data_sets.h
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1 /*
2 MIT LICENSE
3 
4 Copyright (c) 2014-2020 Inertial Sense, Inc. - http://inertialsense.com
5 
6 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 :
7 
8 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
9 
10 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.
11 */
12 
13 #ifndef DATA_SETS_H
14 #define DATA_SETS_H
15 
16 #include <stdint.h>
17 #include <stdlib.h>
18 #include <time.h>
19 #include <string.h>
20 #include "ISConstants.h"
21 
22 #ifdef __cplusplus
23 extern "C" {
24 #endif
25 
26 // *****************************************************************************
27 // ****** InertialSense binary message Data Identification Numbers (DIDs) ******
28 // ****** ******
29 // ****** NEVER REORDER THESE VALUES! ******
30 // *****************************************************************************
32 typedef uint32_t eDataIDs;
33 
34 #define DID_NULL (eDataIDs)0
35 #define DID_DEV_INFO (eDataIDs)1
36 #define DID_SYS_FAULT (eDataIDs)2
37 #define DID_PREINTEGRATED_IMU (eDataIDs)3
38 #define DID_INS_1 (eDataIDs)4
39 #define DID_INS_2 (eDataIDs)5
40 #define DID_GPS1_UBX_POS (eDataIDs)6
41 #define DID_SYS_CMD (eDataIDs)7
42 #define DID_ASCII_BCAST_PERIOD (eDataIDs)8
43 #define DID_RMC (eDataIDs)9
44 #define DID_SYS_PARAMS (eDataIDs)10
45 #define DID_SYS_SENSORS (eDataIDs)11
46 #define DID_FLASH_CONFIG (eDataIDs)12
47 #define DID_GPS1_POS (eDataIDs)13
48 #define DID_GPS2_POS (eDataIDs)14
49 #define DID_GPS1_SAT (eDataIDs)15
50 #define DID_GPS2_SAT (eDataIDs)16
51 #define DID_GPS1_VERSION (eDataIDs)17
52 #define DID_GPS2_VERSION (eDataIDs)18
53 #define DID_MAG_CAL (eDataIDs)19
54 #define DID_INTERNAL_DIAGNOSTIC (eDataIDs)20
55 #define DID_GPS1_RTK_POS_REL (eDataIDs)21
56 #define DID_GPS1_RTK_POS_MISC (eDataIDs)22
57 #define DID_FEATURE_BITS (eDataIDs)23
58 #define DID_SENSORS_IS1 (eDataIDs)24
59 #define DID_SENSORS_IS2 (eDataIDs)25
60 #define DID_SENSORS_TC_BIAS (eDataIDs)26
61 #define DID_IO (eDataIDs)27
62 #define DID_SENSORS_ADC (eDataIDs)28
63 #define DID_SCOMP (eDataIDs)29
64 #define DID_GPS1_VEL (eDataIDs)30
65 #define DID_GPS2_VEL (eDataIDs)31
66 #define DID_HDW_PARAMS (eDataIDs)32
67 #define DID_NVR_MANAGE_USERPAGE (eDataIDs)33
68 #define DID_NVR_USERPAGE_SN (eDataIDs)34
69 #define DID_NVR_USERPAGE_G0 (eDataIDs)35
70 #define DID_NVR_USERPAGE_G1 (eDataIDs)36
71 #define DID_DEBUG_STRING (eDataIDs)37
72 #define DID_RTOS_INFO (eDataIDs)38
73 #define DID_DEBUG_ARRAY (eDataIDs)39
74 #define DID_SENSORS_CAL1 (eDataIDs)40
75 #define DID_SENSORS_CAL2 (eDataIDs)41
76 #define DID_CAL_SC (eDataIDs)42
77 #define DID_CAL_SC1 (eDataIDs)43
78 #define DID_CAL_SC2 (eDataIDs)44
79 #define DID_SYS_SENSORS_SIGMA (eDataIDs)45
80 #define DID_SENSORS_ADC_SIGMA (eDataIDs)46
81 #define DID_INS_DEV_1 (eDataIDs)47
82 #define DID_INL2_STATES (eDataIDs)48
83 #define DID_INL2_COVARIANCE_LD (eDataIDs)49
84 #define DID_INL2_STATUS (eDataIDs)50
85 #define DID_INL2_MISC (eDataIDs)51
86 #define DID_MAGNETOMETER_1 (eDataIDs)52
87 #define DID_BAROMETER (eDataIDs)53
88 #define DID_GPS1_RTK_POS (eDataIDs)54
89 #define DID_MAGNETOMETER_2 (eDataIDs)55
90 #define DID_COMMUNICATIONS_LOOPBACK (eDataIDs)56
91 #define DID_DUAL_IMU_RAW (eDataIDs)57
92 #define DID_DUAL_IMU (eDataIDs)58
93 #define DID_INL2_MAG_OBS_INFO (eDataIDs)59
94 #define DID_GPS_BASE_RAW (eDataIDs)60
95 #define DID_GPS_RTK_OPT (eDataIDs)61
96 #define DID_NVR_USERPAGE_INTERNAL (eDataIDs)62
97 #define DID_MANUFACTURING_INFO (eDataIDs)63
98 #define DID_BIT (eDataIDs)64
99 #define DID_INS_3 (eDataIDs)65
100 #define DID_INS_4 (eDataIDs)66
101 #define DID_INL2_NED_SIGMA (eDataIDs)67
102 #define DID_STROBE_IN_TIME (eDataIDs)68
103 #define DID_GPS1_RAW (eDataIDs)69
104 #define DID_GPS2_RAW (eDataIDs)70
105 #define DID_WHEEL_ENCODER (eDataIDs)71
106 #define DID_DIAGNOSTIC_MESSAGE (eDataIDs)72
107 #define DID_SURVEY_IN (eDataIDs)73
108 #define DID_CAL_SC_INFO (eDataIDs)74
109 #define DID_PORT_MONITOR (eDataIDs)75
110 #define DID_RTK_STATE (eDataIDs)76
111 #define DID_RTK_PHASE_RESIDUAL (eDataIDs)77
112 #define DID_RTK_CODE_RESIDUAL (eDataIDs)78
113 #define DID_RTK_DEBUG (eDataIDs)79
114 #define DID_EVB_STATUS (eDataIDs)80
115 #define DID_EVB_FLASH_CFG (eDataIDs)81
116 #define DID_EVB_DEBUG_ARRAY (eDataIDs)82
117 #define DID_EVB_RTOS_INFO (eDataIDs)83
118 #define DID_DUAL_IMU_RAW_MAG (eDataIDs)84
119 #define DID_DUAL_IMU_MAG (eDataIDs)85
120 #define DID_PREINTEGRATED_IMU_MAG (eDataIDs)86
121 #define DID_WHEEL_CONFIG (eDataIDs)87
122 #define DID_POSITION_MEASUREMENT (eDataIDs)88
123 #define DID_RTK_DEBUG_2 (eDataIDs)89
124 #define DID_CAN_CONFIG (eDataIDs)90
125 #define DID_GPS2_RTK_CMP_REL (eDataIDs)91
126 #define DID_GPS2_RTK_CMP_MISC (eDataIDs)92
127 #define DID_EVB_DEV_INFO (eDataIDs)93
129 // Adding a new data id?
130 // 1] Add it above and increment the previous number, include the matching data structure type in the comments
131 // 2] Add flip doubles and flip strings entries in data_sets.c
132 // 3] Add data id to ISDataMappings.cpp
133 // 4] Increment DID_COUNT
134 // 5) Update the DIDs in IS-src/python/src/ci_hdw/data_sets.py
135 // 6] Test!
136 
138 #define DID_COUNT (eDataIDs)96
139 
141 #define DID_MAX_COUNT 256
142 
143 // END DATA IDENTIFIERS --------------------------------------------------------------------------
144 
146 #define MAX_NUM_SAT_CHANNELS 50
147 
149 #define DEVINFO_MANUFACTURER_STRLEN 24
150 #define DEVINFO_ADDINFO_STRLEN 24
151 
152 
154 // #define PROTOCOL_VERSION_CHAR0 1 // Major (in com_manager.h)
155 // #define PROTOCOL_VERSION_CHAR1 0
156 #define PROTOCOL_VERSION_CHAR2 (0x000000FF&DID_COUNT)
157 #define PROTOCOL_VERSION_CHAR3 8 // Minor (in data_sets.h)
158 
160 #define RECEIVER_INDEX_GPS1 1 // DO NOT CHANGE
161 #define RECEIVER_INDEX_EXTERNAL_BASE 2 // DO NOT CHANGE
162 #define RECEIVER_INDEX_GPS2 3 // DO NOT CHANGE
163 
164 #define NUM_IMU_DEVICES 2
165 
167 enum eInsStatusFlags
168 {
170  INS_STATUS_ATT_ALIGN_COARSE = (int)0x00000001,
172  INS_STATUS_VEL_ALIGN_COARSE = (int)0x00000002,
174  INS_STATUS_POS_ALIGN_COARSE = (int)0x00000004,
176  INS_STATUS_ALIGN_COARSE_MASK = (int)0x00000007,
177 
178  INS_STATUS_UNUSED_1 = (int)0x00000008,
179 
181  INS_STATUS_ATT_ALIGN_FINE = (int)0x00000010,
183  INS_STATUS_VEL_ALIGN_FINE = (int)0x00000020,
185  INS_STATUS_POS_ALIGN_FINE = (int)0x00000040,
187  INS_STATUS_ALIGN_FINE_MASK = (int)0x00000070,
188 
190  INS_STATUS_GPS_AIDING_HEADING = (int)0x00000080,
191 
193  INS_STATUS_GPS_AIDING_POS_VEL = (int)0x00000100,
195  INS_STATUS_GPS_UPDATE_IN_SOLUTION = (int)0x00000200,
197  INS_STATUS_RESERVED_1 = (int)0x00000400,
199  INS_STATUS_MAG_AIDING_HEADING = (int)0x00000800,
200 
202  INS_STATUS_NAV_MODE = (int)0x00001000,
203 
205  INS_STATUS_DO_NOT_MOVE = (int)0x00002000,
206 
207  INS_STATUS_UNUSED_3 = (int)0x00004000,
208  INS_STATUS_UNUSED_4 = (int)0x00008000,
209 
211  INS_STATUS_SOLUTION_MASK = (int)0x000F0000,
212  INS_STATUS_SOLUTION_OFFSET = 16,
213 #define INS_STATUS_SOLUTION(insStatus) ((insStatus&INS_STATUS_SOLUTION_MASK)>>INS_STATUS_SOLUTION_OFFSET)
214 
215  INS_STATUS_SOLUTION_OFF = 0, // System is off
216  INS_STATUS_SOLUTION_ALIGNING = 1, // System is in alignment mode
217  INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE = 2, // System is aligned but not enough dynamics have been experienced to be with specifications.
218  INS_STATUS_SOLUTION_NAV = 3, // System is in navigation mode and solution is good.
219  INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE = 4, // System is in navigation mode but the attitude uncertainty has exceeded the threshold.
220  INS_STATUS_SOLUTION_AHRS = 5, // System is in AHRS mode and solution is good.
221  INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE = 6, // System is in AHRS mode but the attitude uncertainty has exceeded the threshold.
222 
224  INS_STATUS_RTK_COMPASSING_BASELINE_UNSET = (int)0x00100000,
226  INS_STATUS_RTK_COMPASSING_BASELINE_BAD = (int)0x00200000,
227  INS_STATUS_RTK_COMPASSING_MASK = (INS_STATUS_RTK_COMPASSING_BASELINE_UNSET|INS_STATUS_RTK_COMPASSING_BASELINE_BAD),
228 
230  INS_STATUS_MAG_RECALIBRATING = (int)0x00400000,
232  INS_STATUS_MAG_INTERFERENCE_OR_BAD_CAL = (int)0x00800000,
233 
235  INS_STATUS_GPS_NAV_FIX_MASK = (int)0x03000000,
236  INS_STATUS_GPS_NAV_FIX_OFFSET = 24,
237 #define INS_STATUS_NAV_FIX_STATUS(insStatus) ((insStatus&INS_STATUS_GPS_NAV_FIX_MASK)>>INS_STATUS_GPS_NAV_FIX_OFFSET)
238 
240  INS_STATUS_RTK_COMPASSING_VALID = (int)0x04000000,
241 
242  /* NOTE: If you add or modify these INS_STATUS_RTK_ values, please update eInsStatusRtkBase in IS-src/python/src/ci_hdw/data_sets.py */
244  INS_STATUS_RTK_RAW_GPS_DATA_ERROR = (int)0x08000000,
246  INS_STATUS_RTK_ERR_BASE_DATA_MISSING = (int)0x10000000,
248  INS_STATUS_RTK_ERR_BASE_POSITION_MOVING = (int)0x20000000,
250  INS_STATUS_RTK_ERR_BASE_POSITION_INVALID = (int)0x30000000,
252  INS_STATUS_RTK_ERR_BASE_MASK = (int)0x30000000,
254  INS_STATUS_RTK_ERROR_MASK = (INS_STATUS_RTK_RAW_GPS_DATA_ERROR|INS_STATUS_RTK_ERR_BASE_MASK),
255 
257  INS_STATUS_RTOS_TASK_PERIOD_OVERRUN = (int)0x40000000,
259  INS_STATUS_GENERAL_FAULT = (int)0x80000000,
260 
262  INS_STATUS_OUTPUT_RESET_MASK = (0),
263 };
264 
266 /* NOTE: If you modify this enum, please also modify the eGpsNavFixStatus enum
267  * in IS-src/python/src/ci_hdw/data_sets.py */
268 enum eGpsNavFixStatus
269 {
270  GPS_NAV_FIX_NONE = (int)0x00000000,
271  GPS_NAV_FIX_POSITIONING_3D = (int)0x00000001,
272  GPS_NAV_FIX_POSITIONING_RTK_FLOAT = (int)0x00000002,
273  GPS_NAV_FIX_POSITIONING_RTK_FIX = (int)0x00000003, // Includes fix & hold
274 };
275 
277 enum eHdwStatusFlags
278 {
280  HDW_STATUS_MOTION_GYR_SIG = (int)0x00000001,
282  HDW_STATUS_MOTION_ACC_SIG = (int)0x00000002,
284  HDW_STATUS_MOTION_SIG_MASK = (int)0x00000003,
286  HDW_STATUS_MOTION_GYR_DEV = (int)0x00000004,
288  HDW_STATUS_MOTION_ACC_DEV = (int)0x00000008,
290  HDW_STATUS_MOTION_MASK = (int)0x0000000F,
291 
293  HDW_STATUS_GPS_SATELLITE_RX = (int)0x00000010,
295  HDW_STATUS_STROBE_IN_EVENT = (int)0x00000020,
297  HDW_STATUS_GPS_TIME_OF_WEEK_VALID = (int)0x00000040,
298 
299  HDW_STATUS_UNUSED_1 = (int)0x00000080,
300 
302  HDW_STATUS_SATURATION_GYR = (int)0x00000100,
304  HDW_STATUS_SATURATION_ACC = (int)0x00000200,
306  HDW_STATUS_SATURATION_MAG = (int)0x00000400,
308  HDW_STATUS_SATURATION_BARO = (int)0x00000800,
309 
311  HDW_STATUS_SATURATION_MASK = (int)0x00000F00,
313  HDW_STATUS_SATURATION_OFFSET = 8,
314 
316  HDW_STATUS_SYSTEM_RESET_REQUIRED = (int)0x00001000,
317 
318  HDW_STATUS_UNUSED_3 = (int)0x00002000,
319  HDW_STATUS_UNUSED_4 = (int)0x00004000,
320  HDW_STATUS_UNUSED_5 = (int)0x00008000,
321 
323  HDW_STATUS_ERR_COM_TX_LIMITED = (int)0x00010000,
325  HDW_STATUS_ERR_COM_RX_OVERRUN = (int)0x00020000,
326 
328  HDW_STATUS_COM_PARSE_ERR_COUNT_MASK = (int)0x00F00000,
329  HDW_STATUS_COM_PARSE_ERR_COUNT_OFFSET = 20,
330 #define HDW_STATUS_COM_PARSE_ERROR_COUNT(hdwStatus) ((hdwStatus&HDW_STATUS_COM_PARSE_ERR_COUNT_MASK)>>HDW_STATUS_COM_PARSE_ERR_COUNT_OFFSET)
331 
333  HDW_STATUS_BIT_FAULT = (int)0x01000000,
335  HDW_STATUS_ERR_TEMPERATURE = (int)0x02000000,
337 // HDW_STATUS_ERR_VIBRATION = (int)0x04000000,
338 
339  HDW_STATUS_UNUSED_6 = (int)0x08000000,
340 
342  HDW_STATUS_FAULT_RESET_MASK = (int)0x70000000,
344  HDW_STATUS_FAULT_RESET_BACKUP_MODE = (int)0x10000000,
346  HDW_STATUS_FAULT_RESET_WATCHDOG = (int)0x20000000,
348  HDW_STATUS_FAULT_RESET_SOFT = (int)0x30000000,
350  HDW_STATUS_FAULT_RESET_HDW = (int)0x40000000,
351 
353  HDW_STATUS_FAULT_SYS_CRITICAL = (int)0x80000000,
354 
356  HDW_STATUS_OUTPUT_RESET_MASK = (HDW_STATUS_SATURATION_MASK),
357 };
358 
360 enum eGpsStatus
361 {
362  GPS_STATUS_NUM_SATS_USED_MASK = (int)0x000000FF,
363 
365  GPS_STATUS_FIX_NONE = (int)0x00000000,
366  GPS_STATUS_FIX_DEAD_RECKONING_ONLY = (int)0x00000100,
367  GPS_STATUS_FIX_2D = (int)0x00000200,
368  GPS_STATUS_FIX_3D = (int)0x00000300,
369  GPS_STATUS_FIX_GPS_PLUS_DEAD_RECK = (int)0x00000400,
370  GPS_STATUS_FIX_TIME_ONLY = (int)0x00000500,
371  GPS_STATUS_FIX_UNUSED1 = (int)0x00000600,
372  GPS_STATUS_FIX_UNUSED2 = (int)0x00000700,
373  GPS_STATUS_FIX_DGPS = (int)0x00000800,
374  GPS_STATUS_FIX_SBAS = (int)0x00000900,
375  GPS_STATUS_FIX_RTK_SINGLE = (int)0x00000A00,
376  GPS_STATUS_FIX_RTK_FLOAT = (int)0x00000B00,
377  GPS_STATUS_FIX_RTK_FIX = (int)0x00000C00,
378  GPS_STATUS_FIX_MASK = (int)0x00001F00,
379  GPS_STATUS_FIX_BIT_OFFSET = (int)8,
380 
382  GPS_STATUS_FLAGS_FIX_OK = (int)0x00010000, // within limits (e.g. DOP & accuracy)
383  GPS_STATUS_FLAGS_DGPS_USED = (int)0x00020000, // Differential GPS (DGPS) used.
384  GPS_STATUS_FLAGS_RTK_FIX_AND_HOLD = (int)0x00040000, // RTK feedback on the integer solutions to drive the float biases towards the resolved integers
385 // GPS_STATUS_FLAGS_WEEK_VALID = (int)0x00040000,
386 // GPS_STATUS_FLAGS_TOW_VALID = (int)0x00080000,
387  GPS_STATUS_FLAGS_RTK_POSITION_ENABLED = (int)0x00100000, // RTK precision positioning mode enabled
388  GPS_STATUS_FLAGS_STATIC_MODE = (int)0x00200000, // Static mode
389  GPS_STATUS_FLAGS_RTK_COMPASSING_ENABLED = (int)0x00400000, // RTK moving base mode enabled
390  GPS_STATUS_FLAGS_RTK_RAW_GPS_DATA_ERROR = (int)0x00800000, // RTK error: observations or ephemeris are invalid or not received (i.e. RTK differential corrections)
391  GPS_STATUS_FLAGS_RTK_BASE_DATA_MISSING = (int)0x01000000, // RTK error: Either base observations or antenna position have not been received.
392  GPS_STATUS_FLAGS_RTK_BASE_POSITION_MOVING = (int)0x02000000, // RTK error: base position moved when it should be stationary
393  GPS_STATUS_FLAGS_RTK_BASE_POSITION_INVALID = (int)0x03000000, // RTK error: base position is invalid or not surveyed well
394  GPS_STATUS_FLAGS_RTK_BASE_POSITION_MASK = (int)0x03000000, // RTK error: base position error bitmask
395  GPS_STATUS_FLAGS_ERROR_MASK = (GPS_STATUS_FLAGS_RTK_RAW_GPS_DATA_ERROR|
396  GPS_STATUS_FLAGS_RTK_BASE_POSITION_MASK),
397  GPS_STATUS_FLAGS_RTK_POSITION_VALID = (int)0x04000000, // RTK precision position is valid on GPS1 (i.e. < 20cm accuracy)
398  GPS_STATUS_FLAGS_RTK_COMPASSING_VALID = (int)0x08000000, // RTK moving base heading is valid on GPS2
399  GPS_STATUS_FLAGS_RTK_COMPASSING_BASELINE_BAD = (int)0x00002000,
400  GPS_STATUS_FLAGS_RTK_COMPASSING_BASELINE_UNSET = (int)0x00004000,
401  GPS_STATUS_FLAGS_RTK_COMPASSING_MASK = (GPS_STATUS_FLAGS_RTK_COMPASSING_ENABLED|
402  GPS_STATUS_FLAGS_RTK_COMPASSING_VALID|
403  GPS_STATUS_FLAGS_RTK_COMPASSING_BASELINE_BAD|
404  GPS_STATUS_FLAGS_RTK_COMPASSING_BASELINE_UNSET),
405  GPS_STATUS_FLAGS_GPS_NMEA_DATA = (int)0x00008000, // 1 = Data from NMEA message
406  GPS_STATUS_FLAGS_MASK = (int)0x0FFFE000,
407  GPS_STATUS_FLAGS_BIT_OFFSET = (int)16,
408 
409 };
410 
411 PUSH_PACK_1
412 
414 typedef struct PACKED
415 {
417  double timeOfWeek;
418 
420  double ecef[3];
421 
423  float psi;
424 
426  float accuracyCovUD[6]; // Matrix accuracyCovUD Described below
427  // 0 1 2
428  // _ 3 4
429  // _ _ 5
430 
431 
432 }pos_measurement_t;
433 
434 
436 typedef struct PACKED
437 {
439  uint32_t reserved;
440 
442  uint32_t serialNumber;
443 
445  uint8_t hardwareVer[4];
446 
448  uint8_t firmwareVer[4];
449 
451  uint32_t buildNumber;
452 
454  uint8_t protocolVer[4];
455 
457  uint32_t repoRevision;
458 
460  char manufacturer[DEVINFO_MANUFACTURER_STRLEN];
461 
463  uint8_t buildDate[4];
464 
466  uint8_t buildTime[4];
467 
469  char addInfo[DEVINFO_ADDINFO_STRLEN];
470 } dev_info_t;
471 
473 typedef struct PACKED
474 {
476  uint32_t serialNumber;
477 
479  uint32_t lotNumber;
480 
482  char date[16];
483 
485  uint32_t key;
486 } manufacturing_info_t;
487 
488 
490 typedef struct PACKED
491 {
493  uint32_t week;
494 
496  double timeOfWeek;
497 
499  uint32_t insStatus;
500 
502  uint32_t hdwStatus;
503 
505  float theta[3];
506 
508  float uvw[3];
509 
511  double lla[3];
512 
514  float ned[3];
515 } ins_1_t;
516 
517 
519 typedef struct PACKED
520 {
522  uint32_t week;
523 
525  double timeOfWeek;
526 
528  uint32_t insStatus;
529 
531  uint32_t hdwStatus;
532 
534  float qn2b[4];
535 
537  float uvw[3];
538 
540  double lla[3];
541 } ins_2_t;
542 
543 
545 typedef struct PACKED
546 {
548  uint32_t week;
549 
551  double timeOfWeek;
552 
554  uint32_t insStatus;
555 
557  uint32_t hdwStatus;
558 
560  float qn2b[4];
561 
563  float uvw[3];
564 
566  double lla[3];
567 
569  float msl;
570 } ins_3_t;
571 
572 
574 typedef struct PACKED
575 {
577  uint32_t week;
578 
580  double timeOfWeek;
581 
583  uint32_t insStatus;
584 
586  uint32_t hdwStatus;
587 
589  float qe2b[4];
590 
592  float ve[3];
593 
595  double ecef[3];
596 } ins_4_t;
597 
598 
600 typedef struct PACKED
601 {
603  float pqr[3];
604 
606  float acc[3];
607 } imus_t;
608 
609 
611 typedef struct PACKED
612 {
614  double time;
615 
617  imus_t I;
618 } imu_t;
619 
620 
622 typedef struct PACKED
623 {
625  double time;
626 
628  imus_t I[2];
629 
631  uint32_t status;
632 } dual_imu_t;
633 
634 
636 typedef struct PACKED
637 {
639  double time;
640 
642  float mag[3];
643 } magnetometer_t;
644 
645 
647 typedef struct PACKED
648 {
650  double time;
651 
653  float bar;
654 
656  float mslBar;
657 
659  float barTemp;
660 
662  float humidity;
663 } barometer_t;
664 
665 
667 typedef struct PACKED
668 {
670  double time;
671 
673  float theta1[3];
674 
676  float theta2[3];
677 
679  float vel1[3];
680 
682  float vel2[3];
683 
685  float dt;
686 
688  uint32_t status;
689 } preintegrated_imu_t;
690 
691 
693 typedef struct PACKED
694 {
696  dual_imu_t imu;
697 
699  magnetometer_t mag1;
700  magnetometer_t mag2;
701 } imu_mag_t;
702 
703 
705 typedef struct PACKED
706 {
708  preintegrated_imu_t pimu;
709 
711  magnetometer_t mag1;
712  magnetometer_t mag2;
713 } pimu_mag_t;
714 
715 
717 enum eImuStatus
718 {
720  IMU_STATUS_SATURATION_IMU1_GYR = (int)0x00000001,
722  IMU_STATUS_SATURATION_IMU2_GYR = (int)0x00000002,
724  IMU_STATUS_SATURATION_IMU1_ACC = (int)0x00000004,
726  IMU_STATUS_SATURATION_IMU2_ACC = (int)0x00000008,
727 
729  IMU_STATUS_RESERVED1 = (int)0x00000020,
730 
732  IMU_STATUS_RESERVED2 = (int)0x00000040,
733 
734 // /** Sensor saturation happened within past 10 seconds */
735 // IMU_STATUS_SATURATION_HISTORY = (int)0x00000100,
736 // /** Sample rate fault happened within past 10 seconds */
737 // IMU_STATUS_SAMPLE_RATE_FAULT_HISTORY = (int)0x00000200,
738 };
739 
741 typedef struct PACKED
742 {
744  uint32_t week;
745 
747  uint32_t timeOfWeekMs;
748 
750  uint32_t status;
751 
753  double ecef[3];
754 
756  double lla[3];
757 
759  float hMSL;
760 
762  float hAcc;
763 
765  float vAcc;
766 
768  float pDop;
769 
771  float cnoMean;
772 
774  double towOffset;
775 
777  uint8_t leapS;
778 
780  uint8_t reserved[3];
781 
782 } gps_pos_t;
783 
784 
786 typedef struct PACKED
787 {
789  uint32_t timeOfWeekMs;
790 
793  float vel[3];
794 
796  float sAcc;
797 
799  uint32_t status;
800 } gps_vel_t;
801 
802 
804 typedef struct PACKED
805 {
807  uint8_t gnssId;
808 
810  uint8_t svId;
811 
813  uint8_t cno;
814 
816  int8_t elev;
817 
819  int16_t azim;
820 
822  int16_t prRes;
823 
825  uint32_t flags;
826 } gps_sat_sv_t;
827 
828 
830 enum eSatSvFlags
831 {
832  SAT_SV_FLAGS_QUALITYIND_MASK = 0x00000007,
833  SAT_SV_FLAGS_SV_USED = 0x00000008,
834  SAT_SV_FLAGS_HEALTH_MASK = 0x00000030,
835  NAV_SAT_FLAGS_HEALTH_OFFSET = 4,
836  SAT_SV_FLAGS_DIFFCORR = 0x00000040,
837  SAT_SV_FLAGS_SMOOTHED = 0x00000080,
838  SAT_SV_FLAGS_ORBITSOURCE_MASK = 0x00000700,
839  SAT_SV_FLAGS_ORBITSOURCE_OFFSET = 8,
840  SAT_SV_FLAGS_EPHAVAIL = 0x00000800,
841  SAT_SV_FLAGS_ALMAVAIL = 0x00001000,
842  SAT_SV_FLAGS_ANOAVAIL = 0x00002000,
843  SAT_SV_FLAGS_AOPAVAIL = 0x00004000,
844 
845  SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_MASK = 0x03000000, // 1=float, 2=fix, 3=hold
846  SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_OFFSET = 24,
847  SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_FLOAT = 1,
848  SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_FIX = 2,
849  SAT_SV_FLAGS_RTK_SOL_FIX_STATUS_HOLD = 3,
850 };
851 
853 typedef struct PACKED
854 {
856  uint32_t timeOfWeekMs;
858  uint32_t numSats;
860  gps_sat_sv_t sat[MAX_NUM_SAT_CHANNELS];
861 } gps_sat_t;
862 
863 
865 typedef struct PACKED
866 {
868  uint8_t swVersion[30];
870  uint8_t hwVersion[10];
872  uint8_t extension[30];
874  uint8_t reserved[2];
875 } gps_version_t;
876 
877 // (DID_INL2_STATES) INL2 - INS Extended Kalman Filter (EKF) states
878 typedef struct PACKED
879 {
881  double timeOfWeek;
882 
884  float qe2b[4];
885 
887  float ve[3];
888 
890  double ecef[3];
891 
893  float biasPqr[3];
894 
896  float biasAcc[3];
897 
899  float biasBaro;
900 
902  float magDec;
903 
905  float magInc;
906 } inl2_states_t;
907 
908 typedef struct PACKED
909 {
910  int ahrs;
911  int zero_accel;
912  int zero_angrate;
913  int accel_motion;
914  int rot_motion;
915  int zero_vel;
916  int ahrs_gps_cnt; // Counter of sequential valid GPS data (for switching from AHRS to navigation)
917  float att_err;
918  int att_coarse; // Flag whether initial attitude error converged
919  int att_aligned; // Flag whether initial attitude error converged
920  int att_aligning;
921  int start_proc_done; // Cold/hot start procedure completed
922  int mag_cal_good;
923  int mag_cal_done;
924  int stat_magfield;
925 } inl2_status_t;
926 
928 typedef struct PACKED
929 {
931  double time;
932 
934  float val;
935 } gen_1axis_sensor_t;
936 
938 typedef struct PACKED
939 {
941  double time;
942 
944  float val[3];
945 } gen_3axis_sensor_t;
946 
948 typedef struct PACKED
949 {
951  double time;
952 
954  float val1[3];
955 
957  float val2[3];
958 } gen_dual_3axis_sensor_t;
959 
961 typedef struct PACKED
962 {
964  double time;
965 
967  double val[3];
968 } gen_3axis_sensord_t;
969 
971 typedef struct PACKED
972 {
974  double time;
975 
977  float temp;
978 
980  float pqr[3];
981 
983  float acc[3];
984 
986  float mag[3];
987 
989  float bar;
990 
992  float barTemp;
993 
995  float mslBar;
996 
998  float humidity;
999 
1001  float vin;
1002 
1004  float ana1;
1005 
1007  float ana3;
1008 
1010  float ana4;
1011 } sys_sensors_t;
1012 
1014 typedef struct PACKED
1015 {
1017  uint32_t timeOfWeekMs;
1018 
1020  double lla[3];
1021 
1023  float uvw[3];
1024 
1026  float qn2b[4];
1027 } ins_output_t;
1028 
1030 typedef struct PACKED
1031 {
1033  uint32_t timeOfWeekMs;
1034 
1036  uint32_t insStatus;
1037 
1039  uint32_t hdwStatus;
1040 
1042  float imuTemp;
1043 
1045  float baroTemp;
1046 
1048  float mcuTemp;
1049 
1051  float reserved1;
1052 
1054  uint32_t imuPeriodMs;
1055 
1057  uint32_t navPeriodMs;
1058 
1060  double sensorTruePeriod;
1061 
1063  float reserved2[2];
1064 
1066  uint32_t genFaultCode;
1067 } sys_params_t;
1068 
1070 enum eGenFaultCodes
1071 {
1073  GFC_INS_STATE_ORUN_UVW = 0x00000001,
1075  GFC_INS_STATE_ORUN_LAT = 0x00000002,
1077  GFC_INS_STATE_ORUN_ALT = 0x00000004,
1079  GFC_UNHANDLED_INTERRUPT = 0x00000010,
1081  GFC_INIT_SENSORS = 0x00000100,
1083  GFC_INIT_SPI = 0x00000200,
1085  GFC_CONFIG_SPI = 0x00000400,
1087  GFC_INIT_GPS1 = 0x00000800,
1089  GFC_INIT_GPS2 = 0x00001000,
1091  GFC_FLASH_INVALID_VALUES = 0x00002000,
1093  GFC_FLASH_CHECKSUM_FAILURE = 0x00004000,
1095  GFC_FLASH_WRITE_FAILURE = 0x00008000,
1097  GFC_SYS_FAULT_GENERAL = 0x00010000,
1099  GFC_SYS_FAULT_CRITICAL = 0x00020000,
1101  GFC_SENSOR_SATURATION = 0x00040000,
1102 };
1103 
1104 
1106 typedef struct PACKED
1107 {
1109  uint32_t command;
1110 
1112  uint32_t invCommand;
1113 
1114 } system_command_t;
1115 
1116 enum eSystemCommand
1117 {
1118  SYS_CMD_SAVE_PERSISTENT_MESSAGES = 1,
1119  SYS_CMD_ENABLE_BOOTLOADER_AND_RESET = 2,
1120  SYS_CMD_ENABLE_SENSOR_STATS = 3,
1121  SYS_CMD_ENABLE_RTOS_STATS = 4,
1122  SYS_CMD_ZERO_MOTION = 5,
1123 
1124  SYS_CMD_ENABLE_GPS_LOW_LEVEL_CONFIG = 10,
1125  SYS_CMD_SAVE_FLASH = 97,
1126  SYS_CMD_SAVE_GPS_ASSIST_TO_FLASH_RESET = 98,
1127  SYS_CMD_SOFTWARE_RESET = 99,
1128  SYS_CMD_MANF_UNLOCK = 1122334455,
1129  SYS_CMD_MANF_FACTORY_RESET = 1357924680, // SYS_CMD_MANF_RESET_UNLOCK must be sent prior to this command.
1130  SYS_CMD_MANF_CHIP_ERASE = 1357924681, // SYS_CMD_MANF_RESET_UNLOCK must be sent prior to this command.
1131 };
1132 
1133 
1134 
1136 typedef struct PACKED
1137 {
1139  uint32_t options;
1140 
1142  uint32_t pimu;
1143 
1145  uint32_t ppimu;
1146 
1148  uint32_t pins1;
1149 
1151  uint32_t pins2;
1152 
1154  uint32_t pgpsp;
1155 
1157  uint32_t reserved;
1158 
1160  uint32_t gpgga;
1161 
1163  uint32_t gpgll;
1164 
1166  uint32_t gpgsa;
1167 
1169  uint32_t gprmc;
1170 
1172  uint32_t gpzda;
1173 
1175  uint32_t pashr;
1176 
1177 } ascii_msgs_t;
1178 
1179 /* (DID_SENSORS_CAL1, DID_SENSORS_CAL2) */
1180 typedef struct PACKED
1181 { // Units only apply for calibrated data
1182  f_t pqr[3]; // (rad/s) Angular rate
1183  f_t acc[3]; // (m/s^2) Linear acceleration
1184  f_t mag[3]; // (uT) Magnetometers
1185  f_t temp; // (°C) Temperature of MPU
1186 } sensors_mpu_w_temp_t;
1187 
1188 #define NUM_ANA_CHANNELS 4
1189 typedef struct PACKED
1190 { // LSB units for all except temperature, which is Celsius.
1191  double time;
1192  sensors_mpu_w_temp_t mpu[NUM_IMU_DEVICES];
1193  f_t bar; // Barometric pressure
1194  f_t barTemp; // Temperature of barometric pressure sensor
1195  f_t humidity; // Relative humidity as a percent (%rH). Range is 0% - 100%
1196  f_t ana[NUM_ANA_CHANNELS]; // ADC analog input
1197 } sys_sensors_adc_t;
1198 
1199 #define NUM_COM_PORTS 3 // Number of communication ports. (Ser0, Ser1, and USB).
1200 #ifndef NUM_SERIAL_PORTS
1201 #define NUM_SERIAL_PORTS 5
1202 #endif
1203 
1211 #define RMC_OPTIONS_PORT_MASK 0x000000FF
1212 #define RMC_OPTIONS_PORT_ALL (RMC_OPTIONS_PORT_MASK)
1213 #define RMC_OPTIONS_PORT_CURRENT 0x00000000
1214 #define RMC_OPTIONS_PORT_SER0 0x00000001
1215 #define RMC_OPTIONS_PORT_SER1 0x00000002 // also SPI
1216 #define RMC_OPTIONS_PORT_USB 0x00000004
1217 #define RMC_OPTIONS_PRESERVE_CTRL 0x00000100 // Prevent any messages from getting turned off by bitwise OR'ing new message bits with current message bits.
1218 #define RMC_OPTIONS_PERSISTENT 0x00000200 // Save current port RMC to flash memory for use following reboot, eliminating need to re-enable RMC to start data streaming.
1219 
1220 // RMC message data rates:
1221 #define RMC_BITS_INS1 0x0000000000000001 // rmc.insPeriodMs (4ms default)
1222 #define RMC_BITS_INS2 0x0000000000000002 // "
1223 #define RMC_BITS_INS3 0x0000000000000004 // "
1224 #define RMC_BITS_INS4 0x0000000000000008 // "
1225 #define RMC_BITS_DUAL_IMU 0x0000000000000010 // DID_FLASH_CONFIG.startupNavDtMs (4ms default)
1226 #define RMC_BITS_PREINTEGRATED_IMU 0x0000000000000020 // "
1227 #define RMC_BITS_BAROMETER 0x0000000000000040 // ~8ms
1228 #define RMC_BITS_MAGNETOMETER1 0x0000000000000080 // ~10ms
1229 #define RMC_BITS_MAGNETOMETER2 0x0000000000000100 // "
1230 
1231 #define RMC_BITS_GPS1_POS 0x0000000000000400 // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
1232 #define RMC_BITS_GPS2_POS 0x0000000000000800 // "
1233 #define RMC_BITS_GPS1_RAW 0x0000000000001000 // "
1234 #define RMC_BITS_GPS2_RAW 0x0000000000002000 // "
1235 #define RMC_BITS_GPS1_SAT 0x0000000000004000 // 1s
1236 #define RMC_BITS_GPS2_SAT 0x0000000000008000 // "
1237 #define RMC_BITS_GPS_BASE_RAW 0x0000000000010000 //
1238 #define RMC_BITS_STROBE_IN_TIME 0x0000000000020000 // On strobe input event
1239 #define RMC_BITS_DIAGNOSTIC_MESSAGE 0x0000000000040000
1240 #define RMC_BITS_DUAL_IMU_RAW 0x0000000000080000 // DID_FLASH_CONFIG.startupImuDtMs (1ms default)
1241 #define RMC_BITS_GPS1_VEL 0x0000000000100000 // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
1242 #define RMC_BITS_GPS2_VEL 0x0000000000200000 // "
1243 #define RMC_BITS_GPS1_UBX_POS 0x0000000000400000 // "
1244 #define RMC_BITS_GPS1_RTK_POS 0x0000000000800000 // "
1245 #define RMC_BITS_GPS1_RTK_POS_REL 0x0000000001000000 // "
1246 #define RMC_BITS_GPS1_RTK_POS_MISC 0x0000000004000000 // "
1247 #define RMC_BITS_INL2_NED_SIGMA 0x0000000008000000
1248 #define RMC_BITS_RTK_STATE 0x0000000010000000
1249 #define RMC_BITS_RTK_CODE_RESIDUAL 0x0000000020000000
1250 #define RMC_BITS_RTK_PHASE_RESIDUAL 0x0000000040000000
1251 #define RMC_BITS_WHEEL_ENCODER 0x0000000080000000
1252 #define RMC_BITS_WHEEL_CONFIG 0x0000000100000000
1253 #define RMC_BITS_DUAL_IMU_MAG_RAW 0x0000000200000000
1254 #define RMC_BITS_DUAL_IMU_MAG 0x0000000400000000
1255 #define RMC_BITS_PREINTEGRATED_IMU_MAG 0x0000000800000000
1256 #define RMC_BITS_GPS1_RTK_HDG_REL 0x0000001000000000 // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
1257 #define RMC_BITS_GPS1_RTK_HDG_MISC 0x0000002000000000 // "
1258 #define RMC_BITS_MASK 0x0FFFFFFFFFFFFFFF
1259 #define RMC_BITS_INTERNAL_PPD 0x4000000000000000 //
1260 #define RMC_BITS_PRESET 0x8000000000000000 // Indicate BITS is a preset
1261 
1262 #define RMC_PRESET_PPD_NAV_PERIOD_MULT 25
1263 #define RMC_PRESET_INS_NAV_PERIOD_MULT 1 // fastest rate (nav filter update rate)
1264 
1265 // Preset: Post Processing Data
1266 #define RMC_PRESET_PPD_BITS_NO_IMU (RMC_BITS_PRESET \
1267  | RMC_BITS_INS2 \
1268  | RMC_BITS_BAROMETER \
1269  | RMC_BITS_MAGNETOMETER1 \
1270  | RMC_BITS_MAGNETOMETER2 \
1271  | RMC_BITS_GPS1_POS \
1272  | RMC_BITS_GPS2_POS \
1273  | RMC_BITS_GPS1_VEL \
1274  | RMC_BITS_GPS2_VEL \
1275  | RMC_BITS_GPS1_RAW \
1276  | RMC_BITS_GPS2_RAW \
1277  | RMC_BITS_GPS_BASE_RAW \
1278  | RMC_BITS_GPS1_RTK_POS_REL \
1279  | RMC_BITS_GPS1_RTK_HDG_REL \
1280  | RMC_BITS_INTERNAL_PPD \
1281  | RMC_BITS_DIAGNOSTIC_MESSAGE)
1282 #define RMC_PRESET_PPD_BITS (RMC_PRESET_PPD_BITS_NO_IMU \
1283  | RMC_BITS_PREINTEGRATED_IMU)
1284 #define RMC_PRESET_INS_BITS (RMC_BITS_INS2 \
1285  | RMC_BITS_GPS1_POS \
1286  | RMC_BITS_PRESET)
1287 #define RMC_PRESET_PPD_BITS_RAW_IMU (RMC_PRESET_PPD_BITS_NO_IMU \
1288  | RMC_BITS_DUAL_IMU_RAW)
1289 #define RMC_PRESET_PPD_BITS_RTK_DBG (RMC_PRESET_PPD_BITS \
1290  | RMC_BITS_RTK_STATE \
1291  | RMC_BITS_RTK_CODE_RESIDUAL \
1292  | RMC_BITS_RTK_PHASE_RESIDUAL)
1293 #define RMC_PRESET_PPD_ROBOT (RMC_PRESET_PPD_BITS\
1294  | RMC_BITS_WHEEL_ENCODER \
1295  | RMC_BITS_WHEEL_CONFIG)
1296 
1298 typedef struct PACKED
1299 {
1301  uint64_t bits;
1302 
1304  uint32_t options;
1305 
1307 } rmc_t;
1308 
1309 
1311 typedef struct PACKED
1312 {
1314  uint32_t timeOfWeekMs;
1315 
1317  uint32_t gpioStatus;
1318 } io_t;
1319 
1320 enum eMagRecalMode
1321 {
1322  MAG_RECAL_CMD_DO_NOTHING = (int)0,
1323  MAG_RECAL_CMD_MULTI_AXIS = (int)1, // Recalibrate magnetometers using multiple axis
1324  MAG_RECAL_CMD_SINGLE_AXIS = (int)2, // Recalibrate magnetometers using only one axis
1325  MAG_RECAL_CMD_ABORT = (int)101, // Stop mag recalibration
1326 };
1327 
1329 typedef struct PACKED
1330 {
1332  uint32_t recalCmd;
1333 
1335  float progress;
1336 
1338  float declination;
1339 } mag_cal_t;
1340 
1341 typedef struct PACKED
1342 { // INL2 - Magnetometer observer info
1343  uint32_t timeOfWeekMs; // Timestamp in milliseconds
1344  uint32_t Ncal_samples;
1345  uint32_t ready; // Data ready to be processed
1346  uint32_t calibrated; // Calibration data present. Set to -1 to force mag recalibration.
1347  uint32_t auto_recal; // Allow mag to auto-recalibrate
1348  uint32_t outlier; // Bad sample data
1349  float magHdg; // Heading from magnetometer
1350  float insHdg; // Heading from INS
1351  float magInsHdgDelta; // Difference between mag heading and (INS heading plus mag declination)
1352  float nis; // Normalized innovation squared (likelihood metric)
1353  float nis_threshold; // Threshold for maximum NIS
1354  float Wcal[9]; // Magnetometer calibration matrix. Must be initialized with a unit matrix, not zeros!
1355  uint32_t activeCalSet; // active calibration set (0 or 1)
1356  float magHdgOffset; // Offset between magnetometer heading and estimate heading
1357  float Tcal; // Scaled computed variance between calibrated magnetometer samples.
1358 } inl2_mag_obs_info_t;
1359 
1361 enum eBitState
1362 {
1363  BIT_STATE_OFF = (int)0,
1364  BIT_STATE_DONE = (int)1,
1365  BIT_STATE_CMD_FULL_STATIONARY = (int)2, // (FULL) More comprehensive test. Requires system be completely stationary without vibrations.
1366  BIT_STATE_CMD_BASIC_MOVING = (int)3, // (BASIC) Ignores sensor output. Can be run while moving. This mode is automatically run after bootup.
1367  BIT_STATE_RESERVED_1 = (int)4,
1368  BIT_STATE_RESERVED_2 = (int)5,
1369  BIT_STATE_RUNNING = (int)6,
1370  BIT_STATE_FINISH = (int)7,
1371  BIT_STATE_COMMAND_OFF = (int)8
1372 };
1373 
1375 enum eHdwBitStatusFlags
1376 {
1377  HDW_BIT_PASSED_MASK = (int)0x0000000F,
1378  HDW_BIT_PASSED_ALL = (int)0x00000001,
1379  HDW_BIT_PASSED_NO_GPS = (int)0x00000002, // Passed w/o valid GPS signal
1380  HDW_BIT_MODE_MASK = (int)0x000000F0, // BIT mode run
1381  HDW_BIT_MODE_OFFSET = (int)4,
1382 #define HDW_BIT_MODE(hdwBitStatus) ((hdwBitStatus&HDW_BIT_MODE_MASK)>>HDW_BIT_MODE_OFFSET)
1383  HDW_BIT_FAILED_MASK = (int)0xFFFFFF00,
1384  HDW_BIT_FAILED_AHRS_MASK = (int)0xFFFF0F00,
1385  HDW_BIT_FAULT_NOISE_PQR = (int)0x00000100,
1386  HDW_BIT_FAULT_NOISE_ACC = (int)0x00000200,
1387  HDW_BIT_FAULT_MAGNETOMETER = (int)0x00000400,
1388  HDW_BIT_FAULT_BAROMETER = (int)0x00000800,
1389  HDW_BIT_FAULT_GPS_NO_COM = (int)0x00001000, // No GPS serial communications
1390  HDW_BIT_FAULT_GPS_POOR_CNO = (int)0x00002000, // Poor GPS signal strength. Check antenna
1391  HDW_BIT_FAULT_GPS_POOR_ACCURACY = (int)0x00002000, // Low number of satellites, or bad accuracy
1392  HDW_BIT_FAULT_GPS_NOISE = (int)0x00004000, // (Not implemented)
1393 };
1394 
1396 enum eCalBitStatusFlags
1397 {
1398  CAL_BIT_PASSED_MASK = (int)0x0000000F,
1399  CAL_BIT_PASSED_ALL = (int)0x00000001,
1400  CAL_BIT_MODE_MASK = (int)0x000000F0, // BIT mode run
1401  CAL_BIT_MODE_OFFSET = (int)4,
1402 #define CAL_BIT_MODE(calBitStatus) ((calBitStatus&CAL_BIT_MODE_MASK)>>CAL_BIT_MODE_OFFSET)
1403  CAL_BIT_FAILED_MASK = (int)0xFFFFFF00,
1404  CAL_BIT_FAULT_TCAL_EMPTY = (int)0x00000100, // Temperature calibration not present
1405  CAL_BIT_FAULT_TCAL_TSPAN = (int)0x00000200, // Temperature calibration temperature range is inadequate
1406  CAL_BIT_FAULT_TCAL_INCONSISTENT = (int)0x00000400, // Temperature calibration number of points or slopes are not consistent
1407  CAL_BIT_FAULT_TCAL_CORRUPT = (int)0x00000800, // Temperature calibration memory corruption
1408  CAL_BIT_FAULT_TCAL_PQR_BIAS = (int)0x00001000, // Temperature calibration gyro bias
1409  CAL_BIT_FAULT_TCAL_PQR_SLOPE = (int)0x00002000, // Temperature calibration gyro slope
1410  CAL_BIT_FAULT_TCAL_PQR_LIN = (int)0x00004000, // Temperature calibration gyro linearity
1411  CAL_BIT_FAULT_TCAL_ACC_BIAS = (int)0x00008000, // Temperature calibration accelerometer bias
1412  CAL_BIT_FAULT_TCAL_ACC_SLOPE = (int)0x00010000, // Temperature calibration accelerometer slope
1413  CAL_BIT_FAULT_TCAL_ACC_LIN = (int)0x00020000, // Temperature calibration accelerometer linearity
1414  CAL_BIT_FAULT_CAL_SERIAL_NUM = (int)0x00040000, // Calibration info: wrong device serial number
1415  CAL_BIT_FAULT_ORTO_EMPTY = (int)0x00100000, // Cross-axis alignment is not calibrated
1416  CAL_BIT_FAULT_ORTO_INVALID = (int)0x00200000, // Cross-axis alignment is poorly formed
1417  CAL_BIT_FAULT_MOTION_PQR = (int)0x00400000, // Motion on gyros
1418  CAL_BIT_FAULT_MOTION_ACC = (int)0x00800000, // Motion on accelerometers
1419 };
1420 
1421 
1423 typedef struct PACKED
1424 {
1426  uint32_t state;
1427 
1429  uint32_t hdwBitStatus;
1430 
1432  uint32_t calBitStatus;
1433 
1435  float tcPqrBias;
1436  float tcAccBias;
1437 
1439  float tcPqrSlope;
1440  float tcAccSlope;
1441 
1443  float tcPqrLinearity;
1444  float tcAccLinearity;
1445 
1447  float pqr;
1448 
1450  float acc;
1451 
1453  float pqrSigma;
1454 
1456  float accSigma;
1457 
1458 } bit_t;
1459 
1460 
1462 enum eSysConfigBits
1463 {
1465  SYS_CFG_BITS_DISABLE_AUTOBAUD_SER0 = (int)0x00000001,
1466  SYS_CFG_BITS_DISABLE_AUTOBAUD_SER1 = (int)0x00000002,
1468  SYS_CFG_BITS_AUTO_MAG_RECAL = (int)0x00000004,
1470  SYS_CFG_BITS_DISABLE_MAG_DECL_ESTIMATION = (int)0x00000008,
1471 
1473  SYS_CFG_BITS_DISABLE_LEDS = (int)0x00000010,
1474 
1476  SYS_CFG_BITS_MAG_RECAL_MODE_MASK = (int)0x00000700,
1477  SYS_CFG_BITS_MAG_RECAL_MODE_OFFSET = 8,
1478 #define SYS_CFG_BITS_MAG_RECAL_MODE(sysCfgBits) ((sysCfgBits&SYS_CFG_BITS_MAG_RECAL_MODE_MASK)>>SYS_CFG_BITS_MAG_RECAL_MODE_OFFSET)
1479 
1481  SYS_CFG_BITS_DISABLE_MAGNETOMETER_FUSION = (int)0x00001000,
1483  SYS_CFG_BITS_DISABLE_BAROMETER_FUSION = (int)0x00002000,
1485  SYS_CFG_BITS_DISABLE_GPS1_FUSION = (int)0x00004000,
1487  SYS_CFG_BITS_DISABLE_GPS2_FUSION = (int)0x00008000,
1488 
1490  SYS_CFG_BITS_DISABLE_AUTO_ZERO_VELOCITY_UPDATES = (int)0x00010000,
1492  SYS_CFG_BITS_DISABLE_AUTO_ZERO_ANGULAR_RATE_UPDATES = (int)0x00020000,
1494  SYS_CFG_BITS_DISABLE_INS_EKF = (int)0x00040000,
1496  SYS_CFG_BITS_DISABLE_AUTO_BIT_ON_STARTUP = (int)0x00080000,
1497 
1499  SYS_CFG_BITS_ENABLE_NAV_STROBE_OUT_GPIO_9 = (int)0x00200000,
1501  SYS_CFG_BITS_DISABLE_PACKET_ENCODING = (int)0x00400000,
1502 };
1503 
1505 enum eGnssSatSigConst
1506 {
1508  GNSS_SAT_SIG_CONST_GPS = (uint16_t)0x0003,
1510  GNSS_SAT_SIG_CONST_QZSS = (uint16_t)0x000C,
1512  GNSS_SAT_SIG_CONST_GAL = (uint16_t)0x0030,
1514  GNSS_SAT_SIG_CONST_BDS = (uint16_t)0x00C0,
1516  GNSS_SAT_SIG_CONST_GLO = (uint16_t)0x0300,
1518  GNSS_SAT_SIG_CONST_SBAS = (uint16_t)0x1000,
1519 
1521  GNSS_SAT_SIG_CONST_DEFAULT = \
1522  GNSS_SAT_SIG_CONST_GPS | \
1523  GNSS_SAT_SIG_CONST_SBAS | \
1524  GNSS_SAT_SIG_CONST_QZSS | \
1525  GNSS_SAT_SIG_CONST_GAL | \
1526  GNSS_SAT_SIG_CONST_GLO
1527 };
1528 
1530 enum eRTKConfigBits
1531 {
1533  RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING = (int)0x00000001,
1534 
1536  RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_F9P = (int)0x00000002,
1537 
1539  RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_F9P = (int)0x00000004,
1540 
1542  RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING = (int)0x00000008,
1543 
1545  RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_MASK = (RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING|RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_F9P),
1546 
1548  RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_MASK = (RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING|RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING_F9P),
1549 
1551  RTK_CFG_BITS_ROVER_MODE_MASK = (int)0x0000000F,
1552 
1554  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 = (int)0x00000010,
1555 
1557  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 = (int)0x00000020,
1558 
1560  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 = (int)0x00000040,
1561 
1563  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1 = (int)0x00000080,
1564 
1566  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 = (int)0x00000100,
1567 
1569  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 = (int)0x00000200,
1570 
1572  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0 = (int)0x00000400,
1573 
1575  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1 = (int)0x00000800,
1576 
1578  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_USB = (int)0x00001000,
1579 
1581  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_USB = (int)0x00002000,
1582 
1584  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_USB = (int)0x00004000,
1585 
1587  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_USB = (int)0x00008000,
1588 
1590  RTK_CFG_BITS_BASE_POS_MOVING = (int)0x00010000,
1591 
1593  RTK_CFG_BITS_RESERVED1 = (int)0x00020000,
1594 
1596  RTK_CFG_BITS_RTK_BASE_IS_IDENTICAL_TO_ROVER = (int)0x00040000,
1597 
1599  RTK_CFG_BITS_GPS_PORT_PASS_THROUGH = (int)0x00080000,
1600 
1602  RTK_CFG_BITS_BASE_MODE = (
1603  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 |
1604  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1 |
1605  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0 |
1606  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1 |
1607  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_USB | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_USB |
1608  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_USB | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_USB ),
1609 
1611  RTK_CFG_BITS_RTK_BASE_SER0 = (
1612  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 |
1613  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0 ),
1614 
1616  RTK_CFG_BITS_RTK_BASE_SER1 = (
1617  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1 |
1618  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1 ),
1619 
1621  RTK_CFG_BITS_RTK_BASE_OUTPUT_GPS1_UBLOX = (
1622  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 |
1623  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 |
1624  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_USB ),
1625 
1627  RTK_CFG_BITS_RTK_BASE_OUTPUT_GPS2_UBLOX = (
1628  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 |
1629  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 |
1630  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_USB ),
1631 
1633  RTK_CFG_BITS_RTK_BASE_OUTPUT_GPS1_RTCM = (
1634  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 |
1635  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1 |
1636  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_USB ),
1637 
1639  RTK_CFG_BITS_RTK_BASE_OUTPUT_GPS2_RTCM = (
1640  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0 |
1641  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1 |
1642  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_USB),
1643 
1645  RTK_CFG_BITS_ROVER_MODE_ONBOARD_MASK = (RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING | RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING),
1646 
1648  RTK_CFG_BITS_ALL_MODES_MASK = (RTK_CFG_BITS_ROVER_MODE_MASK | RTK_CFG_BITS_BASE_MODE),
1649 };
1650 
1651 
1653 enum eSensorConfig
1654 {
1656  SENSOR_CFG_GYR_FS_250 = (int)0x00000000,
1657  SENSOR_CFG_GYR_FS_500 = (int)0x00000001,
1658  SENSOR_CFG_GYR_FS_1000 = (int)0x00000002,
1659  SENSOR_CFG_GYR_FS_2000 = (int)0x00000003,
1660  SENSOR_CFG_GYR_FS_MASK = (int)0x00000003,
1661  SENSOR_CFG_GYR_FS_OFFSET = (int)0,
1662 
1664  SENSOR_CFG_ACC_FS_2G = (int)0x00000000,
1665  SENSOR_CFG_ACC_FS_4G = (int)0x00000001,
1666  SENSOR_CFG_ACC_FS_8G = (int)0x00000002,
1667  SENSOR_CFG_ACC_FS_16G = (int)0x00000003,
1668  SENSOR_CFG_ACC_FS_MASK = (int)0x00000003,
1669  SENSOR_CFG_ACC_FS_OFFSET = (int)2,
1670 
1673  SENSOR_CFG_GYR_DLPF_250HZ = (int)0x00000000,
1674  SENSOR_CFG_GYR_DLPF_184HZ = (int)0x00000001,
1675  SENSOR_CFG_GYR_DLPF_92HZ = (int)0x00000002,
1676  SENSOR_CFG_GYR_DLPF_41HZ = (int)0x00000003,
1677  SENSOR_CFG_GYR_DLPF_20HZ = (int)0x00000004,
1678  SENSOR_CFG_GYR_DLPF_10HZ = (int)0x00000005,
1679  SENSOR_CFG_GYR_DLPF_5HZ = (int)0x00000006,
1680  SENSOR_CFG_GYR_DLPF_MASK = (int)0x0000000F,
1681  SENSOR_CFG_GYR_DLPF_OFFSET = (int)8,
1682 
1685  SENSOR_CFG_ACC_DLPF_218HZ = (int)0x00000000,
1686  SENSOR_CFG_ACC_DLPF_218HZb = (int)0x00000001,
1687  SENSOR_CFG_ACC_DLPF_99HZ = (int)0x00000002,
1688  SENSOR_CFG_ACC_DLPF_45HZ = (int)0x00000003,
1689  SENSOR_CFG_ACC_DLPF_21HZ = (int)0x00000004,
1690  SENSOR_CFG_ACC_DLPF_10HZ = (int)0x00000005,
1691  SENSOR_CFG_ACC_DLPF_5HZ = (int)0x00000006,
1692  SENSOR_CFG_ACC_DLPF_MASK = (int)0x0000000F,
1693  SENSOR_CFG_ACC_DLPF_OFFSET = (int)12,
1694 };
1695 
1696 
1698 enum eIoConfig
1699 {
1701  IO_CONFIG_INPUT_STROBE_TRIGGER_HIGH = (int)0x00000001,
1703  IO_CONFIG_INPUT_STROBE_PIN_2_ENABLE = (int)0x00000002,
1705  IO_CONFIG_INPUT_STROBE_PIN_5_ENABLE = (int)0x00000004,
1707  IO_CONFIG_INPUT_STROBE_PIN_8_ENABLE = (int)0x00000008,
1709  IO_CONFIG_INPUT_STROBE_PIN_9_ENABLE = (int)0x00000010,
1710 
1712  IO_CFG_GPS_TIMEPUSE_SOURCE_BITMASK = (int)0x000000E0,
1713 
1715  IO_CFG_GPS_TIMEPUSE_SOURCE_OFFSET = (int)5,
1716  IO_CFG_GPS_TIMEPUSE_SOURCE_MASK = (int)0x00000007,
1717  IO_CFG_GPS_TIMEPUSE_SOURCE_DISABLED = (int)0,
1718  IO_CFG_GPS_TIMEPUSE_SOURCE_ONBOARD_1 = (int)1,
1719  IO_CFG_GPS_TIMEPUSE_SOURCE_ONBOARD_2 = (int)2,
1720  IO_CFG_GPS_TIMEPUSE_SOURCE_STROBE_G2_PIN6 = (int)3,
1721  IO_CFG_GPS_TIMEPUSE_SOURCE_STROBE_G5_PIN9 = (int)4,
1722  IO_CFG_GPS_TIMEPUSE_SOURCE_STROBE_G8_PIN12 = (int)5,
1723  IO_CFG_GPS_TIMEPUSE_SOURCE_STROBE_G9_PIN13 = (int)6,
1724 #define SET_STATUS_OFFSET_MASK(result,val,offset,mask) { (result) &= ~((mask)<<(offset)); (result) |= ((val)<<(offset)); }
1725 
1726 #define IO_CFG_GPS_TIMEPUSE_SOURCE(ioConfig) ((ioConfig>>IO_CFG_GPS_TIMEPUSE_SOURCE_OFFSET)&IO_CFG_GPS_TIMEPUSE_SOURCE_MASK)
1727 
1729  IO_CONFIG_GPS1_SOURCE_OFFSET = (int)8,
1731  IO_CONFIG_GPS2_SOURCE_OFFSET = (int)11,
1733  IO_CONFIG_GPS1_TYPE_OFFSET = (int)14,
1735  IO_CONFIG_GPS2_TYPE_OFFSET = (int)17,
1736 
1738  IO_CONFIG_GPS_SOURCE_MASK = (int)0x00000007,
1740  IO_CONFIG_GPS_SOURCE_DISABLE = (int)0,
1742  IO_CONFIG_GPS_SOURCE_ONBOARD_1 = (int)1,
1744  IO_CONFIG_GPS_SOURCE_ONBOARD_2 = (int)2,
1746  IO_CONFIG_GPS_SOURCE_SER0 = (int)3,
1748  IO_CONFIG_GPS_SOURCE_SER1 = (int)4,
1749 
1751  IO_CONFIG_GPS_TYPE_MASK = (int)0x00000003,
1753  IO_CONFIG_GPS_TYPE_UBX_M8 = (int)0,
1755  IO_CONFIG_GPS_TYPE_UBX_F9P = (int)1,
1757  IO_CONFIG_GPS_TYPE_NMEA = (int)2,
1758 
1759 #define IO_CONFIG_GPS1_SOURCE(ioConfig) ((ioConfig>>IO_CONFIG_GPS1_SOURCE_OFFSET)&IO_CONFIG_GPS_SOURCE_MASK)
1760 #define IO_CONFIG_GPS2_SOURCE(ioConfig) ((ioConfig>>IO_CONFIG_GPS2_SOURCE_OFFSET)&IO_CONFIG_GPS_SOURCE_MASK)
1761 #define IO_CONFIG_GPS1_TYPE(ioConfig) ((ioConfig>>IO_CONFIG_GPS1_TYPE_OFFSET)&IO_CONFIG_GPS_TYPE_MASK)
1762 #define IO_CONFIG_GPS2_TYPE(ioConfig) ((ioConfig>>IO_CONFIG_GPS2_TYPE_OFFSET)&IO_CONFIG_GPS_TYPE_MASK)
1763 
1765  IO_CFG_IMU_1_DISABLE = (int)0x00100000,
1767  IO_CFG_IMU_2_DISABLE = (int)0x00200000,
1768 };
1769 
1770 
1772 typedef struct PACKED
1773 {
1775  double timeOfWeek;
1776 
1778  uint32_t status;
1779 
1781  float theta_l;
1782 
1784  float theta_r;
1785 
1787  float omega_l;
1788 
1790  float omega_r;
1791 
1793  uint32_t wrap_count_l;
1794 
1796  uint32_t wrap_count_r;
1797 
1798 } wheel_encoder_t;
1799 
1800 enum eWheelCfgBits
1801 {
1802  WHEEL_CFG_BITS_ENABLE_KINEMATIC_CONST = (int)0x00000001,
1803  WHEEL_CFG_BITS_ENABLE_ENCODER = (int)0x00000002,
1804  WHEEL_CFG_BITS_ENABLE_MASK = (int)0x0000000F,
1805 };
1806 
1808 typedef struct PACKED
1809 {
1811  uint32_t bits;
1812 
1814  float e_i2l[3];
1815 
1817  float t_i2l[3];
1818 
1820  float distance;
1821 
1823  float diameter;
1824 
1825 } wheel_config_t;
1826 
1827 typedef enum
1828 {
1829  DYN_PORTABLE = 0,
1830  DYN_STATIONARY = 2,
1831  DYN_PEDESTRIAN = 3,
1832  DYN_AUTOMOTIVE = 4,
1833  DYN_MARINE = 5,
1834  DYN_AIRBORNE_1G = 6,
1835  DYN_AIRBORNE_2G = 7,
1836  DYN_AIRBORNE_4G = 8,
1837  DYN_WRIST = 9
1838 } eInsDynModel;
1839 
1844 typedef struct PACKED
1845 {
1847  uint32_t size;
1848 
1850  uint32_t checksum;
1851 
1853  uint32_t key;
1854 
1856  uint32_t startupImuDtMs;
1857 
1859  uint32_t startupNavDtMs;
1860 
1862  uint32_t ser0BaudRate;
1863 
1865  uint32_t ser1BaudRate;
1866 
1868  float insRotation[3];
1869 
1871  float insOffset[3];
1872 
1874  float gps1AntOffset[3];
1875 
1877  uint8_t insDynModel;
1878 
1880  uint8_t reserved;
1881 
1883  uint16_t gnssSatSigConst;
1884 
1886  uint32_t sysCfgBits;
1887 
1889  double refLla[3];
1890 
1892  double lastLla[3];
1893 
1895  uint32_t lastLlaTimeOfWeekMs;
1896 
1898  uint32_t lastLlaWeek;
1899 
1901  float lastLlaUpdateDistance;
1902 
1904  uint32_t ioConfig;
1905 
1907  uint32_t cBrdConfig;
1908 
1910  float gps2AntOffset[3];
1911 
1913  float zeroVelRotation[3];
1914 
1916  float zeroVelOffset[3];
1917 
1919  float magInclination;
1920 
1922  float magDeclination;
1923 
1925  uint32_t gpsTimeSyncPeriodMs;
1926 
1928  uint32_t startupGPSDtMs;
1929 
1931  uint32_t RTKCfgBits;
1932 
1934  uint32_t sensorConfig;
1935 
1937  wheel_config_t wheelConfig;
1938 
1940  float gpsMinimumElevation;
1941 
1942 } nvm_flash_cfg_t;
1943 
1945 typedef struct PACKED
1946 {
1948  unsigned int timeOfWeekMs;
1950  float PxyzNED[3];
1952  float PvelNED[3];
1954  float PattNED[3];
1956  float PABias[3];
1958  float PWBias[3];
1960  float PBaroBias;
1962  float PDeclination;
1963 } inl2_ned_sigma_t;
1964 
1966 typedef struct PACKED
1967 {
1969  uint32_t week;
1970 
1972  uint32_t timeOfWeekMs;
1973 
1975  uint32_t pin;
1976 
1978  uint32_t count;
1979 } strobe_in_time_t;
1980 
1981 #define DEBUG_I_ARRAY_SIZE 9
1982 #define DEBUG_F_ARRAY_SIZE 9
1983 #define DEBUG_LF_ARRAY_SIZE 3
1984 
1985 /* (DID_DEBUG_ARRAY) */
1986 typedef struct PACKED
1987 {
1988  int32_t i[DEBUG_I_ARRAY_SIZE];
1989  f_t f[DEBUG_F_ARRAY_SIZE];
1990  double lf[DEBUG_LF_ARRAY_SIZE];
1991 } debug_array_t;
1992 
1993 #define DEBUG_STRING_SIZE 80
1994 
1995 /* (DID_DEBUG_STRING) */
1996 typedef struct PACKED
1997 {
1998  uint8_t s[DEBUG_STRING_SIZE];
1999 } debug_string_t;
2000 
2001 POP_PACK
2002 
2003 PUSH_PACK_8
2004 
2006 typedef struct
2007 {
2009  int64_t time;
2010 
2012  double sec;
2013 } gtime_t;
2014 
2015 typedef struct PACKED
2016 {
2017  gtime_t time;
2018  double rp_ecef[3]; // Rover position
2019  double rv_ecef[3]; // Rover velocity
2020  double ra_ecef[3]; // Rover acceleration
2021  double bp_ecef[3]; // Base position
2022  double bv_ecef[3]; // Base velocity
2023  double qr[6]; // rover position and velocity covariance main diagonal
2024  double b[24]; // satellite bias
2025  double qb[24]; // main diagonal of sat bias covariances
2026  uint8_t sat_id[24]; // satellite id of b[]
2027 } rtk_state_t;
2028 
2029 typedef struct PACKED
2030 {
2031  gtime_t time;
2032  int32_t nv; // number of measurements
2033  uint8_t sat_id_i[24]; // sat id of measurements (reference sat)
2034  uint8_t sat_id_j[24]; // sat id of measurements
2035  uint8_t type[24]; // type (0 = dd-range, 1 = dd-phase, 2 = baseline)
2036  double v[24]; // residual
2037 } rtk_residual_t;
2038 
2039 typedef struct PACKED
2040 {
2041  gtime_t time;
2042 
2043  uint8_t rej_ovfl;
2044  uint8_t code_outlier;
2045  uint8_t phase_outlier;
2046  uint8_t code_large_residual;
2047 
2048  uint8_t phase_large_residual;
2049  uint8_t invalid_base_position;
2050  uint8_t bad_baseline_holdamb;
2051  uint8_t base_position_error;
2052 
2053  uint8_t outc_ovfl;
2054  uint8_t reset_timer;
2055  uint8_t use_ubx_position;
2056  uint8_t large_v2b;
2057 
2058  uint8_t base_position_update;
2059  uint8_t rover_position_error;
2060  uint8_t reset_bias;
2061  uint8_t start_relpos;
2062 
2063  uint8_t end_relpos;
2064  uint8_t start_rtkpos;
2065  uint8_t pnt_pos_error;
2066  uint8_t no_base_obs_data;
2067 
2068  uint8_t diff_age_error;
2069  uint8_t moveb_time_sync_error;
2070  uint8_t waiting_for_rover_packet;
2071  uint8_t waiting_for_base_packet;
2072 
2073  uint8_t lsq_error;
2074  uint8_t lack_of_valid_sats;
2075  uint8_t divergent_pnt_pos_iteration;
2076  uint8_t chi_square_error;
2077 
2078  uint32_t cycle_slips;
2079 
2080  float ubx_error;
2081 
2082  uint8_t solStatus;
2083  uint8_t rescode_err_marker;
2084  uint8_t error_count;
2085  uint8_t error_code;
2086 
2087  float dist2base;
2088 
2089  uint8_t reserved1;
2090  uint8_t gdop_error;
2091  uint8_t warning_count;
2092  uint8_t warning_code;
2093 
2094  double double_debug[4];
2095 
2096  uint8_t debug[2];
2097  uint8_t obs_count_bas;
2098  uint8_t obs_count_rov;
2099 
2100  uint8_t obs_pairs_filtered;
2101  uint8_t obs_pairs_used;
2102  uint8_t raw_ptr_queue_overrun;
2103  uint8_t raw_dat_queue_overrun;
2104 } rtk_debug_t;
2105 
2106 POP_PACK
2107 
2108 PUSH_PACK_1
2109 
2111 typedef struct
2112 {
2114  int32_t mode;
2115 
2117  int32_t soltype;
2118 
2120  int32_t nf;
2121 
2123  int32_t navsys;
2124 
2126  double elmin;
2127 
2129  int32_t snrmin;
2130 
2132  int32_t modear;
2133 
2135  int32_t glomodear;
2136 
2138  int32_t gpsmodear;
2139 
2141  int32_t sbsmodear;
2142 
2144  int32_t bdsmodear;
2145 
2147  int32_t arfilter;
2148 
2150  int32_t maxout;
2151 
2153  int32_t maxrej;
2154 
2156  int32_t minlock;
2157 
2159  int32_t minfixsats;
2160 
2162  int32_t minholdsats;
2163 
2165  int32_t mindropsats;
2166 
2168  int32_t rcvstds;
2169 
2171  int32_t minfix;
2172 
2174  int32_t armaxiter;
2175 
2177  int32_t dynamics;
2178 
2180  int32_t niter;
2181 
2183  int32_t intpref;
2184 
2186  int32_t rovpos;
2187 
2189  int32_t refpos;
2190 
2192  double eratio[1];
2193 
2195  double err[5];
2196 
2198  double std[3];
2199 
2201  double prn[6];
2202 
2204  double sclkstab;
2205 
2207  double thresar[8];
2208 
2210  double elmaskar;
2211 
2213  double elmaskhold;
2214 
2216  double thresslip;
2217 
2219  double varholdamb;
2220 
2222  double gainholdamb;
2223 
2225  double maxtdiff;
2226 
2228  int fix_reset_base_msgs;
2229 
2231  double maxinnocode;
2232  double maxinnophase;
2233  double maxnis;
2234 
2236  double maxgdop;
2237 
2239  double baseline[3];
2240  double max_baseline_error;
2241  double reset_baseline_error;
2242 
2244  float max_ubx_error;
2245 
2247  double ru[3];
2248 
2250  double rb[3];
2251 
2253  int32_t maxaveep;
2254 
2256  int32_t outsingle;
2257 } prcopt_t;
2258 typedef prcopt_t gps_rtk_opt_t;
2259 
2261 typedef struct PACKED
2262 {
2264  gtime_t time;
2265 
2267  uint8_t sat;
2268 
2270  uint8_t rcv;
2271 
2273  uint8_t SNR[1];
2274 
2276  uint8_t LLI[1];
2277 
2279  uint8_t code[1];
2280 
2282  uint8_t qualL[1];
2283 
2285  uint8_t qualP[1];
2286 
2288  uint8_t reserved;
2289 
2291  double L[1];
2292 
2294  double P[1];
2295 
2297  float D[1];
2298 } obsd_t;
2299 
2300 #define GPS_RAW_MESSAGE_BUF_SIZE 1000
2301 #define MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE (GPS_RAW_MESSAGE_BUF_SIZE / sizeof(obsd_t))
2302 
2304 typedef struct
2305 {
2307  uint32_t n;
2308 
2310  uint32_t nmax;
2311 
2313  obsd_t* data;
2314 } obs_t;
2315 
2317 typedef struct
2318 {
2320  int32_t sat;
2321 
2323  int32_t iode;
2324 
2326  int32_t iodc;
2327 
2329  int32_t sva;
2330 
2332  int32_t svh;
2333 
2335  int32_t week;
2336 
2338  int32_t code;
2339 
2341  int32_t flag;
2342 
2344  gtime_t toe;
2345 
2347  gtime_t toc;
2348 
2350  gtime_t ttr;
2351 
2353  double A;
2354 
2356  double e;
2357 
2359  double i0;
2360 
2362  double OMG0;
2363 
2365  double omg;
2366 
2368  double M0;
2369 
2371  double deln;
2372 
2374  double OMGd;
2375 
2377  double idot;
2378 
2380  double crc;
2381 
2383  double crs;
2384 
2386  double cuc;
2387 
2389  double cus;
2390 
2392  double cic;
2393 
2395  double cis;
2396 
2398  double toes;
2399 
2401  double fit;
2402 
2404  double f0;
2405 
2407  double f1;
2408 
2410  double f2;
2411 
2413  double tgd[4];
2414 
2416  double Adot;
2417 
2419  double ndot;
2420 } eph_t;
2421 
2423 typedef struct
2424 {
2426  int32_t sat;
2427 
2429  int32_t iode;
2430 
2432  int32_t frq;
2433 
2435  int32_t svh;
2436 
2438  int32_t sva;
2439 
2441  int32_t age;
2442 
2444  gtime_t toe;
2445 
2447  gtime_t tof;
2448 
2450  double pos[3];
2451 
2453  double vel[3];
2454 
2456  double acc[3];
2457 
2459  double taun;
2460 
2462  double gamn;
2463 
2465  double dtaun;
2466 } geph_t;
2467 
2469 typedef struct
2470 {
2472  int32_t week;
2473 
2475  int32_t tow;
2476 
2478  int32_t prn;
2479 
2481  uint8_t msg[29];
2482 
2484  uint8_t reserved[3];
2485 } sbsmsg_t;
2486 
2488 typedef struct
2489 {
2491  int32_t deltype;
2492 
2494  double pos[3];
2495 
2497  double del[3];
2498 
2500  double hgt;
2501 
2503  int32_t stationId;
2504 } sta_t;
2505 
2507 typedef struct
2508 {
2510  int32_t sat;
2511 
2513  int32_t svh;
2514 
2516  int32_t svconf;
2517 
2518  /* GPS/QZS: gps week, GAL: galileo week */
2519  int32_t week;
2520 
2521  /* Toa */
2522  gtime_t toa;
2523 
2525  double A;
2526 
2528  double e;
2529 
2531  double i0;
2532 
2534  double OMG0;
2535 
2537  double omg;
2538 
2540  double M0;
2541 
2543  double OMGd;
2544 
2546  double toas;
2547 
2549  double f0;
2550 
2552  double f1;
2553 } alm_t;
2554 
2556 typedef struct
2557 {
2558  double ion_gps[8]; /* GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
2559  double ion_gal[4]; /* Galileo iono model parameters {ai0,ai1,ai2,0} */
2560  double ion_qzs[8]; /* QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
2561  double ion_cmp[8]; /* BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
2562  double ion_irn[8]; /* IRNSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
2563 
2564  double utc_gps[4]; /* GPS delta-UTC parameters {A0,A1,T,W} */
2565  double utc_glo[4]; /* GLONASS UTC GPS time parameters */
2566  double utc_gal[4]; /* Galileo UTC GPS time parameters */
2567  double utc_qzs[4]; /* QZS UTC GPS time parameters */
2568  double utc_cmp[4]; /* BeiDou UTC parameters */
2569  double utc_irn[4]; /* IRNSS UTC parameters */
2570  double utc_sbs[4]; /* SBAS UTC parameters */
2571 
2572  int32_t leaps; /* leap seconds (s) */
2573 
2574  alm_t alm; /* almanac */
2575 } ion_model_utc_alm_t;
2576 
2578 typedef enum
2579 {
2581  rtk_solution_status_none = 0,
2582 
2584  rtk_solution_status_fix = 1,
2585 
2587  rtk_solution_status_float = 2,
2588 
2590  rtk_solution_status_sbas = 3,
2591 
2593  rtk_solution_status_dgps = 4,
2594 
2596  rtk_solution_status_single = 5
2597 } eRtkSolStatus;
2598 
2600 typedef struct PACKED
2601 {
2603  uint32_t timeOfWeekMs;
2604 
2606  float differentialAge;
2607 
2609  float arRatio;
2610 
2612  float baseToRoverVector[3];
2613 
2615  float baseToRoverDistance;
2616 
2618  float baseToRoverHeading;
2619 
2621  float baseToRoverHeadingAcc;
2622 
2624  uint32_t status;
2625 
2626 } gps_rtk_rel_t;
2627 
2629 typedef struct PACKED
2630 {
2632  uint32_t timeOfWeekMs;
2633 
2635  float accuracyPos[3];
2636 
2638  float accuracyCov[3];
2639 
2641  float arThreshold;
2642 
2644  float gDop;
2645 
2647  float hDop;
2648 
2650  float vDop;
2651 
2653  double baseLla[3];
2654 
2656  uint32_t cycleSlipCount;
2657 
2659  uint32_t roverGpsObservationCount;
2660 
2662  uint32_t baseGpsObservationCount;
2663 
2665  uint32_t roverGlonassObservationCount;
2666 
2668  uint32_t baseGlonassObservationCount;
2669 
2671  uint32_t roverGalileoObservationCount;
2672 
2674  uint32_t baseGalileoObservationCount;
2675 
2677  uint32_t roverBeidouObservationCount;
2678 
2680  uint32_t baseBeidouObservationCount;
2681 
2683  uint32_t roverQzsObservationCount;
2684 
2686  uint32_t baseQzsObservationCount;
2687 
2689  uint32_t roverGpsEphemerisCount;
2690 
2692  uint32_t baseGpsEphemerisCount;
2693 
2695  uint32_t roverGlonassEphemerisCount;
2696 
2698  uint32_t baseGlonassEphemerisCount;
2699 
2701  uint32_t roverGalileoEphemerisCount;
2702 
2704  uint32_t baseGalileoEphemerisCount;
2705 
2707  uint32_t roverBeidouEphemerisCount;
2708 
2710  uint32_t baseBeidouEphemerisCount;
2711 
2713  uint32_t roverQzsEphemerisCount;
2714 
2716  uint32_t baseQzsEphemerisCount;
2717 
2719  uint32_t roverSbasCount;
2720 
2722  uint32_t baseSbasCount;
2723 
2725  uint32_t baseAntennaCount;
2726 
2728  uint32_t ionUtcAlmCount;
2729 
2731  uint32_t correctionChecksumFailures;
2732 
2734  uint32_t timeToFirstFixMs;
2735 
2736 } gps_rtk_misc_t;
2737 
2739 typedef enum
2740 {
2742  raw_data_type_observation = 1,
2743 
2745  raw_data_type_ephemeris = 2,
2746 
2748  raw_data_type_glonass_ephemeris = 3,
2749 
2751  raw_data_type_sbas = 4,
2752 
2754  raw_data_type_base_station_antenna_position = 5,
2755 
2757  raw_data_type_ionosphere_model_utc_alm = 6,
2758 
2760  raw_data_type_rtk_solution = 123
2761 } eRawDataType;
2762 
2763 typedef union PACKED
2764 {
2766  obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE];
2767 
2769  eph_t eph;
2770 
2772  geph_t gloEph;
2773 
2775  sbsmsg_t sbas;
2776 
2778  sta_t sta;
2779 
2781  ion_model_utc_alm_t ion;
2782 
2784  uint8_t buf[GPS_RAW_MESSAGE_BUF_SIZE];
2785 } uGpsRawData;
2786 
2788 typedef struct PACKED
2789 {
2791  uint8_t receiverIndex;
2792 
2794  uint8_t dataType;
2795 
2797  uint8_t obsCount;
2798 
2800  uint8_t reserved;
2801 
2803  uGpsRawData data;
2804 } gps_raw_t;
2805 
2809 typedef struct
2810 {
2812  uint32_t timeOfWeekMs;
2813 
2815  uint32_t messageLength;
2816 
2818  char message[256];
2819 } diag_msg_t;
2820 
2821 typedef enum
2822 {
2823  // default state
2824  SURVEY_IN_STATE_OFF = 0,
2825 
2826  // commands
2827  SURVEY_IN_STATE_CANCEL = 1,
2828  SURVEY_IN_STATE_START_3D = 2,
2829  SURVEY_IN_STATE_START_FLOAT = 3,
2830  SURVEY_IN_STATE_START_FIX = 4,
2831 
2832  // status
2833  SURVEY_IN_STATE_RUNNING_3D = 8,
2834  SURVEY_IN_STATE_RUNNING_FLOAT = 9,
2835  SURVEY_IN_STATE_RUNNING_FIX = 10,
2836  SURVEY_IN_STATE_SAVE_POS = 19,
2837  SURVEY_IN_STATE_DONE = 20
2838 } eSurveyInStatus;
2839 
2843 typedef struct
2844 {
2846  uint32_t state;
2847 
2849  uint32_t maxDurationSec;
2850 
2852  float minAccuracy;
2853 
2855  uint32_t elapsedTimeSec;
2856 
2858  float hAccuracy;
2859 
2861  double lla[3];
2862 } survey_in_t;
2863 
2864 
2865 typedef enum
2866 {
2868  EVB_STATUS_SD_CARD_READY = 0x00000001,
2869 
2871  EVB_STATUS_SD_LOG_ENABLED = 0x00000002,
2872 
2874  EVB_STATUS_SD_ERR_CARD_FAULT = 0x00000010,
2875 
2877  EVB_STATUS_SD_ERR_CARD_FULL = 0x00000020,
2878 
2880  EVB_STATUS_SD_ERR_CARD_MASK = 0x000000F0,
2881 
2883  EVB_STATUS_WIFI_ENABLED = 0x00010000,
2884 
2886  EVB_STATUS_WIFI_CONNECTED = 0x00020000,
2887 
2889  EVB_STATUS_XBEE_ENABLED = 0x00100000,
2890 
2892  EVB_STATUS_XBEE_CONNECTED = 0x00200000,
2893 
2895  EVB_STATUS_XBEE_CONFIGURED = 0x00400000,
2896 
2898  EVB_STATUS_XBEE_CONFIG_FAILURE = 0x00800000,
2899 
2900 } eEvbStatus;
2901 
2903 enum eEvb2CommPorts
2904 {
2905  EVB2_PORT_UINS0 = 0,
2906  EVB2_PORT_UINS1 = 1,
2907  EVB2_PORT_XBEE = 2,
2908  EVB2_PORT_XRADIO = 3, // H4-8 (orange) Tx, H4-7 (brown) Rx
2909  EVB2_PORT_BLE = 4,
2910  EVB2_PORT_SP330 = 5, // H3-2 (brown) Tx, H3-5 (green) Rx
2911  EVB2_PORT_GPIO_H8 = 6, // H8-5 (brown) Tx, H8-6 (orange) Rx
2912  EVB2_PORT_USB = 7,
2913  EVB2_PORT_WIFI = 8,
2914  EVB2_PORT_CAN = 9, // H2-3 CANL (brown), H2-4 CANH (orange)
2915  EVB2_PORT_COUNT
2916 };
2917 
2919 enum eEvb2ComBridgeOptions
2920 {
2922  EVB2_CB_OPTIONS_TRISTATE_UINS_IO = 0x00000001,
2923  EVB2_CB_OPTIONS_SP330_RS422 = 0x00000002,
2924  EVB2_CB_OPTIONS_XBEE_ENABLE = 0x00000010,
2925  EVB2_CB_OPTIONS_WIFI_ENABLE = 0x00000020,
2926  EVB2_CB_OPTIONS_BLE_ENABLE = 0x00000040,
2927  EVB2_CB_OPTIONS_SPI_ENABLE = 0x00000080,
2928  EVB2_CB_OPTIONS_CAN_ENABLE = 0x00000100,
2929 };
2930 
2931 enum eEvb2PortOptions
2932 {
2933  EVB2_PORT_OPTIONS_RADIO_RTK_FILTER = 0x00000001, // Allow RTCM3, NMEA, and RTCM3. Reject IS binary.
2934  EVB2_PORT_OPTIONS_DEFAULT = EVB2_PORT_OPTIONS_RADIO_RTK_FILTER,
2935 };
2936 
2940 typedef struct
2941 {
2943  uint32_t week;
2944 
2946  uint32_t timeOfWeekMs;
2947 
2949  uint8_t firmwareVer[4];
2950 
2952  uint32_t evbStatus;
2953 
2955  uint32_t loggerMode;
2956 
2958  uint32_t loggerElapsedTimeMs;
2959 
2961  uint32_t wifiIpAddr;
2962 
2964  uint32_t sysCommand;
2965 
2966 } evb_status_t;
2967 
2968 #define WIFI_SSID_PSK_SIZE 40
2969 
2970 typedef struct
2971 {
2973  uint8_t ssid[WIFI_SSID_PSK_SIZE];
2974 
2976  uint8_t psk[WIFI_SSID_PSK_SIZE];
2977 
2978 } evb_wifi_t;
2979 
2980 typedef struct
2981 {
2983  uint32_t ipAddr;
2984 
2986  uint32_t port;
2987 
2988 } evb_server_t;
2989 
2990 typedef enum
2991 {
2992  EVB_CFG_BITS_WIFI_SELECT_MASK = 0x00000003,
2993  EVB_CFG_BITS_WIFI_SELECT_OFFSET = 0,
2994  EVB_CFG_BITS_SERVER_SELECT_MASK = 0x0000000C,
2995  EVB_CFG_BITS_SERVER_SELECT_OFFSET = 2,
2996  EVB_CFG_BITS_ENABLE_WHEEL_ENCODER = 0x00000100,
2997 } eEvbFlashCfgBits;
2998 
2999 #define NUM_WIFI_PRESETS 3
3000 #define EVB_CFG_BITS_SET_IDX_WIFI(bits,idx) {bits&=EVB_CFG_BITS_WIFI_SELECT_MASK; bits|=((idx<<EVB_CFG_BITS_WIFI_SELECT_OFFSET)&EVB_CFG_BITS_WIFI_SELECT_MASK);}
3001 #define EVB_CFG_BITS_SET_IDX_SERVER(bits,idx) {bits&=EVB_CFG_BITS_SERVER_SELECT_MASK; bits|=((idx<<EVB_CFG_BITS_SERVER_SELECT_OFFSET)&EVB_CFG_BITS_SERVER_SELECT_MASK);}
3002 #define EVB_CFG_BITS_IDX_WIFI(bits) ((bits&EVB_CFG_BITS_WIFI_SELECT_MASK)>>EVB_CFG_BITS_WIFI_SELECT_OFFSET)
3003 #define EVB_CFG_BITS_IDX_SERVER(bits) ((bits&EVB_CFG_BITS_SERVER_SELECT_MASK)>>EVB_CFG_BITS_SERVER_SELECT_OFFSET)
3004 
3008 typedef struct
3009 {
3011  uint32_t size;
3012 
3014  uint32_t checksum;
3015 
3017  uint32_t key;
3018 
3020  uint8_t cbPreset;
3021 
3022  // 32-bit alignment
3023  uint8_t reserved1[3];
3024 
3026  uint32_t cbf[EVB2_PORT_COUNT];
3027 
3029  uint32_t cbOptions;
3030 
3032  uint32_t bits;
3033 
3035  uint32_t radioPID;
3036 
3038  uint32_t radioNID;
3039 
3041  uint32_t radioPowerLevel;
3042 
3044  evb_wifi_t wifi[NUM_WIFI_PRESETS];
3045 
3047  evb_server_t server[NUM_WIFI_PRESETS];
3048 
3050  float encoderTickToWheelRad;
3051 
3053  uint32_t CANbaud_kbps;
3054 
3056  uint32_t can_receive_address;
3057 
3059  uint8_t uinsComPort;
3060 
3062  uint8_t uinsAuxPort;
3063 
3064  // Ensure 32-bit alignment
3065  uint8_t reserved2[2];
3066 
3068  uint32_t portOptions;
3069 
3071  uint32_t h3sp330BaudRate;
3072 
3074  uint32_t h4xRadioBaudRate;
3075 
3077  uint32_t h8gpioBaudRate;
3078 
3079 } evb_flash_cfg_t;
3080 
3081 
3083 enum eEvb2ComBridgePreset
3084 {
3086  EVB2_CB_PRESET_NA = 0,
3087 
3089  EVB2_CB_PRESET_ALL_OFF = 1,
3090 
3092  EVB2_CB_PRESET_RS232 = 2,
3093 
3095  EVB2_CB_PRESET_RS232_XBEE = 3,
3096 
3098  EVB2_CB_PRESET_RS422_WIFI = 4,
3099 
3101  EVB2_CB_PRESET_SPI_RS232 = 5,
3102 
3104  EVB2_CB_PRESET_USB_HUB_RS232 = 6,
3105 
3107  EVB2_CB_PRESET_USB_HUB_RS422 = 7,
3108 
3110  EVB2_CB_PRESET_COUNT = 8,
3111 
3112 };
3113 
3114 #define EVB2_CB_PRESET_DEFAULT EVB2_CB_PRESET_RS232
3115 
3117 enum eEvb2LoggerMode
3118 {
3120  EVB2_LOG_NA = 0,
3121 
3123  EVB2_LOG_CMD_START = 2,
3124 
3126  EVB2_LOG_CMD_STOP = 4,
3127 
3129  EVB2_LOG_CMD_PURGE = 1002,
3130 
3131 };
3132 
3133 
3137 typedef struct
3138 {
3140  uint32_t txBytesPerS;
3141 
3143  uint32_t rxBytesPerS;
3144 
3146  uint32_t status;
3147 
3148 } port_monitor_set_t;
3149 
3150 typedef struct
3151 {
3153  port_monitor_set_t port[NUM_SERIAL_PORTS];
3154 
3155 } port_monitor_t;
3156 
3157 
3161 #define SYS_FAULT_STATUS_HARDWARE_RESET 0x00000000
3162 #define SYS_FAULT_STATUS_USER_RESET 0x00000001
3163 #define SYS_FAULT_STATUS_ENABLE_BOOTLOADER 0x00000002
3164 // General:
3165 #define SYS_FAULT_STATUS_SOFT_RESET 0x00000010
3166 #define SYS_FAULT_STATUS_FLASH_MIGRATION_EVENT 0x00000020
3167 #define SYS_FAULT_STATUS_FLASH_MIGRATION_COMPLETED 0x00000040
3168 #define SYS_FAULT_STATUS_RTK_MISC_ERROR 0x00000080
3169 #define SYS_FAULT_STATUS_MASK_GENERAL_ERROR 0xFFFFFFF0
3170 // Critical: (usually associated with system reset)
3171 #define SYS_FAULT_STATUS_HARD_FAULT 0x00010000
3172 #define SYS_FAULT_STATUS_USAGE_FAULT 0x00020000
3173 #define SYS_FAULT_STATUS_MEM_MANGE 0x00040000
3174 #define SYS_FAULT_STATUS_BUS_FAULT 0x00080000
3175 #define SYS_FAULT_STATUS_MALLOC_FAILED 0x00100000
3176 #define SYS_FAULT_STATUS_STACK_OVERFLOW 0x00200000
3177 #define SYS_FAULT_STATUS_INVALID_CODE_OPERATION 0x00400000
3178 #define SYS_FAULT_STATUS_FLASH_MIGRATION_MARKER_UPDATED 0x00800000
3179 #define SYS_FAULT_STATUS_WATCHDOG_RESET 0x01000000
3180 #define SYS_FAULT_STATUS_RTK_BUFFER_LIMIT 0x02000000
3181 #define SYS_FAULT_STATUS_SENSOR_CALIBRATION 0x04000000
3182 #define SYS_FAULT_STATUS_HARDWARE_DETECTION 0x08000000
3183 #define SYS_FAULT_STATUS_MASK_CRITICAL_ERROR 0xFFFF0000
3184 
3185 typedef struct
3186 {
3188  uint32_t status;
3189 
3191  uint32_t g1Task;
3192 
3194  uint32_t g2FileNum;
3195 
3197  uint32_t g3LineNum;
3198 
3200  uint32_t g4;
3201 
3203  uint32_t g5Lr;
3204 
3206  uint32_t pc;
3207 
3209  uint32_t psr;
3210 
3211 } system_fault_t;
3212 
3214 typedef struct
3215 {
3217  uint32_t gapCountSerialDriver[NUM_SERIAL_PORTS];
3218 
3220  uint32_t gapCountSerialParser[NUM_SERIAL_PORTS];
3221 
3223  uint32_t rxOverflowCount[NUM_SERIAL_PORTS];
3224 
3226  uint32_t txOverflowCount[NUM_SERIAL_PORTS];
3227 
3229  uint32_t checksumFailCount[NUM_SERIAL_PORTS];
3230 } internal_diagnostic_t;
3231 
3233 typedef enum
3234 {
3236  TASK_SAMPLE = 0,
3237 
3239  TASK_NAV,
3240 
3242  TASK_COMMUNICATIONS,
3243 
3245  TASK_MAINTENANCE,
3246 
3248  TASK_IDLE,
3249 
3251  TASK_TIMER,
3252 
3254  UINS_RTOS_NUM_TASKS // Keep last
3255 } eRtosTask;
3256 
3258 typedef enum
3259 {
3261  EVB_TASK_COMMUNICATIONS,
3262 
3264  EVB_TASK_LOGGER,
3265 
3267  EVB_TASK_WIFI,
3268 
3270  EVB_TASK_MAINTENANCE,
3271 
3273  EVB_TASK_IDLE,
3274 
3276  EVB_TASK_TIMER,
3277 
3279  EVB_TASK_SPI_UINS_COM,
3280 
3282  EVB_RTOS_NUM_TASKS // Keep last
3283 } eEvbRtosTask;
3284 
3286 #define MAX_TASK_NAME_LEN 12
3287 
3289 typedef struct PACKED
3290 {
3292  char name[MAX_TASK_NAME_LEN];
3293 
3295  uint32_t priority;
3296 
3298  uint32_t stackUnused;
3299 
3301  uint32_t periodMs;
3302 
3304  uint32_t runTimeUs;
3305 
3307  uint32_t maxRunTimeUs;
3308 
3310  float averageRunTimeUs;
3311 
3313  uint32_t gapCount;
3314 
3316  float cpuUsage;
3317 
3319  uint32_t handle;
3320 } rtos_task_t;
3321 
3323 typedef struct PACKED
3324 {
3326  uint32_t freeHeapSize;
3327 
3329  uint32_t mallocSize;
3330 
3332  uint32_t freeSize;
3333 
3335  rtos_task_t task[UINS_RTOS_NUM_TASKS];
3336 
3337 } rtos_info_t;
3338 
3340 typedef struct PACKED
3341 {
3343  uint32_t freeHeapSize;
3344 
3346  uint32_t mallocSize;
3347 
3349  uint32_t freeSize;
3350 
3352  rtos_task_t task[EVB_RTOS_NUM_TASKS];
3353 
3354 } evb_rtos_info_t;
3355 enum
3356 {
3357  CID_INS_TIME,
3358  CID_INS_STATUS,
3359  CID_INS_EULER,
3360  CID_INS_QUATN2B,
3361  CID_INS_QUATE2B,
3362  CID_INS_UVW,
3363  CID_INS_VE,
3364  CID_INS_LAT,
3365  CID_INS_LON,
3366  CID_INS_ALT,
3367  CID_INS_NORTH_EAST,
3368  CID_INS_DOWN,
3369  CID_INS_ECEF_X,
3370  CID_INS_ECEF_Y,
3371  CID_INS_ECEF_Z,
3372  CID_INS_MSL,
3373  CID_PREINT_PX,
3374  CID_PREINT_QY,
3375  CID_PREINT_RZ,
3376  CID_DUAL_PX,
3377  CID_DUAL_QY,
3378  CID_DUAL_RZ,
3379  CID_GPS1_POS,
3380  CID_GPS1_RTK_REL,
3381  CID_ROLL_ROLLRATE,
3382  NUM_CIDS
3383 };
3384 
3386 typedef struct PACKED
3387 {
3389  uint32_t can_period_mult[NUM_CIDS];
3390 
3392  uint32_t can_transmit_address[NUM_CIDS];
3393 
3395  uint32_t can_baudrate_kbps;
3396 
3398  uint32_t can_receive_address;
3399 
3400 } can_config_t;
3401 
3403 typedef union PACKED
3404 {
3405  dev_info_t devInfo;
3406  ins_1_t ins1;
3407  ins_2_t ins2;
3408  ins_3_t ins3;
3409  ins_4_t ins4;
3410  imu_t imu;
3411  dual_imu_t dualImu;
3412  magnetometer_t mag;
3413  mag_cal_t magCal;
3414  barometer_t baro;
3415  wheel_encoder_t wheelEncoder;
3416  pos_measurement_t posMeasurement;
3417  preintegrated_imu_t pImu;
3418  gps_pos_t gpsPos;
3419  gps_vel_t gpsVel;
3420  gps_sat_t gpsSat;
3421  gps_rtk_rel_t gpsRtkRel;
3422  gps_rtk_misc_t gpsRtkMisc;
3423  inl2_states_t inl2States;
3424  inl2_ned_sigma_t inl2NedSigma;
3425  nvm_flash_cfg_t flashCfg;
3426  survey_in_t surveyIn;
3427  sys_params_t sysParams;
3428  sys_sensors_t sysSensors;
3429  rtos_info_t rtosInfo;
3430  gps_raw_t gpsRaw;
3431  sys_sensors_adc_t sensorsAdc;
3432  rmc_t rmc;
3433 } uDatasets;
3434 
3436 typedef union PACKED
3437 {
3438  ins_1_t ins1;
3439  ins_2_t ins2;
3440  ins_3_t ins3;
3441  ins_4_t ins4;
3442 } uInsOutDatasets;
3443 
3444 POP_PACK
3445 
3454 uint32_t checksum32(const void* data, int count);
3455 uint32_t serialNumChecksum32(const void* data, int size);
3456 uint32_t flashChecksum32(const void* data, int size);
3457 
3464 void flipEndianess32(uint8_t* data, int dataLength);
3465 
3471 void flipFloat(uint8_t* ptr);
3472 
3479 float flipFloatCopy(float val);
3480 
3487 void flipDouble(void* ptr);
3488 
3496 double flipDoubleCopy(double val);
3497 
3507 void flipDoubles(uint8_t* data, int dataLength, int offset, uint16_t* offsets, uint16_t offsetsLength);
3508 
3518 void flipStrings(uint8_t* data, int dataLength, int offset, uint16_t* offsets, uint16_t offsetsLength);
3519 
3520 // BE_SWAP: if big endian then swap, else no-op
3521 // LE_SWAP: if little endian then swap, else no-op
3522 #if CPU_IS_BIG_ENDIAN
3523 #define BE_SWAP64F(_i) flipDoubleCopy(_i)
3524 #define BE_SWAP32F(_i) flipFloatCopy(_i)
3525 #define BE_SWAP32(_i) (SWAP32(_i))
3526 #define BE_SWAP16(_i) (SWAP16(_i))
3527 #define LE_SWAP64F(_i) (_i)
3528 #define LE_SWAP32F(_i) (_i)
3529 #define LE_SWAP32(_i) (_i)
3530 #define LE_SWAP16(_i) (_i)
3531 #else // little endian
3532 #define BE_SWAP64F(_i) (_i)
3533 #define BE_SWAP32F(_i) (_i)
3534 #define BE_SWAP32(_i) (_i)
3535 #define BE_SWAP16(_i) (_i)
3536 #define LE_SWAP64F(_i) flipDoubleCopy(_i)
3537 #define LE_SWAP32F(_i) flipFloatCopy(_i)
3538 #define LE_SWAP32(_i) (SWAP32(_i))
3539 #define LE_SWAP16(_i) (SWAP16(_i))
3540 #endif
3541 
3550 uint16_t* getDoubleOffsets(eDataIDs dataId, uint16_t* offsetsLength);
3551 
3560 uint16_t* getStringOffsetsLengths(eDataIDs dataId, uint16_t* offsetsLength);
3561 
3563 uint64_t didToRmcBit(uint32_t dataId, uint64_t defaultRmcBits);
3564 
3565 //Time conversion constants
3566 #define SECONDS_PER_WEEK 604800
3567 #define SECONDS_PER_DAY 86400
3568 #define GPS_TO_UNIX_OFFSET 315964800
3569 
3570 double gpsToUnix(uint32_t gpsWeek, uint32_t gpsTimeofWeekMS, uint8_t leapSeconds);
3571 
3573 void julianToDate(double julian, int32_t* year, int32_t* month, int32_t* day, int32_t* hour, int32_t* minute, int32_t* second, int32_t* millisecond);
3574 
3576 double gpsToJulian(int32_t gpsWeek, int32_t gpsMilliseconds, int32_t leapSeconds);
3577 
3578 /*
3579 Convert gps pos to nmea gga
3580 
3581 @param gps gps position
3582 @param buffer buffer to fill with nmea gga
3583 @param bufferLength number of chars available in buffer, should be at least 128
3584 @return number of chars written to buffer, not including the null terminator
3585 */
3586 int gpsToNmeaGGA(const gps_pos_t* gps, char* buffer, int bufferLength);
3587 
3588 #ifndef RTKLIB_H
3589 #define SYS_NONE 0x00 /* navigation system: none */
3590 #define SYS_GPS 0x01 /* navigation system: GPS */
3591 #define SYS_SBS 0x02 /* navigation system: SBAS */
3592 #define SYS_GLO 0x04 /* navigation system: GLONASS */
3593 #define SYS_GAL 0x08 /* navigation system: Galileo */
3594 #define SYS_QZS 0x10 /* navigation system: QZSS */
3595 #define SYS_CMP 0x20 /* navigation system: BeiDou */
3596 #define SYS_IRN 0x40 /* navigation system: IRNS */
3597 #define SYS_LEO 0x80 /* navigation system: LEO */
3598 #define SYS_ALL 0xFF /* navigation system: all */
3599 #endif
3600 
3601 /*
3602 Convert gnssID to ubx gnss indicator (ref [2] 25)
3603 
3604 @param gnssID gnssID of satellite
3605 @return ubx gnss indicator
3606 */
3607 int ubxSys(int gnssID);
3608 
3609 #ifndef __RTKLIB_EMBEDDED_DEFINES_H_
3610 
3611 #undef ENAGLO
3612 #define ENAGLO
3613 
3614 #undef ENAGAL
3615 #define ENAGAL
3616 
3617 #undef ENAQZS
3618 //#define ENAQZS
3619 
3620 #undef ENASBS
3621 #define ENASBS
3622 
3623 #undef MAXSUBFRMLEN
3624 #define MAXSUBFRMLEN 152
3625 
3626 #undef MAXRAWLEN
3627 #define MAXRAWLEN 2048
3628 
3629 #undef NFREQ
3630 #define NFREQ 1
3631 
3632 #undef NFREQGLO
3633 #ifdef ENAGLO
3634 #define NFREQGLO 1
3635 #else
3636 #define NFREQGLO 0
3637 #endif
3638 
3639 #undef NFREQGAL
3640 #ifdef ENAGAL
3641 #define NFREQGAL 1
3642 #else
3643 #define NFREQGAL 0
3644 #endif
3645 
3646 #undef NEXOBS
3647 #define NEXOBS 0
3648 
3649 #undef MAXOBS
3650 #define MAXOBS 56 // Also defined inside rtklib_defines.h
3651 #define HALF_MAXOBS (MAXOBS/2)
3652 
3653 #undef NUMSATSOL
3654 #define NUMSATSOL 22
3655 
3656 #undef MAXERRMSG
3657 #define MAXERRMSG 0
3658 
3659 #ifdef ENASBS
3660 
3661 // sbas waas only satellites
3662 #undef MINPRNSBS
3663 #define MINPRNSBS 133 /* min satellite PRN number of SBAS */
3664 
3665 #undef MAXPRNSBS
3666 #define MAXPRNSBS 138 /* max satellite PRN number of SBAS */
3667 
3668 #undef NSATSBS
3669 #define NSATSBS (MAXPRNSBS - MINPRNSBS + 1) /* number of SBAS satellites */
3670 
3671 #define SBAS_EPHEMERIS_ARRAY_SIZE NSATSBS
3672 
3673 #else
3674 
3675 #define SBAS_EPHEMERIS_ARRAY_SIZE 0
3676 
3677 #endif
3678 
3679 
3680 #endif
3681 
3682 #ifndef RTKLIB_H
3683 
3684 #define MINPRNGPS 1 /* min satellite PRN number of GPS */
3685 #define MAXPRNGPS 32 /* max satellite PRN number of GPS */
3686 #define NSATGPS (MAXPRNGPS-MINPRNGPS+1) /* number of GPS satellites */
3687 #define NSYSGPS 1
3688 
3689 #ifdef ENAGLO
3690 #define MINPRNGLO 1 /* min satellite slot number of GLONASS */
3691 #define MAXPRNGLO 27 /* max satellite slot number of GLONASS */
3692 #define NSATGLO (MAXPRNGLO-MINPRNGLO+1) /* number of GLONASS satellites */
3693 #define NSYSGLO 1
3694 #else
3695 #define MINPRNGLO 0
3696 #define MAXPRNGLO 0
3697 #define NSATGLO 0
3698 #define NSYSGLO 0
3699 #endif
3700 #ifdef ENAGAL
3701 #define MINPRNGAL 1 /* min satellite PRN number of Galileo */
3702 #define MAXPRNGAL 30 /* max satellite PRN number of Galileo */
3703 #define NSATGAL (MAXPRNGAL-MINPRNGAL+1) /* number of Galileo satellites */
3704 #define NSYSGAL 1
3705 #else
3706 #define MINPRNGAL 0
3707 #define MAXPRNGAL 0
3708 #define NSATGAL 0
3709 #define NSYSGAL 0
3710 #endif
3711 #ifdef ENAQZS
3712 #define MINPRNQZS 193 /* min satellite PRN number of QZSS */
3713 #define MAXPRNQZS 199 /* max satellite PRN number of QZSS */
3714 #define MINPRNQZS_S 183 /* min satellite PRN number of QZSS SAIF */
3715 #define MAXPRNQZS_S 189 /* max satellite PRN number of QZSS SAIF */
3716 #define NSATQZS (MAXPRNQZS-MINPRNQZS+1) /* number of QZSS satellites */
3717 #define NSYSQZS 1
3718 #else
3719 #define MINPRNQZS 0
3720 #define MAXPRNQZS 0
3721 #define MINPRNQZS_S 0
3722 #define MAXPRNQZS_S 0
3723 #define NSATQZS 0
3724 #define NSYSQZS 0
3725 #endif
3726 #ifdef ENACMP
3727 #define MINPRNCMP 1 /* min satellite sat number of BeiDou */
3728 #define MAXPRNCMP 35 /* max satellite sat number of BeiDou */
3729 #define NSATCMP (MAXPRNCMP-MINPRNCMP+1) /* number of BeiDou satellites */
3730 #define NSYSCMP 1
3731 #else
3732 #define MINPRNCMP 0
3733 #define MAXPRNCMP 0
3734 #define NSATCMP 0
3735 #define NSYSCMP 0
3736 #endif
3737 #ifdef ENAIRN
3738 #define MINPRNIRN 1 /* min satellite sat number of IRNSS */
3739 #define MAXPRNIRN 7 /* max satellite sat number of IRNSS */
3740 #define NSATIRN (MAXPRNIRN-MINPRNIRN+1) /* number of IRNSS satellites */
3741 #define NSYSIRN 1
3742 #else
3743 #define MINPRNIRN 0
3744 #define MAXPRNIRN 0
3745 #define NSATIRN 0
3746 #define NSYSIRN 0
3747 #endif
3748 #ifdef ENALEO
3749 #define MINPRNLEO 1 /* min satellite sat number of LEO */
3750 #define MAXPRNLEO 10 /* max satellite sat number of LEO */
3751 #define NSATLEO (MAXPRNLEO-MINPRNLEO+1) /* number of LEO satellites */
3752 #define NSYSLEO 1
3753 #else
3754 #define MINPRNLEO 0
3755 #define MAXPRNLEO 0
3756 #define NSATLEO 0
3757 #define NSYSLEO 0
3758 #endif
3759 #define NSYS (NSYSGPS+NSYSGLO+NSYSGAL+NSYSQZS+NSYSCMP+NSYSIRN+NSYSLEO) /* number of systems */
3760 #ifndef NSATSBS
3761 #ifdef ENASBS
3762 #define MINPRNSBS 120 /* min satellite PRN number of SBAS */
3763 #define MAXPRNSBS 142 /* max satellite PRN number of SBAS */
3764 #define NSATSBS (MAXPRNSBS-MINPRNSBS+1) /* number of SBAS satellites */
3765 #else
3766 #define MINPRNSBS 0
3767 #define MAXPRNSBS 0
3768 #define NSATSBS 0
3769 #endif
3770 #endif
3771 
3772 #endif
3773 /*
3774 Convert satellite constelation and prn/slot number to satellite number
3775 
3776 @param sys satellite system (SYS_GPS,SYS_GLO,...)
3777 @param prn satellite prn/slot number
3778 @return satellite number (0:error)
3779 */
3780 int satNo(int sys, int prn);
3781 
3782 /*
3783 convert satellite gnssID + svID to satellite number
3784 
3785 @param gnssID satellite system
3786 @param svID satellite prn/slot number
3787 @return satellite number (0:error)
3788 */
3789 int satNumCalc(int gnssID, int svID);
3790 
3791 
3792 #ifdef __cplusplus
3793 }
3794 #endif
3795 
3796 #endif // DATA_SETS_H
GNSS_SAT_SIG_CONST_GAL
Definition: data_sets.h:1512
SYS_CMD_SOFTWARE_RESET
Definition: data_sets.h:1127
PACKED::type
uint8_t type[24]
Definition: data_sets.h:2035
prcopt_t::max_ubx_error
float max_ubx_error
Definition: data_sets.h:2244
evb_flash_cfg_t::bits
uint32_t bits
Definition: data_sets.h:3032
GPS_STATUS_FIX_RTK_SINGLE
Definition: data_sets.h:375
flipFloat
void flipFloat(uint8_t *ptr)
Definition: data_sets.c:19
DYN_MARINE
Definition: data_sets.h:1833
EVB2_CB_PRESET_SPI_RS232
Definition: data_sets.h:3101
INS_STATUS_RTOS_TASK_PERIOD_OVERRUN
Definition: data_sets.h:257
PACKED::refLla
double refLla[3]
Definition: data_sets.h:1889
PACKED::lastLla
double lastLla[3]
Definition: data_sets.h:1892
DYN_STATIONARY
Definition: data_sets.h:1830
sta_t::hgt
double hgt
Definition: data_sets.h:2500
PACKED::stat_magfield
int stat_magfield
Definition: data_sets.h:924
PACKED::gpsPos
gps_pos_t gpsPos
Definition: data_sets.h:3418
IO_CONFIG_GPS_SOURCE_ONBOARD_1
Definition: data_sets.h:1742
SENSOR_CFG_ACC_DLPF_99HZ
Definition: data_sets.h:1687
HDW_STATUS_ERR_TEMPERATURE
Definition: data_sets.h:335
PACKED::start_rtkpos
uint8_t start_rtkpos
Definition: data_sets.h:2064
system_fault_t::g1Task
uint32_t g1Task
Definition: data_sets.h:3191
PACKED::timeOfWeekMs
unsigned int timeOfWeekMs
Definition: data_sets.h:1948
eInsStatusFlags
eInsStatusFlags
Definition: data_sets.h:167
eph_t::f0
double f0
Definition: data_sets.h:2404
CID_INS_QUATN2B
Definition: data_sets.h:3360
EVB_TASK_MAINTENANCE
Definition: data_sets.h:3270
GPS_STATUS_FIX_RTK_FLOAT
Definition: data_sets.h:376
can_config_t
struct PACKED can_config_t
INS_STATUS_GPS_AIDING_POS_VEL
Definition: data_sets.h:193
PACKED::qualP
uint8_t qualP[1]
Definition: data_sets.h:2285
PACKED::base_position_update
uint8_t base_position_update
Definition: data_sets.h:2058
GPS_STATUS_FIX_UNUSED1
Definition: data_sets.h:371
PACKED::I
imus_t I
Definition: data_sets.h:617
SYS_CMD_SAVE_FLASH
Definition: data_sets.h:1125
rtk_solution_status_sbas
Definition: data_sets.h:2590
PACKED::bar
float bar
Definition: data_sets.h:653
CAL_BIT_MODE_OFFSET
Definition: data_sets.h:1401
INS_STATUS_VEL_ALIGN_FINE
Definition: data_sets.h:183
CID_INS_VE
Definition: data_sets.h:3363
HDW_BIT_MODE_OFFSET
Definition: data_sets.h:1381
PACKED::baseToRoverVector
float baseToRoverVector[3]
Definition: data_sets.h:2612
PACKED::options
uint32_t options
Definition: data_sets.h:1139
bufferLength
uint32_t bufferLength
Definition: USBD.h:91
PACKED::sat_id_j
uint8_t sat_id_j[24]
Definition: data_sets.h:2034
flipStrings
void flipStrings(uint8_t *data, int dataLength, int offset, uint16_t *offsets, uint16_t offsetsLength)
Definition: data_sets.c:117
eph_t::week
int32_t week
Definition: data_sets.h:2335
raw_data_type_observation
Definition: data_sets.h:2742
evb_flash_cfg_t::h3sp330BaudRate
uint32_t h3sp330BaudRate
Definition: data_sets.h:3071
PACKED::P
double P[1]
Definition: data_sets.h:2294
IO_CONFIG_GPS_TYPE_MASK
Definition: data_sets.h:1751
PACKED::rej_ovfl
uint8_t rej_ovfl
Definition: data_sets.h:2043
PACKED::humidity
float humidity
Definition: data_sets.h:662
BIT_STATE_RESERVED_1
Definition: data_sets.h:1367
geph_t::taun
double taun
Definition: data_sets.h:2459
RTK_CFG_BITS_RTK_BASE_IS_IDENTICAL_TO_ROVER
Definition: data_sets.h:1596
RTK_CFG_BITS_RESERVED1
Definition: data_sets.h:1593
PACKED::recalCmd
uint32_t recalCmd
Definition: data_sets.h:1332
CAL_BIT_FAILED_MASK
Definition: data_sets.h:1403
PACKED::azim
int16_t azim
Definition: data_sets.h:819
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:3407
PACKED::PxyzNED
float PxyzNED[3]
Definition: data_sets.h:1950
rtk_residual_t
struct PACKED rtk_residual_t
PACKED::i
int32_t i[DEBUG_I_ARRAY_SIZE]
Definition: data_sets.h:1988
EVB_STATUS_SD_LOG_ENABLED
Definition: data_sets.h:2871
raw_data_type_ionosphere_model_utc_alm
Definition: data_sets.h:2757
PACKED::LLI
uint8_t LLI[1]
Definition: data_sets.h:2276
alm_t::i0
double i0
Definition: data_sets.h:2531
PACKED::gnssId
uint8_t gnssId
Definition: data_sets.h:807
GPS_NAV_FIX_POSITIONING_RTK_FIX
Definition: data_sets.h:273
PACKED::gpsRaw
gps_raw_t gpsRaw
Definition: data_sets.h:3430
PACKED::gpsVel
gps_vel_t gpsVel
Definition: data_sets.h:3419
PACKED::val
float val
Definition: data_sets.h:934
CAL_BIT_FAULT_TCAL_PQR_LIN
Definition: data_sets.h:1410
PACKED::lastLlaTimeOfWeekMs
uint32_t lastLlaTimeOfWeekMs
Definition: data_sets.h:1895
debug_array_t
struct PACKED debug_array_t
PACKED::rv_ecef
double rv_ecef[3]
Definition: data_sets.h:2019
PACKED::vDop
float vDop
Definition: data_sets.h:2650
GPS_STATUS_FLAGS_RTK_BASE_DATA_MISSING
Definition: data_sets.h:391
eph_t::iode
int32_t iode
Definition: data_sets.h:2323
prcopt_t::navsys
int32_t navsys
Definition: data_sets.h:2123
INS_STATUS_RTK_RAW_GPS_DATA_ERROR
Definition: data_sets.h:244
PACKED::correctionChecksumFailures
uint32_t correctionChecksumFailures
Definition: data_sets.h:2731
PACKED::inl2States
inl2_states_t inl2States
Definition: data_sets.h:3423
IO_CFG_IMU_1_DISABLE
Definition: data_sets.h:1765
prcopt_t::elmaskar
double elmaskar
Definition: data_sets.h:2210
BIT_STATE_FINISH
Definition: data_sets.h:1370
EVB2_PORT_COUNT
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DEBUG_LF_ARRAY_SIZE
#define DEBUG_LF_ARRAY_SIZE
Definition: data_sets.h:1983
HDW_BIT_FAULT_GPS_POOR_ACCURACY
Definition: data_sets.h:1391
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING_MASK
Definition: data_sets.h:1545
HDW_STATUS_SATURATION_MASK
Definition: data_sets.h:311
GPS_STATUS_FLAGS_RTK_BASE_POSITION_MOVING
Definition: data_sets.h:392
system_fault_t
Definition: data_sets.h:3185
diag_msg_t::messageLength
uint32_t messageLength
Definition: data_sets.h:2815
EVB2_CB_PRESET_COUNT
Definition: data_sets.h:3110
SENSOR_CFG_GYR_DLPF_5HZ
Definition: data_sets.h:1679
EVB_CFG_BITS_WIFI_SELECT_MASK
Definition: data_sets.h:2992
prcopt_t::sclkstab
double sclkstab
Definition: data_sets.h:2204
PACKED::nis
float nis
Definition: data_sets.h:1352
HDW_STATUS_MOTION_ACC_DEV
Definition: data_sets.h:288
PACKED::towOffset
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Definition: data_sets.h:774
PACKED::repoRevision
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Definition: data_sets.h:457
eBitState
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gtime_t::sec
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PACKED::f
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PACKED::lf
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eph_t::toes
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satNo
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PACKED::progress
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PACKED::gDop
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uDatasets
union PACKED uDatasets
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Definition: data_sets.h:379
EVB_STATUS_SD_ERR_CARD_MASK
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DEVINFO_MANUFACTURER_STRLEN
#define DEVINFO_MANUFACTURER_STRLEN
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evb_status_t::sysCommand
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evb_status_t::evbStatus
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PACKED::val2
float val2[3]
Definition: data_sets.h:957
PACKED::PABias
float PABias[3]
Definition: data_sets.h:1956
IO_CONFIG_GPS_TYPE_UBX_M8
Definition: data_sets.h:1753
PACKED::ins1
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eRtosTask
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PACKED::insOffset
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Definition: data_sets.h:1871
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eImuStatus
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PACKED::error_code
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Definition: data_sets.h:2085
imus_t
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raw_data_type_base_station_antenna_position
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survey_in_t::elapsedTimeSec
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Definition: data_sets.h:2855
PACKED::can_period_mult
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PACKED::arThreshold
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Definition: data_sets.h:2180
PACKED::outlier
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PACKED::calBitStatus
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GPS_STATUS_FLAGS_RTK_BASE_POSITION_MASK
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HDW_STATUS_UNUSED_4
Definition: data_sets.h:319
PACKED::uvw
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CAL_BIT_MODE_MASK
Definition: data_sets.h:1400
evb_flash_cfg_t::radioNID
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GNSS_SAT_SIG_CONST_DEFAULT
Definition: data_sets.h:1521
inl2_status_t
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PACKED::v
double v[24]
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SYS_CFG_BITS_DISABLE_GPS2_FUSION
Definition: data_sets.h:1487
PACKED::bv_ecef
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eGpsNavFixStatus
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SYS_CFG_BITS_DISABLE_AUTOBAUD_SER0
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PACKED::chi_square_error
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PACKED::vel
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Definition: data_sets.h:3276
PACKED::checksum
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rmc_t
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PACKED::baseToRoverHeadingAcc
float baseToRoverHeadingAcc
Definition: data_sets.h:2621
PACKED::large_v2b
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CAL_BIT_FAULT_TCAL_ACC_LIN
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DEVINFO_ADDINFO_STRLEN
#define DEVINFO_ADDINFO_STRLEN
Definition: data_sets.h:150
PACKED::svId
uint8_t svId
Definition: data_sets.h:810
PACKED::dt
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PACKED::msl
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eph_t::cis
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sta_t::stationId
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EVB_CFG_BITS_ENABLE_WHEEL_ENCODER
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GPS_STATUS_FLAGS_RTK_FIX_AND_HOLD
Definition: data_sets.h:384
PACKED::Tcal
float Tcal
Definition: data_sets.h:1357
PACKED::lack_of_valid_sats
uint8_t lack_of_valid_sats
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survey_in_t::state
uint32_t state
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eph_t::flag
int32_t flag
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SYS_CMD_MANF_UNLOCK
Definition: data_sets.h:1128
PACKED::mag2
magnetometer_t mag2
Definition: data_sets.h:700
PACKED::tcPqrLinearity
float tcPqrLinearity
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rtk_solution_status_float
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geph_t::age
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Definition: data_sets.h:3369
PACKED::distance
float distance
Definition: data_sets.h:1820
PACKED::omega_r
float omega_r
Definition: data_sets.h:1790
HDW_STATUS_ERR_COM_RX_OVERRUN
Definition: data_sets.h:325
SURVEY_IN_STATE_START_3D
Definition: data_sets.h:2828
evb_status_t::loggerElapsedTimeMs
uint32_t loggerElapsedTimeMs
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prcopt_t::maxtdiff
double maxtdiff
Definition: data_sets.h:2225
PACKED::bits
uint64_t bits
Definition: data_sets.h:1301
prcopt_t::arfilter
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Definition: data_sets.h:3358
PACKED::obs
obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE]
Definition: data_sets.h:2766
PACKED::data
uGpsRawData data
Definition: data_sets.h:2803
INS_STATUS_NAV_MODE
Definition: data_sets.h:202
alm_t::sat
int32_t sat
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PACKED::baroTemp
float baroTemp
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evb_flash_cfg_t
Definition: data_sets.h:3008
eSurveyInStatus
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raw_data_type_rtk_solution
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EVB2_CB_PRESET_RS232
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CID_INS_LAT
Definition: data_sets.h:3364
INS_STATUS_GPS_AIDING_HEADING
Definition: data_sets.h:190
GNSS_SAT_SIG_CONST_SBAS
Definition: data_sets.h:1518
SAT_SV_FLAGS_QUALITYIND_MASK
Definition: data_sets.h:832
SET_STATUS_OFFSET_MASK
#define SET_STATUS_OFFSET_MASK(result, val, offset, mask)
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alm_t::e
double e
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IO_CFG_GPS_TIMEPUSE_SOURCE_ONBOARD_2
Definition: data_sets.h:1719
INS_STATUS_RTK_ERR_BASE_DATA_MISSING
Definition: data_sets.h:246
PACKED::baseGpsObservationCount
uint32_t baseGpsObservationCount
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IO_CONFIG_GPS_TYPE_UBX_F9P
Definition: data_sets.h:1755
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Definition: data_sets.h:290
MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE
#define MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE
Definition: data_sets.h:2301
PACKED::sysParams
sys_params_t sysParams
Definition: data_sets.h:3427
PACKED::mag_cal_done
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Definition: data_sets.h:923
GPS_STATUS_FLAGS_RTK_POSITION_VALID
Definition: data_sets.h:397
PACKED::mag
float mag[3]
Definition: data_sets.h:642
system_fault_t::psr
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HDW_BIT_MODE_MASK
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GPS_RAW_MESSAGE_BUF_SIZE
#define GPS_RAW_MESSAGE_BUF_SIZE
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Definition: data_sets.h:3251
PACKED::wrap_count_r
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SENSOR_CFG_GYR_DLPF_10HZ
Definition: data_sets.h:1678
geph_t::dtaun
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PACKED::theta_l
float theta_l
Definition: data_sets.h:1781
PACKED::biasPqr
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Definition: data_sets.h:893
PACKED::averageRunTimeUs
float averageRunTimeUs
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SENSOR_CFG_GYR_DLPF_OFFSET
Definition: data_sets.h:1681
PACKED::timeOfWeekMs
uint32_t timeOfWeekMs
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CAL_BIT_FAULT_TCAL_INCONSISTENT
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wheel_encoder_t
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ins_1_t
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NUM_WIFI_PRESETS
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Definition: data_sets.h:2999
sys_params_t
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PACKED::imu
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Definition: data_sets.h:696
GNSS_SAT_SIG_CONST_QZSS
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SYS_CFG_BITS_DISABLE_MAGNETOMETER_FUSION
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SURVEY_IN_STATE_SAVE_POS
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PACKED::gnssSatSigConst
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Definition: data_sets.h:1883
eSatSvFlags
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Definition: data_sets.h:830
PACKED::gpzda
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Definition: data_sets.h:1172
IO_CFG_GPS_TIMEPUSE_SOURCE_ONBOARD_1
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PACKED::barTemp
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Definition: data_sets.h:659
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BIT_STATE_COMMAND_OFF
Definition: data_sets.h:1371
eph_t::svh
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Definition: data_sets.h:2332
RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1
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Definition: data_sets.h:2423
PUSH_PACK_1
#define PUSH_PACK_1
Definition: ISConstants.h:231
PACKED::task
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Definition: data_sets.h:3335
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Definition: data_sets.h:3150
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Definition: data_sets.h:2374
RTK_CFG_BITS_ROVER_MODE_ONBOARD_MASK
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eDataIDs
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Definition: data_sets.h:32
GPS_STATUS_FLAGS_RTK_RAW_GPS_DATA_ERROR
Definition: data_sets.h:390
eph_t::M0
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Definition: data_sets.h:2368
PACKED::imu
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Definition: data_sets.h:3410
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Definition: data_sets.h:1325
PACKED::code_outlier
uint8_t code_outlier
Definition: data_sets.h:2044
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Definition: data_sets.h:3140
sys_sensors_adc_t
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EVB2_LOG_CMD_PURGE
Definition: data_sets.h:3129
evb_flash_cfg_t::h4xRadioBaudRate
uint32_t h4xRadioBaudRate
Definition: data_sets.h:3074
SAT_SV_FLAGS_ORBITSOURCE_MASK
Definition: data_sets.h:838
raw_data_type_ephemeris
Definition: data_sets.h:2745
prcopt_t::max_baseline_error
double max_baseline_error
Definition: data_sets.h:2240
PACKED::gpioStatus
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Definition: data_sets.h:1317
MAG_RECAL_CMD_SINGLE_AXIS
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alm_t::svconf
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satNumCalc
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Definition: data_sets.c:908
PACKED::divergent_pnt_pos_iteration
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Definition: data_sets.h:1716
PACKED::roverSbasCount
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#define WIFI_SSID_PSK_SIZE
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SURVEY_IN_STATE_RUNNING_FLOAT
Definition: data_sets.h:2834
SENSOR_CFG_GYR_DLPF_250HZ
Definition: data_sets.h:1673
SENSOR_CFG_ACC_FS_16G
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Definition: data_sets.h:3377
PACKED::pins1
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Definition: data_sets.h:1148
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Definition: data_sets.h:2317
EVB2_PORT_SP330
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PACKED::diameter
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SENSOR_CFG_GYR_FS_2000
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PACKED::ana4
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INS_STATUS_GPS_UPDATE_IN_SOLUTION
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HDW_STATUS_SATURATION_MAG
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eph_t::f2
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HDW_STATUS_STROBE_IN_EVENT
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evb_server_t::port
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EVB2_CB_OPTIONS_BLE_ENABLE
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Definition: data_sets.h:2653
PACKED::pqr
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Definition: data_sets.h:603
NUM_IMU_DEVICES
#define NUM_IMU_DEVICES
Definition: data_sets.h:164
GPS_STATUS_FLAGS_RTK_BASE_POSITION_INVALID
Definition: data_sets.h:393
PACKED::bp_ecef
double bp_ecef[3]
Definition: data_sets.h:2021
HDW_BIT_MODE
#define HDW_BIT_MODE(hdwBitStatus)
Definition: data_sets.h:1382
HDW_BIT_PASSED_ALL
Definition: data_sets.h:1378
HDW_STATUS_SYSTEM_RESET_REQUIRED
Definition: data_sets.h:316
dual_imu_t
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IO_CFG_IMU_2_DISABLE
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Definition: data_sets.h:3365
PACKED::phase_outlier
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Definition: data_sets.h:2045
GPS_STATUS_FLAGS_RTK_COMPASSING_BASELINE_BAD
Definition: data_sets.h:399
prcopt_t::gpsmodear
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Definition: data_sets.h:2138
PACKED::tcAccLinearity
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Definition: data_sets.h:1444
evb_status_t::timeOfWeekMs
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Definition: data_sets.h:2946
RTK_CFG_BITS_RTK_BASE_SER1
Definition: data_sets.h:1616
SAT_SV_FLAGS_SV_USED
Definition: data_sets.h:833
PACKED::end_relpos
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Definition: data_sets.h:2063
PACKED::key
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Definition: data_sets.h:485
PACKED::receiverIndex
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Definition: data_sets.h:2791
BIT_STATE_CMD_BASIC_MOVING
Definition: data_sets.h:1366
evb_status_t::week
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Definition: data_sets.h:2943
INS_STATUS_ALIGN_COARSE_MASK
Definition: data_sets.h:176
eGpsStatus
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Definition: data_sets.h:360
RTK_CFG_BITS_ALL_MODES_MASK
Definition: data_sets.h:1648
evb_flash_cfg_t::checksum
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Definition: data_sets.h:3014
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Definition: data_sets.h:1664
PACKED::bits
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Definition: data_sets.h:1811
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Definition: data_sets.h:1717
PACKED::week
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Definition: CAN_comm.h:26
PACKED::tcAccBias
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Definition: data_sets.h:1436
CAL_BIT_FAULT_MOTION_ACC
Definition: data_sets.h:1418
PACKED::ser0BaudRate
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Definition: data_sets.h:308
eEvb2ComBridgePreset
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julianToDate
void julianToDate(double julian, int32_t *year, int32_t *month, int32_t *day, int32_t *hour, int32_t *minute, int32_t *second, int32_t *millisecond)
Definition: data_sets.c:607
PACKED::mag
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Definition: data_sets.h:3412
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Definition: data_sets.h:1804
PACKED::cno
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Definition: data_sets.h:813
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Definition: data_sets.h:2111
PACKED::gpsRtkMisc
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Definition: data_sets.h:3422
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Definition: data_sets.h:398
alm_t::OMG0
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Definition: data_sets.h:2534
PACKED::att_aligned
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Definition: data_sets.h:919
PACKED::L
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Definition: data_sets.h:1689
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Definition: CAN_comm.h:191
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Definition: data_sets.h:3041
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Definition: data_sets.h:1356
PACKED::magInc
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Definition: data_sets.h:905
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Definition: data_sets.h:920
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alm_t::M0
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Definition: data_sets.h:3188
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Definition: data_sets.h:910
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Definition: data_sets.h:280
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Definition: data_sets.c:745
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Definition: data_sets.h:407
PACKED::timeToFirstFixMs
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PACKED::ppimu
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Definition: data_sets.h:1145
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#define NUM_ANA_CHANNELS
Definition: data_sets.h:1188
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Definition: data_sets.h:759
PACKED::wheelEncoder
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PACKED::baseToRoverDistance
float baseToRoverDistance
Definition: data_sets.h:2615
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Definition: data_sets.h:2665
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Definition: data_sets.h:2326
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Definition: data_sets.h:913
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Definition: data_sets.h:1539
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struct PACKED inl2_mag_obs_info_t
BIT_STATE_CMD_FULL_STATIONARY
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Definition: data_sets.h:405
HDW_BIT_FAULT_BAROMETER
Definition: data_sets.h:1388
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Definition: data_sets.h:1122
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Definition: data_sets.h:1051
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Definition: data_sets.h:1735
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Definition: data_sets.h:1831
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Definition: data_sets.h:2006
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Definition: data_sets.h:1599
PACKED::roverGpsObservationCount
uint32_t roverGpsObservationCount
Definition: data_sets.h:2659
CAL_BIT_FAULT_TCAL_TSPAN
Definition: data_sets.h:1405
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EVB_STATUS_SD_ERR_CARD_FULL
Definition: data_sets.h:2877
DYN_AUTOMOTIVE
Definition: data_sets.h:1832
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Definition: data_sets.h:369
PACKED::roverBeidouEphemerisCount
uint32_t roverBeidouEphemerisCount
Definition: data_sets.h:2707
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Definition: data_sets.h:395
IMU_STATUS_RESERVED2
Definition: data_sets.h:732
eIoConfig
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Definition: data_sets.h:1698
PACKED::double_debug
double double_debug[4]
Definition: data_sets.h:2094
ion_model_utc_alm_t::alm
alm_t alm
Definition: data_sets.h:2574
PACKED::invCommand
uint32_t invCommand
Definition: data_sets.h:1112
HDW_STATUS_ERR_COM_TX_LIMITED
Definition: data_sets.h:323
PACKED::barTemp
f_t barTemp
Definition: data_sets.h:1194
gen_1axis_sensor_t
struct PACKED gen_1axis_sensor_t
PACKED::obs_pairs_used
uint8_t obs_pairs_used
Definition: data_sets.h:2101
PACKED::wheelConfig
wheel_config_t wheelConfig
Definition: data_sets.h:1937
EVB_STATUS_WIFI_ENABLED
Definition: data_sets.h:2883
INS_STATUS_RTK_ERR_BASE_POSITION_MOVING
Definition: data_sets.h:248
alm_t::week
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Definition: data_sets.h:2519
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double gpsToUnix(uint32_t gpsWeek, uint32_t gpsTimeofWeekMS, uint8_t leapSeconds)
Definition: data_sets.c:699
PACKED::ser1BaudRate
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Definition: data_sets.h:1865
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Definition: data_sets.h:1611
PACKED::auto_recal
uint32_t auto_recal
Definition: data_sets.h:1347
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double cus
Definition: data_sets.h:2389
RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_USB
Definition: data_sets.h:1584
PACKED::waiting_for_base_packet
uint8_t waiting_for_base_packet
Definition: data_sets.h:2071
PACKED::ahrs_gps_cnt
int ahrs_gps_cnt
Definition: data_sets.h:916
eph_t::crs
double crs
Definition: data_sets.h:2383
GFC_FLASH_CHECKSUM_FAILURE
Definition: data_sets.h:1093
PACKED::nv
int32_t nv
Definition: data_sets.h:2032
HDW_BIT_FAULT_GPS_NOISE
Definition: data_sets.h:1392
PACKED::theta_r
float theta_r
Definition: data_sets.h:1784
eph_t::f1
double f1
Definition: data_sets.h:2407
SENSOR_CFG_GYR_DLPF_41HZ
Definition: data_sets.h:1676
INS_STATUS_MAG_AIDING_HEADING
Definition: data_sets.h:199
IO_CFG_GPS_TIMEPUSE_SOURCE_STROBE_G5_PIN9
Definition: data_sets.h:1721
PACKED::pins2
uint32_t pins2
Definition: data_sets.h:1151
EVB_STATUS_SD_CARD_READY
Definition: data_sets.h:2868
serialNumChecksum32
uint32_t serialNumChecksum32(const void *data, int size)
Definition: data_sets.c:551
IO_CONFIG_INPUT_STROBE_TRIGGER_HIGH
Definition: data_sets.h:1701
SAT_SV_FLAGS_HEALTH_MASK
Definition: data_sets.h:834
INS_STATUS_SOLUTION_OFFSET
Definition: data_sets.h:212
EVB2_CB_OPTIONS_SPI_ENABLE
Definition: data_sets.h:2927
PACKED::gapCount
uint32_t gapCount
Definition: data_sets.h:3313
PACKED::baseQzsObservationCount
uint32_t baseQzsObservationCount
Definition: data_sets.h:2686
SYS_CFG_BITS_MAG_RECAL_MODE_MASK
Definition: data_sets.h:1476
PACKED::pDop
float pDop
Definition: data_sets.h:768
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double maxgdop
Definition: data_sets.h:2236
PACKED::pImu
preintegrated_imu_t pImu
Definition: data_sets.h:3417
inl2_states_t
struct PACKED inl2_states_t
TASK_SAMPLE
Definition: data_sets.h:3236
PACKED::baseAntennaCount
uint32_t baseAntennaCount
Definition: data_sets.h:2725
PACKED::ionUtcAlmCount
uint32_t ionUtcAlmCount
Definition: data_sets.h:2728
UINS_RTOS_NUM_TASKS
Definition: data_sets.h:3254
PACKED::lotNumber
uint32_t lotNumber
Definition: data_sets.h:479
HDW_STATUS_FAULT_RESET_BACKUP_MODE
Definition: data_sets.h:344
EVB2_CB_OPTIONS_SP330_RS422
Definition: data_sets.h:2923
PACKED::bad_baseline_holdamb
uint8_t bad_baseline_holdamb
Definition: data_sets.h:2050
HDW_BIT_PASSED_NO_GPS
Definition: data_sets.h:1379
INS_STATUS_RTK_COMPASSING_VALID
Definition: data_sets.h:240
MAG_RECAL_CMD_MULTI_AXIS
Definition: data_sets.h:1323
PACKED::gpgsa
uint32_t gpgsa
Definition: data_sets.h:1166
PACKED::buildNumber
uint32_t buildNumber
Definition: data_sets.h:451
PACKED::numSats
uint32_t numSats
Definition: data_sets.h:858
PACKED::startupGPSDtMs
uint32_t startupGPSDtMs
Definition: data_sets.h:1928
eph_t::cuc
double cuc
Definition: data_sets.h:2386
ion_model_utc_alm_t::leaps
int32_t leaps
Definition: data_sets.h:2572
IO_CFG_GPS_TIMEPUSE_SOURCE_OFFSET
Definition: data_sets.h:1715
RTK_CFG_BITS_ROVER_MODE_RTK_COMPASSING
Definition: data_sets.h:1542
PACKED::vin
float vin
Definition: data_sets.h:1001
survey_in_t::minAccuracy
float minAccuracy
Definition: data_sets.h:2852
PACKED::command
uint32_t command
Definition: data_sets.h:1109
RTK_CFG_BITS_RTK_BASE_OUTPUT_GPS2_UBLOX
Definition: data_sets.h:1627
GFC_SENSOR_SATURATION
Definition: data_sets.h:1101
pos_measurement_t
PUSH_PACK_1 struct PACKED pos_measurement_t
SENSOR_CFG_ACC_DLPF_10HZ
Definition: data_sets.h:1690
PACKED::D
float D[1]
Definition: data_sets.h:2297
PACKED::arRatio
float arRatio
Definition: data_sets.h:2609
HDW_BIT_FAULT_NOISE_PQR
Definition: data_sets.h:1385
SENSOR_CFG_ACC_DLPF_MASK
Definition: data_sets.h:1692
INS_STATUS_GENERAL_FAULT
Definition: data_sets.h:259
TASK_NAV
Definition: data_sets.h:3239
PACKED::hdwStatus
uint32_t hdwStatus
Definition: CAN_comm.h:40
gps_rtk_opt_t
prcopt_t gps_rtk_opt_t
Definition: data_sets.h:2258
manufacturing_info_t
struct PACKED manufacturing_info_t
INS_STATUS_MAG_INTERFERENCE_OR_BAD_CAL
Definition: data_sets.h:232
SYS_CMD_ENABLE_RTOS_STATS
Definition: data_sets.h:1121
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Definition: data_sets.h:2909
PACKED::humidity
f_t humidity
Definition: data_sets.h:1195
IO_CONFIG_GPS_SOURCE_ONBOARD_2
Definition: data_sets.h:1744
evb_flash_cfg_t::cbOptions
uint32_t cbOptions
Definition: data_sets.h:3029
PACKED::hardwareVer
uint8_t hardwareVer[4]
Definition: data_sets.h:445
eph_t::i0
double i0
Definition: data_sets.h:2359
INS_STATUS_UNUSED_1
Definition: data_sets.h:178
SAT_SV_FLAGS_EPHAVAIL
Definition: data_sets.h:840
SAT_SV_FLAGS_AOPAVAIL
Definition: data_sets.h:843
HDW_BIT_FAULT_GPS_POOR_CNO
Definition: data_sets.h:1390
SAT_SV_FLAGS_SMOOTHED
Definition: data_sets.h:837
SURVEY_IN_STATE_RUNNING_FIX
Definition: data_sets.h:2835
evb_server_t::ipAddr
uint32_t ipAddr
Definition: data_sets.h:2983
SAT_SV_FLAGS_ORBITSOURCE_OFFSET
Definition: data_sets.h:839
PACKED::runTimeUs
uint32_t runTimeUs
Definition: data_sets.h:3304
PACKED::reserved
uint32_t reserved
Definition: data_sets.h:439
ins_3_t
struct PACKED ins_3_t
GNSS_SAT_SIG_CONST_GPS
Definition: data_sets.h:1508
PACKED::rp_ecef
double rp_ecef[3]
Definition: data_sets.h:2018
EVB2_LOG_CMD_START
Definition: data_sets.h:3123
evb_flash_cfg_t::cbPreset
uint8_t cbPreset
Definition: data_sets.h:3020
SAT_SV_FLAGS_DIFFCORR
Definition: data_sets.h:836
IO_CONFIG_GPS_SOURCE_SER1
Definition: data_sets.h:1748
PACKED::cpuUsage
float cpuUsage
Definition: data_sets.h:3316
PACKED::magInclination
float magInclination
Definition: data_sets.h:1919
PACKED::posMeasurement
pos_measurement_t posMeasurement
Definition: data_sets.h:3416
PACKED::accuracyCovUD
float accuracyCovUD[6]
Definition: data_sets.h:426
INS_STATUS_SOLUTION_NAV
Definition: data_sets.h:218
PACKED::hDop
float hDop
Definition: data_sets.h:2647
PACKED::waiting_for_rover_packet
uint8_t waiting_for_rover_packet
Definition: data_sets.h:2070
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int32_t maxout
Definition: data_sets.h:2150
prcopt_t::glomodear
int32_t glomodear
Definition: data_sets.h:2135
PACKED::mslBar
float mslBar
Definition: data_sets.h:656
EVB2_CB_PRESET_USB_HUB_RS232
Definition: data_sets.h:3104
HDW_STATUS_MOTION_GYR_DEV
Definition: data_sets.h:286
PACKED::code
uint8_t code[1]
Definition: data_sets.h:2279
GPS_STATUS_FLAGS_STATIC_MODE
Definition: data_sets.h:388
PACKED::raw_ptr_queue_overrun
uint8_t raw_ptr_queue_overrun
Definition: data_sets.h:2102
io_t
struct PACKED io_t
gps_version_t
struct PACKED gps_version_t
PACKED::reserved1
uint8_t reserved1
Definition: data_sets.h:2089
PACKED::declination
float declination
Definition: data_sets.h:1338
PACKED::roverGpsEphemerisCount
uint32_t roverGpsEphemerisCount
Definition: data_sets.h:2689
eRTKConfigBits
eRTKConfigBits
Definition: data_sets.h:1530
EVB_STATUS_XBEE_CONFIGURED
Definition: data_sets.h:2895
PACKED::swVersion
uint8_t swVersion[30]
Definition: data_sets.h:868
prcopt_t::elmin
double elmin
Definition: data_sets.h:2126
eph_t::A
double A
Definition: data_sets.h:2353
PACKED::nis_threshold
float nis_threshold
Definition: data_sets.h:1353
PACKED::PvelNED
float PvelNED[3]
Definition: data_sets.h:1952
PACKED::genFaultCode
uint32_t genFaultCode
Definition: data_sets.h:1066
PACKED::start_relpos
uint8_t start_relpos
Definition: data_sets.h:2061
INS_STATUS_RTK_COMPASSING_MASK
Definition: data_sets.h:227
CID_INS_TIME
Definition: data_sets.h:3357
preintegrated_imu_t
struct PACKED preintegrated_imu_t
GPS_STATUS_FIX_DGPS
Definition: data_sets.h:373
EVB2_CB_OPTIONS_XBEE_ENABLE
Definition: data_sets.h:2924
CAL_BIT_FAULT_TCAL_PQR_SLOPE
Definition: data_sets.h:1409
PACKED::sta
sta_t sta
Definition: data_sets.h:2778
wheel_config_t
struct PACKED wheel_config_t
SYS_CFG_BITS_DISABLE_PACKET_ENCODING
Definition: data_sets.h:1501
INS_STATUS_RTK_ERR_BASE_POSITION_INVALID
Definition: data_sets.h:250
HDW_STATUS_BIT_FAULT
Definition: data_sets.h:333
RTK_CFG_BITS_BASE_POS_MOVING
Definition: data_sets.h:1590
PACKED::buf
uint8_t buf[GPS_RAW_MESSAGE_BUF_SIZE]
Definition: data_sets.h:2784
PACKED::ins4
ins_4_t ins4
Definition: data_sets.h:3409
HDW_STATUS_FAULT_SYS_CRITICAL
Definition: data_sets.h:353
PACKED::eph
eph_t eph
Definition: data_sets.h:2769
GFC_INIT_GPS1
Definition: data_sets.h:1087
IO_CFG_GPS_TIMEPUSE_SOURCE_BITMASK
Definition: data_sets.h:1712
INS_STATUS_RTK_ERR_BASE_MASK
Definition: data_sets.h:252
PACKED::addInfo
char addInfo[DEVINFO_ADDINFO_STRLEN]
Definition: data_sets.h:469
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Definition: data_sets.h:2911
PACKED::tcPqrSlope
float tcPqrSlope
Definition: data_sets.h:1439
PACKED::baseToRoverHeading
float baseToRoverHeading
Definition: data_sets.h:2618
SYS_CMD_MANF_CHIP_ERASE
Definition: data_sets.h:1130
PACKED::sAcc
float sAcc
Definition: data_sets.h:796
evb_wifi_t
Definition: data_sets.h:2970
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int32_t minfix
Definition: data_sets.h:2171
alm_t::OMGd
double OMGd
Definition: data_sets.h:2543
SYS_CFG_BITS_ENABLE_NAV_STROBE_OUT_GPIO_9
Definition: data_sets.h:1499
PACKED::zero_angrate
int zero_angrate
Definition: data_sets.h:912
RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_USB
Definition: data_sets.h:1578
geph_t::sva
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Definition: data_sets.h:2438
RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0
Definition: data_sets.h:1554
PACKED::buildDate
uint8_t buildDate[4]
Definition: data_sets.h:463
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Definition: data_sets.h:3273
gtime_t::time
int64_t time
Definition: data_sets.h:2009
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Definition: data_sets.h:3248
PACKED::lla
double lla[3]
Definition: data_sets.h:511
HDW_STATUS_GPS_SATELLITE_RX
Definition: data_sets.h:293
SAT_SV_FLAGS_ALMAVAIL
Definition: data_sets.h:841
PACKED::theta2
int16_t theta2
Definition: CAN_comm.h:49
RTK_CFG_BITS_ROVER_MODE_RTK_POSITIONING
Definition: data_sets.h:1533
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Definition: data_sets.h:3382
PACKED::magInsHdgDelta
float magInsHdgDelta
Definition: data_sets.h:1351
IO_CONFIG_INPUT_STROBE_PIN_2_ENABLE
Definition: data_sets.h:1703
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Definition: data_sets.h:262
SENSOR_CFG_ACC_DLPF_45HZ
Definition: data_sets.h:1688
PACKED::roverGlonassEphemerisCount
uint32_t roverGlonassEphemerisCount
Definition: data_sets.h:2695
eMagRecalMode
eMagRecalMode
Definition: data_sets.h:1320
flipDoubles
void flipDoubles(uint8_t *data, int dataLength, int offset, uint16_t *offsets, uint16_t offsetsLength)
Definition: data_sets.c:91
getDoubleOffsets
uint16_t * getDoubleOffsets(eDataIDs dataId, uint16_t *offsetsLength)
Definition: data_sets.c:141
flipDoubleCopy
double flipDoubleCopy(double val)
Definition: data_sets.c:60
PACKED::PattNED
float PattNED[3]
Definition: data_sets.h:1954
prcopt_t::thresslip
double thresslip
Definition: data_sets.h:2216
PACKED::magDeclination
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INS_STATUS_POS_ALIGN_FINE
Definition: data_sets.h:185
SURVEY_IN_STATE_OFF
Definition: data_sets.h:2824
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Definition: data_sets.h:1720
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Definition: data_sets.h:1569
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eRtkSolStatus
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Definition: data_sets.h:2578
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eEvbFlashCfgBits
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inertial_sense_ros
Author(s):
autogenerated on Sat Sep 19 2020 03:19:04