xsrawgnsspvtdata.h

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
 
//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//  
//  3.  Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
#ifndef XSRAWGNSSPVTDATA_H
#define XSRAWGNSSPVTDATA_H
 
#include "pstdint.h"
 
#ifdef _MSC_VER
        #pragma pack(push, 1)
#elif defined (__ICCARM__)
        _Pragma("pack(push, 1)")
#endif
 
#define XSRAWGNSSPVTDATA_INITIALIZER { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
#ifdef __cplusplus
        #include <cstring>
#endif
 
// The valid flag from the PVT package has the following fields, x is the valid flag:
#define GNSS_PVT_VALID_DATE(x)          (0x01 & x)      // UTC date is valid
#define GNSS_PVT_VALID_TIME(x)          (0x02 & x)      // UTC time of day is valid
#define GNSS_PVT_VALID_RESOLVE(x)       (0x04 & x)      // UTC time of day has been fully resolved
 
// The flag from the PVT package has the following fields, x is the valid flag:
#define GNSS_PVT_FLAGS_GNSS_FIX(x)                              ((0x03 << 0) & x)
#define GNSS_PVT_FLAGS_POWER_SAVE_MODE_STATE(x) ((0x07 << 2) & x)
#define GNSS_PVT_FLAGS_HEADING_VEHICLE_VALID(x) ((0x01 << 5) & x)
#define GNSS_PVT_FLAGS_CARRIER_SOLUTION(x)              ((0x03 << 6) & x)
 
#define GNSS_PVT_FLAGS_GNSS_FIX_NONE                    (0x00)
#define GNSS_PVT_FLAGS_GNSS_FIX_SINGLE                  (0x01)
#define GNSS_PVT_FLAGS_GNSS_FIX_DIFFERENTIAL    (0x03)
 
#define GNSS_PVT_FLAGS_CARRIER_SOLUTION_NONE            (0x00 << 6)
#define GNSS_PVT_FLAGS_CARRIER_SOLUTION_FLOATING        (0x01 << 6)
#define GNSS_PVT_FLAGS_CARRIER_SOLUTION_FIXED           (0x02 << 6)
 
// Default accuracy deviation when not provided by GNSS receiver
#define GNSS_ACCURACY_DEFAULT_DEVIATION                 (10000000)
 
enum XsPvtDataUtcFlags
{
        XPDUF_ValidDate     = 0x01,
        XPDUF_ValidTime     = 0x02,
        XPDUF_FullyResolved = 0x04,
        XPDUF_ValidMag      = 0x08
};
 
enum XsPvtDataQualityIndicator
{
        XPDQI_NoFix             = 0,
        XPDQI_DeadReckiningOnly = 1,
        XPDQI_2DFix             = 2,
        XPDQI_3DFix             = 3,
        XPDQI_GnssAndDeadReck   = 4,
        XPDQI_TimeOnlyFix       = 5
};
struct XsRawGnssPvtData
{
        uint32_t        m_itow;         
        uint16_t        m_year;         
        uint8_t         m_month;        
        uint8_t         m_day;          
        uint8_t         m_hour;         
        uint8_t         m_min;          
        uint8_t         m_sec;          
        uint8_t         m_valid;        
        uint32_t        m_tAcc;         
        int32_t         m_nano;         
        uint8_t         m_fixType;      
        uint8_t         m_flags;        
        uint8_t         m_numSv;        
        uint8_t         m_res1;         
        int32_t         m_lon;          
        int32_t         m_lat;          
        int32_t         m_height;       
        int32_t         m_hMsl;         
 
        uint32_t        m_hAcc;         
        uint32_t        m_vAcc;         
 
        int32_t         m_velN;         
        int32_t         m_velE;         
        int32_t         m_velD;         
        int32_t         m_gSpeed;       
        int32_t         m_headMot;      
 
        uint32_t        m_sAcc;         
        uint32_t        m_headAcc;      
        int32_t         m_headVeh;      
 
        uint16_t        m_gdop;         
        uint16_t        m_pdop;         
        uint16_t        m_tdop;         
        uint16_t        m_vdop;         
        uint16_t        m_hdop;         
        uint16_t        m_ndop;         
        uint16_t        m_edop;         
 
#ifdef __cplusplus
 
        inline bool operator == (const XsRawGnssPvtData& other) const
        {
                // direct memory comparison is allowed because all fields line up properly
                return std::memcmp(this, &other, sizeof(XsRawGnssPvtData)) == 0;
        }
#endif
 
};
typedef struct XsRawGnssPvtData XsRawGnssPvtData;
 
#ifdef _MSC_VER
        #pragma pack(pop)
#elif defined (__ICCARM__)
        _Pragma("pack(pop)")
#endif
 
#endif