CAN_comm.h

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/*
MIT LICENSE

Copyright 2014-2019 Inertial Sense, Inc. - http://inertialsense.com

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 CAN_COMM_H_
#define CAN_COMM_H_
#ifdef __cplusplus
extern "C" {
#endif


PUSH_PACK_1

/*GMT information*/
typedef struct PACKED
{
        uint32_t                                week;                                                           //4 bytes
        
        float                           timeOfWeekMs;                                           //4 bytes
        
} is_can_time;

/*Status Information*/
typedef struct PACKED
{
        uint32_t                                insStatus;                                                      //4 bytes

        uint32_t                                hdwStatus;                                                      //4 bytes
        
} is_can_ins_status;

/*Euler Angles*/
typedef struct PACKED
{
        int16_t                                 theta1;                                                         //2 bytes (4 decimal places precision)
        int16_t                                 theta2;                                                         //2 bytes
        int16_t                                 theta3;                                                         //2 bytes
        //int16_t                                       reserved;
} is_can_ins_euler;

/*Quaternion*/
typedef struct PACKED
{
        int16_t                                 qn2b1;                                                          //2 bytes (4 decimal places precision)
        int16_t                                 qn2b2;                                                          //2 bytes
        int16_t                                 qn2b3;                                                          //2 bytes
        int16_t                                 qn2b4;                                                          //2 bytes
} is_can_ins_quatn2b;

/*Quaternion*/
typedef struct PACKED
{
        int16_t                                 qe2b1;                                                          //2 bytes (4 decimal places precision)
        int16_t                                 qe2b2;                                                          //2 bytes
        int16_t                                 qe2b3;                                                          //2 bytes
        int16_t                                 qe2b4;                                                          //2 bytes
} is_can_ins_quate2b;

/*velocity in body frame*/
typedef struct PACKED
{
        int16_t                                 uvw1;                                                           //2 bytes (2 decimal places precision, max absolute value 327.67)
        int16_t                                 uvw2;                                                           //2 bytes
        int16_t                                 uvw3;                                                           //2 bytes
} is_can_uvw;

typedef struct PACKED
{
        int16_t                                 ve1;                                                            //2 bytes (2 decimal places precision, max absolute value 327.67)
        int16_t                                 ve2;                                                            //2 bytes
        int16_t                                 ve3;                                                            //2 bytes
        
} is_can_ve;

typedef struct PACKED
{
        double                                  lat;                                                            //8 bytes (more than 8 decimal places precision)
        
} is_can_ins_lat;

typedef struct PACKED
{
        double                                  lon;                                                            //8 bytes (more than 8 decimal places precision)
} is_can_ins_lon;

typedef struct PACKED
{
        float                                   alt;                                                            //4 bytes (more than 8 decimal places precision)        
        uint32_t                status;
} is_can_ins_alt;

typedef struct PACKED
{
        float                                   ned1;                                                           //4 bytes
        float                                   ned2;                                                           //4 bytes
        
} is_can_north_east;

typedef struct PACKED
{
        float                                   ned3;                                                           //4 bytes
        uint32_t                                insStatus;                                                      //4 bytes
        
} is_can_down;

typedef struct PACKED
{
        double                                  ecef1;                                                          //8 bytes
        
} is_can_ecef_x;

typedef struct PACKED
{
        double                                  ecef2;                                                          //8 bytes
        
} is_can_ecef_y;

typedef struct PACKED
{
        double                                  ecef3;                                                          //8 bytes
        
} is_can_ecef_z;

typedef struct PACKED
{
        float                                   msl;                                                            //4 bytes
} is_can_msl;

typedef struct PACKED
{
        int16_t                                 theta0;                                                                 //2 bytes (scaled by 1000 3 decimal places precision)
        int16_t                                 vel0;                                                                   //2 bytes (scaled by 100 2 decimal places precision)
        uint16_t                                dt;                                                                             //2 bytes
} is_can_preint_imu_px;

typedef struct PACKED
{
        int16_t                                 theta1;                                                                 //2 bytes (scaled by 1000 3 decimal places precision)
        int16_t                                 vel1;                                                                   //2 bytes (scaled by 100 2 decimal places precision)
        uint16_t                                dt;                                                                             //2 bytes
        
} is_can_preint_imu_qy;

typedef struct PACKED
{
        int16_t                                 theta2;                                                                 //2 bytes (scaled by 1000 3 decimal places precision)
        int16_t                                 vel2;                                                                   //2 bytes (scaled by 100 2 decimal places precision)
        uint16_t                                dt;                                                                             //2 bytes
} is_can_preint_imu_rz;

typedef struct PACKED
{
        int16_t                                 theta0;                                                                 //2 bytes (scaled by 1000 3 decimal places precision)
        int16_t                                 vel0;                                                                   //2 bytes (scaled by 100 2 decimal places precision)
        uint32_t                status;                                                                 //4 bytes
} is_can_dual_imu_px;

typedef struct PACKED
{
        int16_t                                 theta1;                                                                 //2 bytes (scaled by 1000 3 decimal places precision)
        int16_t                                 vel1;                                                                   //2 bytes (scaled by 100 2 decimal places precision)
        uint32_t                status;                                                                 //4 bytes
        
} is_can_dual_imu_qy;

typedef struct PACKED
{
        int16_t                                 theta2;                                                                 //2 bytes (scaled by 1000 3 decimal places precision)
        int16_t                                 vel2;                                                                   //2 bytes (scaled by 100 2 decimal places precision)
        uint32_t                status;                                                                 //4 bytes
} is_can_dual_imu_rz;

typedef struct PACKED
{
        uint32_t                status;                                                                 //4 bytes
        uint32_t                 cnoMean;                                                               //4 byte
} is_can_gps1_pos_status;

typedef struct PACKED
{
        uint8_t                                 arRatio;                                                                //1 byte
        uint8_t                                 differentialAge;                                                //1 byte
        float                 distanceToBase;                                                   //4 bytes
        int16_t                 headingToBase;                                                  //2 bytes (scaled by 1000 3 decimal places precision)
} is_can_gps1_rtk_rel;

typedef struct PACKED
{
                int16_t                                 insRoll;                                                                //2 bytes (scaled by 10000 4 decimal places precision)
                int16_t                                 pImu1;                                                                  //2 bytes (scaled by 1000 3 decimal places precision)
                int16_t                                 pImu2;                                                                  //2 bytes (scaled by 1000 3 decimal places precision)
                
} is_can_roll_rollRate;

typedef union PACKED
{
        is_can_time time;
        is_can_ins_status insstatus;
        is_can_ins_euler euler;
        is_can_ins_quatn2b quatn2b;
        is_can_ins_quate2b quate2b;
        is_can_uvw uvw;
        is_can_ve ve;
        is_can_ins_lat lat;
        is_can_ins_lon lon;
        is_can_ins_alt alt;
        is_can_north_east ne;
        is_can_down down;
        is_can_ecef_x ecefx;
        is_can_ecef_y ecefy;
        is_can_ecef_z ecefz;
        is_can_msl msl;
        is_can_preint_imu_px pimupx;
        is_can_preint_imu_qy pimuqy;
        is_can_preint_imu_rz pimurz;
        is_can_dual_imu_px dimupx;
        is_can_dual_imu_qy dimuqy;
        is_can_dual_imu_rz dimurz;
        is_can_gps1_pos_status gpspos;
        is_can_gps1_rtk_rel rtkrel;
        is_can_roll_rollRate rollrollrate;      
} is_can_payload;


POP_PACK

#ifdef __cplusplus
}
#endif

#endif // CAN_COMM_H_