Program Listing for File oem7_messages.h
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//
// Copyright (c) 2020 NovAtel Inc.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
#ifndef __OEM7_MESSAGES_H_
#define __OEM7_MESSAGES_H_
#include <stdint.h>
#define ASSERT_MSG "Consult Oem7 manual"
namespace novatel_oem7_driver
{
typedef uint32_t oem7_enum_t;
typedef uint32_t oem7_bool_t;
typedef uint8_t oem7_hex_t;
typedef char oem7_char_t;
static_assert(sizeof(oem7_char_t) == 1, ASSERT_MSG);
static_assert(sizeof(double) == 8, ASSERT_MSG);
static_assert(sizeof(float) == 4, ASSERT_MSG);
struct __attribute__((packed))
Oem7MessageCommonHeaderMem
{
char sync1;
char sync2;
char sync3;
uint8_t message_length;
uint16_t message_id;
};
struct __attribute__((packed))
Oem7MessageHeaderMem
{
char sync1;
char sync2;
char sync3;
uint8_t header_length;
uint16_t message_id;
char message_type;
uint8_t port_address;
uint16_t message_length;
uint16_t sequence;
uint8_t idle_time;
uint8_t time_status;
uint16_t gps_week;
int32_t gps_milliseconds;
uint32_t receiver_status;
uint16_t reserved;
uint16_t receiver_version;
};
struct __attribute__((packed))
Oem7MessgeShortHeaderMem
{
char sync1;
char sync2;
char sync3;
uint8_t message_length;
uint16_t message_id;
uint16_t gps_week;
int32_t gps_milliseconds;
};
struct __attribute__((packed))
BESTPOSMem
{
oem7_enum_t sol_stat;
oem7_enum_t pos_type;
double lat;
double lon;
double hgt;
float undulation;
oem7_enum_t datum_id;
float lat_stdev;
float lon_stdev;
float hgt_stdev;
oem7_char_t stn_id[4];
float diff_age;
float sol_age;
uint8_t num_svs;
uint8_t num_sol_svs;
uint8_t num_sol_l1_svs;
uint8_t num_sol_multi_svs;
oem7_hex_t reserved;
oem7_hex_t ext_sol_stat;
uint8_t galileo_beidou_sig_mask;
uint8_t gps_glonass_sig_mask;
};
static_assert(sizeof(BESTPOSMem) == 72, ASSERT_MSG);
struct __attribute__((packed))
BESTVELMem
{
uint32_t sol_stat;
uint32_t vel_type;
float latency;
float diff_age;
double hor_speed;
double track_gnd;
double ver_speed;
float reserved;
};
static_assert(sizeof(BESTVELMem) == 44, ASSERT_MSG);
struct __attribute__((packed))
BESTGNSSPOSMem
{
oem7_enum_t sol_stat;
oem7_enum_t pos_type;
double lat;
double lon;
double hgt;
float undulation;
oem7_enum_t datum_id;
float lat_stdev;
float lon_stdev;
float hgt_stdev;
oem7_char_t stn_id[4];
float diff_age;
float sol_age;
uint8_t num_svs;
uint8_t num_sol_svs;
uint8_t num_sol_l1_svs;
uint8_t num_sol_multi_svs;
oem7_hex_t reserved;
oem7_hex_t ext_sol_stat;
uint8_t galileo_beidou_sig_mask;
uint8_t gps_glonass_sig_mask;
};
static_assert(sizeof(BESTGNSSPOSMem) == 72, ASSERT_MSG);
struct __attribute__((packed))
INSPVASmem
{
uint32_t gnss_week;
double seconds;
double latitude;
double longitude;
double height;
double north_velocity;
double east_velocity;
double up_velocity;
double roll;
double pitch;
double azimuth;
oem7_enum_t status;
};
static_assert(sizeof(INSPVASmem) == 88, ASSERT_MSG);
struct __attribute__((packed))
CORRIMUSMem
{
uint32_t imu_data_count;
double pitch_rate;
double roll_rate;
double yaw_rate;
double lateral_acc;
double longitudinal_acc;
double vertical_acc;
uint32_t reserved1;
uint32_t reserved2;
};
static_assert(sizeof(CORRIMUSMem) == 60, ASSERT_MSG);
struct __attribute__((packed))
IMURATECORRIMUSMem
{
uint32_t week;
double seconds;
double pitch_rate;
double roll_rate;
double yaw_rate;
double lateral_acc;
double longitudinal_acc;
double vertical_acc;
};
static_assert(sizeof(IMURATECORRIMUSMem) == 60, ASSERT_MSG);
struct __attribute__((packed))
INSSTDEVMem
{
float latitude_stdev;
float longitude_stdev;
float height_stdev;
float north_velocity_stdev;
float east_velocity_stdev;
float up_velocity_stdev;
float roll_stdev;
float pitch_stdev;
float azimuth_stdev;
uint32_t ext_sol_status;
uint16_t time_since_last_update;
uint16_t reserved1;
uint32_t reserved2;
uint32_t reserved3;
};
static_assert(sizeof(INSSTDEVMem) == 52, ASSERT_MSG);
struct __attribute__((packed))
INSCONFIG_FixedMem
{
oem7_enum_t imu_type;
uint8_t mapping;
uint8_t initial_alignment_velocity;
uint16_t heave_window;
oem7_enum_t profile;
oem7_hex_t enabled_updates[4];
oem7_enum_t alignment_mode;
oem7_enum_t relative_ins_output_frame;
oem7_bool_t relative_ins_output_direction;
oem7_hex_t ins_receiver_status[4];
uint8_t ins_seed_enabled;
uint8_t ins_seed_validation;
uint16_t reserved_1;
uint32_t reserved_2;
uint32_t reserved_3;
uint32_t reserved_4;
uint32_t reserved_5;
uint32_t reserved_6;
uint32_t reserved_7;
};
static_assert(sizeof(INSCONFIG_FixedMem) == 60, ASSERT_MSG);
struct __attribute__((packed))
INSCONFIG_TranslationMem
{
uint32_t translation;
uint32_t frame;
float x_offset;
float y_offset;
float z_offset;
float x_uncertainty;
float y_uncertainty;
float z_uncertainty;
uint32_t translation_source;
};
struct __attribute__((packed))
INSCONFIG_RotationMem
{
uint32_t rotation;
uint32_t frame;
float x_rotation;
float y_rotation;
float z_rotation;
float x_rotation_stdev;
float y_rotation_stdev;
float z_rotation_stdev;
uint32_t rotation_source;
};
struct __attribute__((packed))
INSPVAXMem
{
oem7_enum_t ins_status;
oem7_enum_t pos_type;
double latitude;
double longitude;
double height;
float undulation;
double north_velocity;
double east_velocity;
double up_velocity;
double roll;
double pitch;
double azimuth;
float latitude_stdev;
float longitude_stdev;
float height_stdev;
float north_velocity_stdev;
float east_velocity_stdev;
float up_velocity_stdev;
float roll_stdev;
float pitch_stdev;
float azimuth_stdev;
uint32_t extended_status;
uint16_t time_since_update;
};
static_assert(sizeof(INSPVAXMem) == 126, ASSERT_MSG);
struct __attribute__((packed))
HEADING2Mem
{
oem7_enum_t sol_status;
oem7_enum_t pos_type;
float length;
float heading;
float pitch;
float reserved;
float heading_stdev;
float pitch_stdev;
oem7_char_t rover_stn_id[4];
oem7_char_t master_stn_id[4];
uint8_t num_sv_tracked;
uint8_t num_sv_in_sol;
uint8_t num_sv_obs;
uint8_t num_sv_multi;
uint8_t sol_source;
uint8_t ext_sol_status;
uint8_t galileo_beidou_sig_mask;
uint8_t gps_glonass_sig_mask;
};
static_assert(sizeof(HEADING2Mem) == 48, ASSERT_MSG);
struct __attribute__((packed))
BESTUTMMem
{
oem7_enum_t sol_stat;
oem7_enum_t pos_type;
uint32_t lon_zone_number;
uint32_t lat_zone_letter;
double northing;
double easting;
double height;
float undulation;
uint32_t datum_id;
float northing_stddev;
float easting_stddev;
float height_stddev;
char stn_id[4];
float diff_age;
float sol_age;
uint8_t num_svs;
uint8_t num_sol_svs;
uint8_t num_sol_ggl1_svs;
uint8_t num_sol_multi_svs;
uint8_t reserved;
uint8_t ext_sol_stat;
uint8_t galileo_beidou_sig_mask;
uint8_t gps_glonass_sig_mask;
};
static_assert(sizeof(BESTUTMMem) == 80, ASSERT_MSG);
struct __attribute__((packed))
RXSTATUSMem
{
uint32_t error;
uint32_t num_status_codes;
uint32_t rxstat;
uint32_t rxstat_pri_mask;
uint32_t rxstat_set_mask;
uint32_t rxstat_clr_mask;
uint32_t aux1_stat;
uint32_t aux1_stat_pri;
uint32_t aux1_stat_set;
uint32_t aux1_stat_clr;
uint32_t aux2_stat;
uint32_t aux2_stat_pri;
uint32_t aux2_stat_set;
uint32_t aux2_stat_clr;
uint32_t aux3_stat;
uint32_t aux3_stat_pri;
uint32_t aux3_stat_set;
uint32_t aux3_stat_clr;
uint32_t aux4_stat;
uint32_t aux4_stat_pri;
uint32_t aux4_stat_set;
uint32_t aux4_stat_clr;
};
static_assert(sizeof(RXSTATUSMem) == 88, ASSERT_MSG);
struct __attribute__((packed))
TIMEMem
{
uint32_t clock_status;
double offset;
double offset_std;
double utc_offset;
uint32_t utc_year;
uint8_t utc_month;
uint8_t utc_day;
uint8_t utc_hour;
uint8_t utc_min;
uint32_t utc_msec;
uint32_t utc_status;
};
static_assert(sizeof(TIMEMem) == 44, ASSERT_MSG);
struct __attribute__((packed))
PSRDOP2_FixedMem
{
float gdop;
float pdop;
float hdop;
float vdop;
};
static_assert(sizeof(PSRDOP2_FixedMem) == 16, ASSERT_MSG);
struct __attribute__((packed))
PSRDOP2_SystemMem
{
uint32_t system;
float tdop;
};
struct __attribute__((packed))
RAWIMUSXMem
{
oem7_hex_t imu_info;
uint8_t imu_type;
uint16_t gnss_week;
double gnss_week_seconds;
oem7_hex_t imu_status[4];
int32_t z_acc;
int32_t y_acc;
int32_t x_acc;
int32_t z_gyro;
int32_t y_gyro;
int32_t x_gyro;
};
static_assert(sizeof(RAWIMUSXMem) == 40, ASSERT_MSG);
struct __attribute__((packed))
PPPPOSMem
{
oem7_enum_t sol_stat;
oem7_enum_t pos_type;
double lat;
double lon;
double hgt;
float undulation;
oem7_enum_t datum_id;
float lat_stdev;
float lon_stdev;
float hgt_stdev;
oem7_char_t stn_id[4];
float diff_age;
float sol_age;
uint8_t num_svs;
uint8_t num_sol_svs;
uint8_t num_sol_l1_svs;
uint8_t num_sol_multi_svs;
oem7_hex_t reserved;
oem7_hex_t ext_sol_stat;
uint8_t reserved2;
uint8_t gps_glonass_sig_mask;
};
static_assert(sizeof(PPPPOSMem) == 72, ASSERT_MSG);
struct __attribute__((packed))
TERRASTARINFOMem
{
oem7_char_t product_activation_code[16];
oem7_enum_t sub_type;
uint32_t sub_permission;
uint32_t service_end_day_of_year;
uint32_t service_end_year;
uint32_t reserved;
oem7_enum_t region_restriction;
float center_point_latitude;
float center_point_longitude;
uint32_t radius;
};
static_assert(sizeof(TERRASTARINFOMem) == 52, ASSERT_MSG);
struct __attribute__((packed))
TERRASTARSTATUSMem
{
oem7_enum_t access_status;
oem7_enum_t sync_state;
uint32_t reserved;
oem7_enum_t local_area_status;
oem7_enum_t geo_status;
};
static_assert(sizeof(TERRASTARSTATUSMem) == 20, ASSERT_MSG);
const std::size_t OEM7_BINARY_MSG_HDR_LEN = sizeof(Oem7MessageHeaderMem);
const std::size_t OEM7_BINARY_MSG_SHORT_HDR_LEN = sizeof(Oem7MessgeShortHeaderMem);
}
#endif