, SBG_ECOM_THIRD_PARTY_KVH = 1, SBG_ECOM_THIRD_PARTY_PD0 = 2, SBG_ECOM_THIRD_PARTY_SIMRAD_1000 = 3, SBG_ECOM_THIRD_PARTY_SIMRAD_3000 = 4, SBG_ECOM_THIRD_PARTY_SEAPATH_B26 = 5, SBG_ECOM_LOG_THIRD_PARTY_NUM_MESSAGES }

enum	_SbgEComLog { SBG_ECOM_LOG_STATUS = 1, SBG_ECOM_LOG_UTC_TIME = 2, SBG_ECOM_LOG_IMU_DATA = 3, SBG_ECOM_LOG_MAG = 4, SBG_ECOM_LOG_MAG_CALIB = 5, SBG_ECOM_LOG_EKF_EULER = 6, SBG_ECOM_LOG_EKF_QUAT = 7, SBG_ECOM_LOG_EKF_NAV = 8, SBG_ECOM_LOG_SHIP_MOTION = 9, SBG_ECOM_LOG_GPS1_VEL = 13, SBG_ECOM_LOG_GPS1_POS = 14, SBG_ECOM_LOG_GPS1_HDT = 15, SBG_ECOM_LOG_GPS1_RAW = 31, SBG_ECOM_LOG_GPS2_VEL = 16, SBG_ECOM_LOG_GPS2_POS = 17, SBG_ECOM_LOG_GPS2_HDT = 18, SBG_ECOM_LOG_GPS2_RAW = 38, SBG_ECOM_LOG_ODO_VEL = 19, SBG_ECOM_LOG_EVENT_A = 24, SBG_ECOM_LOG_EVENT_B = 25, SBG_ECOM_LOG_EVENT_C = 26, SBG_ECOM_LOG_EVENT_D = 27, SBG_ECOM_LOG_EVENT_E = 28, SBG_ECOM_LOG_DVL_BOTTOM_TRACK = 29, SBG_ECOM_LOG_DVL_WATER_TRACK = 30, SBG_ECOM_LOG_SHIP_MOTION_HP = 32, SBG_ECOM_LOG_PRESSURE = 36, SBG_ECOM_LOG_USBL = 37, SBG_ECOM_LOG_DEBUG_0 = 39, SBG_ECOM_LOG_ECOM_NUM_MESSAGES }

enum	_SbgEComLog1MsgId { SBG_ECOM_LOG_FAST_IMU_DATA = 0, SBG_ECOM_LOG_ECOM_1_NUM_MESSAGES }

enum	_SbgEComNmeaLog { SBG_ECOM_LOG_NMEA_GGA = 0, SBG_ECOM_LOG_NMEA_RMC = 1, SBG_ECOM_LOG_NMEA_ZDA = 2, SBG_ECOM_LOG_NMEA_HDT = 3, SBG_ECOM_LOG_NMEA_GST = 4, SBG_ECOM_LOG_NMEA_VBW = 5, SBG_ECOM_LOG_NMEA_DPT = 7, SBG_ECOM_LOG_NMEA_VTG = 8, SBG_ECOM_LOG_NMEA_NUM_MESSAGES }

Functions
SBG_INLINE bool	sbgEComBinaryLogIsCmdValid (uint16 cmdId)

SBG_INLINE bool	sbgEComMsgClassIsALog (SbgEComClass msgClass)

Detailed Description

Defines all sbgECom commands identifiers.

Author: SBG Systems (Raphael Siryani)

Date: 25 February 2013

Copyright Notice

This source code is intended for use only by SBG Systems SAS and those that have explicit written permission to use it from SBG Systems SAS.

THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.

Definition in file sbgEComIds.h.

Macro Definition Documentation

#define SBG_ECOM_BUILD_ID	(	classId,
		logId
	)	(((uint16)classId << 8) \| (uint8)logId)

Helper macro to build an id with its class

Definition at line 37 of file sbgEComIds.h.

Typedef Documentation

typedef enum _SbgEComClass SbgEComClass

Enum that defines all the message classes available.

typedef enum _SbgEComCmd SbgEComCmd

Enum that defines all the available commands for the sbgECom library.

typedef uint16 SbgEComCmdId

Redefine SbgEComCmdId as a simple 16-bit unsigned integer. The Id now has to be built using SBG_ECOM_BUILD_ID macro to build an ID with its associated class.

Definition at line 272 of file sbgEComIds.h.

typedef enum _SbgEComIdNmea1Log SbgEComIdNmea1Log

Enum that defines all the available Proprietary Nmea output logs from the sbgECom library.

typedef enum _SbgEComIdThirdParty SbgEComIdThirdParty

Enum that defines all the available Proprietary output logs from the sbgECom library.

typedef enum _SbgEComLog SbgEComLog

Enum that defines all the available ECom output logs from the sbgECom library.

typedef enum _SbgEComLog1MsgId SbgEComLog1

Enum that defines all the available ECom output logs in the class SBG_ECOM_CLASS_LOG_ECOM_1

typedef uint8 SbgEComMsgId

This type defines any message identifier. Because message identifiers enum will be different with each class id, we use a generic uint8 rather than an enum.

Definition at line 278 of file sbgEComIds.h.

typedef enum _SbgEComNmeaLog SbgEComNmeaLog

Enum that defines all the available Nmea output logs from the sbgECom library.

typedef union _SbgEComUnifiedId SbgEComUnifiedId

Define an unified message id that holds all IDs of all classes

Enumeration Type Documentation

enum _SbgEComClass

Enum that defines all the message classes available.

Enumerator
SBG_ECOM_CLASS_LOG_ECOM_0	Class that contains sbgECom protocol input/output log messages.
SBG_ECOM_CLASS_LOG_ECOM_1	Class that contains special sbgECom output messages that handle high frequency output
SBG_ECOM_CLASS_LOG_NMEA_0	Class that contains NMEA (and NMEA like) output logs. Note: This class is only used for identification purpose and does not contain any sbgECom message.
SBG_ECOM_CLASS_LOG_NMEA_1	Class that contains proprietary NMEA (and NMEA like) output logs. Note: This class is only used for identification purpose and does not contain any sbgECom message.
SBG_ECOM_CLASS_LOG_THIRD_PARTY_0	Class that contains third party output logs. Note: This class is only used for identification purpose and does not contain any sbgECom message.
SBG_ECOM_CLASS_LOG_CMD_0	Class that contains sbgECom protocol commands

Definition at line 46 of file sbgEComIds.h.

enum _SbgEComCmd

Enum that defines all the available commands for the sbgECom library.

Enumerator
SBG_ECOM_CMD_ACK	Acknowledge
SBG_ECOM_CMD_SETTINGS_ACTION	Performs various settings actions
SBG_ECOM_CMD_IMPORT_SETTINGS	Imports a new settings structure to the sensor
SBG_ECOM_CMD_EXPORT_SETTINGS	Export the whole configuration from the sensor
SBG_ECOM_CMD_INFO	Get basic device information
SBG_ECOM_CMD_INIT_PARAMETERS	Initial configuration
SBG_ECOM_CMD_SET_MOTION_PROFILE	Set a new motion profile
SBG_ECOM_CMD_MOTION_PROFILE_ID	Get motion profile information
SBG_ECOM_CMD_IMU_ALIGNMENT_LEVER_ARM	Sensor alignment and lever arm on vehicle configuration
SBG_ECOM_CMD_AIDING_ASSIGNMENT	Aiding assignments such as RTCM / GPS / Odometer configuration
SBG_ECOM_CMD_MAGNETOMETER_SET_MODEL	Set a new magnetometer error model
SBG_ECOM_CMD_MAGNETOMETER_MODEL_ID	Get magnetometer error model information
SBG_ECOM_CMD_MAGNETOMETER_REJECT_MODE	Magnetometer aiding rejection mode
SBG_ECOM_CMD_SET_MAG_CALIB	Set magnetic soft and hard Iron calibration data
SBG_ECOM_CMD_START_MAG_CALIB	Start / reset internal magnetic field logging for calibration.
SBG_ECOM_CMD_COMPUTE_MAG_CALIB	Compute a magnetic calibration based on previously logged data.
SBG_ECOM_CMD_GNSS_1_SET_MODEL	Set a new GNSS model
SBG_ECOM_CMD_GNSS_1_MODEL_ID	Get GNSS model information
SBG_ECOM_CMD_GNSS_1_LEVER_ARM_ALIGNMENT	GNSS installation configuration (lever arm, antenna alignments)
SBG_ECOM_CMD_GNSS_1_REJECT_MODES	GNSS aiding rejection modes configuration.
SBG_ECOM_CMD_ODO_CONF	Odometer gain, direction configuration
SBG_ECOM_CMD_ODO_LEVER_ARM	Odometer installation configuration (lever arm)
SBG_ECOM_CMD_ODO_REJECT_MODE	Odometer aiding rejection mode configuration.
SBG_ECOM_CMD_UART_CONF	UART interfaces configuration
SBG_ECOM_CMD_CAN_BUS_CONF	CAN bus interface configuration
SBG_ECOM_CMD_CAN_OUTPUT_CONF	CAN identifiers configuration
SBG_ECOM_CMD_SYNC_IN_CONF	Synchronization inputs configuration
SBG_ECOM_CMD_SYNC_OUT_CONF	Synchronization outputs configuration
SBG_ECOM_CMD_NMEA_TALKER_ID	NMEA talker ID configuration
SBG_ECOM_CMD_OUTPUT_CONF	Output configuration
SBG_ECOM_CMD_LEGACY_CONT_OUTPUT_CONF	Legacy serial output mode configuration
SBG_ECOM_CMD_ADVANCED_CONF	Advanced settings configuration
SBG_ECOM_CMD_FEATURES	Retrieve device features
SBG_ECOM_CMD_LICENSE_APPLY	Upload and apply a new license
SBG_ECOM_CMD_OUTPUT_CLASS_ENABLE	Enable/disable the output of an entire class
SBG_ECOM_CMD_ETHERNET_CONF	Set/get Ethernet configuration such as DHCP mode and IP address.
SBG_ECOM_CMD_ETHERNET_INFO	Return the current IP used by the device.
SBG_ECOM_LOG_ECOM_NUM_CMDS	Helper definition to know the number of commands

Definition at line 180 of file sbgEComIds.h.

enum _SbgEComIdNmea1Log

Enum that defines all the available Proprietary Nmea output logs from the sbgECom library.

Enumerator
SBG_ECOM_LOG_NMEA_1_PRDID	RDI proprietary sentence. Pitch, Roll, Heading
SBG_ECOM_LOG_NMEA_1_PSBGI	SBG Systems proprietary sentence. Rotation rates, accelerations.
SBG_ECOM_LOG_NMEA_1_PASHR	proprietary sentence. Roll, Pitch, Heading, Heave.
SBG_ECOM_LOG_NMEA_1_PSBGB	SBG Systems proprietary sentence. Attitude, heading, heave, angular rates, velocity.
SBG_ECOM_THIRD_PARTY_IXBLUE_PHINF	Ixblue NMEA like log used to output Status information.
SBG_ECOM_THIRD_PARTY_IXBLUE_PHTRO	Ixblue NMEA like log used to output Roll and Pitch.
SBG_ECOM_THIRD_PARTY_IXBLUE_PHLIN	Ixblue NMEA like log used to output Surge, Sway and Heave.
SBG_ECOM_THIRD_PARTY_IXBLUE_PHOCT	Ixblue NMEA like log used to output attitude and ship motion.
SBG_ECOM_LOG_NMEA_1_NUM_MESSAGES	Helper definition to know the number of NMEA messages

Definition at line 145 of file sbgEComIds.h.

enum _SbgEComIdThirdParty

Enum that defines all the available Proprietary output logs from the sbgECom library.

Enumerator
SBG_ECOM_THIRD_PARTY_TSS1	Roll, Pitch, Heave, heave accelerations
SBG_ECOM_THIRD_PARTY_KVH	Roll, Pitch, Yaw
SBG_ECOM_THIRD_PARTY_PD0	Teledyne PD0 DVL proprietary frame.
SBG_ECOM_THIRD_PARTY_SIMRAD_1000	Konsberg SimRad 1000 proprietary frame that outputs Roll, Pitch and Heading.
SBG_ECOM_THIRD_PARTY_SIMRAD_3000	Konsberg SimRad 3000 proprietary frame that outputs Roll, Pitch and Heading.
SBG_ECOM_THIRD_PARTY_SEAPATH_B26	Konsberg Seapth Binary Log 26 used for MBES FM mode.
SBG_ECOM_LOG_THIRD_PARTY_NUM_MESSAGES	Helper definition to know the number of third party messages

Definition at line 163 of file sbgEComIds.h.

enum _SbgEComLog

Enum that defines all the available ECom output logs from the sbgECom library.

Enumerator
SBG_ECOM_LOG_STATUS	Status general, clock, com aiding, solution, heave
SBG_ECOM_LOG_UTC_TIME	Provides UTC time reference
SBG_ECOM_LOG_IMU_DATA	Includes IMU status, acc., gyro, temp delta speeds and delta angles values
SBG_ECOM_LOG_MAG	Magnetic data with associated accelerometer on each axis
SBG_ECOM_LOG_MAG_CALIB	Magnetometer calibration data (raw buffer)
SBG_ECOM_LOG_EKF_EULER	Includes roll, pitch, yaw and their accuracies on each axis
SBG_ECOM_LOG_EKF_QUAT	Includes the 4 quaternions values
SBG_ECOM_LOG_EKF_NAV	Position and velocities in NED coordinates with the accuracies on each axis
SBG_ECOM_LOG_SHIP_MOTION	Heave, surge and sway and accelerations on each axis.
SBG_ECOM_LOG_GPS1_VEL	GPS velocities from primary or secondary GPS receiver
SBG_ECOM_LOG_GPS1_POS	GPS positions from primary or secondary GPS receiver
SBG_ECOM_LOG_GPS1_HDT	GPS true heading from dual antenna system
SBG_ECOM_LOG_GPS1_RAW	GPS 1 raw data for post processing.
SBG_ECOM_LOG_GPS2_VEL	GPS 2 velocity log data.
SBG_ECOM_LOG_GPS2_POS	GPS 2 position log data.
SBG_ECOM_LOG_GPS2_HDT	GPS 2 true heading log data.
SBG_ECOM_LOG_GPS2_RAW	GPS 2 raw data for post processing.
SBG_ECOM_LOG_ODO_VEL	Provides odometer velocity
SBG_ECOM_LOG_EVENT_A	Event markers sent when events are detected on sync in A pin
SBG_ECOM_LOG_EVENT_B	Event markers sent when events are detected on sync in B pin
SBG_ECOM_LOG_EVENT_C	Event markers sent when events are detected on sync in C pin
SBG_ECOM_LOG_EVENT_D	Event markers sent when events are detected on sync in D pin
SBG_ECOM_LOG_EVENT_E	Event markers sent when events are detected on sync in E pin
SBG_ECOM_LOG_DVL_BOTTOM_TRACK	Doppler Velocity Log for bottom tracking data.
SBG_ECOM_LOG_DVL_WATER_TRACK	Doppler Velocity log for water layer data.
SBG_ECOM_LOG_SHIP_MOTION_HP	Return delayed ship motion such as surge, sway, heave.
SBG_ECOM_LOG_PRESSURE	Pressure sensor such as depth sensor or altimeter.
SBG_ECOM_LOG_USBL	Raw USBL position data for subsea navigation.
SBG_ECOM_LOG_DEBUG_0	Debug Log.
SBG_ECOM_LOG_ECOM_NUM_MESSAGES	Helper definition to know the number of ECom messages

Definition at line 68 of file sbgEComIds.h.

enum _SbgEComLog1MsgId

Enum that defines all the available ECom output logs in the class SBG_ECOM_CLASS_LOG_ECOM_1

Enumerator
SBG_ECOM_LOG_FAST_IMU_DATA	Provides accelerometers, gyroscopes, time and status at 1KHz rate.
SBG_ECOM_LOG_ECOM_1_NUM_MESSAGES	Helper definition to know the number of ECom messages

Definition at line 120 of file sbgEComIds.h.

enum _SbgEComNmeaLog

Enum that defines all the available Nmea output logs from the sbgECom library.

Enumerator
SBG_ECOM_LOG_NMEA_GGA	Latitude, Longitude, Altitude, Quality indicator.
SBG_ECOM_LOG_NMEA_RMC	Latitude, Longitude, velocity, course over ground.
SBG_ECOM_LOG_NMEA_ZDA	UTC Time.
SBG_ECOM_LOG_NMEA_HDT	Heading (True).
SBG_ECOM_LOG_NMEA_GST	GPS Pseudorange Noise Statistics.
SBG_ECOM_LOG_NMEA_VBW	Water referenced and ground referenced speed data.
SBG_ECOM_LOG_NMEA_DPT	Depth sensor output.
SBG_ECOM_LOG_NMEA_VTG	Track an Speed over the ground.
SBG_ECOM_LOG_NMEA_NUM_MESSAGES	Helper definition to know the number of NMEA messages

Definition at line 129 of file sbgEComIds.h.

Function Documentation

SBG_INLINE bool sbgEComBinaryLogIsCmdValid ( uint16 cmdId )

Test if the command is a binary log one.

Parameters

[in] cmdId The command id to test.

Returns: TRUE if the command id corresponds to a binary log.

Definition at line 310 of file sbgEComIds.h.

SBG_INLINE bool sbgEComMsgClassIsALog ( SbgEComClass msgClass )

Test if the message class is a binary log one.

Parameters

[in] cmdId The command id to test.

Returns: TRUE if the command id corresponds to a binary log.

Definition at line 289 of file sbgEComIds.h.

Classes

Macros

Typedefs