From 2fa0442073d7276bf4568e732938271a6a81092c Mon Sep 17 00:00:00 2001 From: waltjohnson Date: Sun, 25 Nov 2018 02:01:10 -0700 Subject: [PATCH] SDK update. --- CLTool/VS_project/CLTool.vcxproj | 2 +- CMakeLists.txt | 4 +- VS_project/InertialSenseLib.vcxproj | 2 +- docs/doxygen_objdb_9480.tmp | 0 docs/html/_data_c_s_v_8cpp.html | 2 +- docs/html/_data_c_s_v_8cpp_source.html | 2 +- docs/html/_data_c_s_v_8h.html | 2 +- docs/html/_data_c_s_v_8h_source.html | 2 +- docs/html/_data_chunk_8cpp.html | 2 +- docs/html/_data_chunk_8cpp_source.html | 2 +- docs/html/_data_chunk_8h.html | 2 +- docs/html/_data_chunk_8h_source.html | 2 +- docs/html/_data_chunk_sorted_8cpp.html | 2 +- docs/html/_data_chunk_sorted_8cpp_source.html | 2 +- docs/html/_data_chunk_sorted_8h.html | 2 +- docs/html/_data_chunk_sorted_8h_source.html | 2 +- docs/html/_data_j_s_o_n_8cpp.html | 2 +- docs/html/_data_j_s_o_n_8cpp_source.html | 2 +- docs/html/_data_j_s_o_n_8h.html | 2 +- docs/html/_data_j_s_o_n_8h_source.html | 2 +- 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...ve_compare_1_1nocase__compare-members.html | 2 +- ...nsensitive_compare_1_1nocase__compare.html | 2 +- docs/html/structs_chunk_header-members.html | 2 +- docs/html/structs_chunk_header.html | 2 +- .../structs_chunk_sub_header-members.html | 2 +- docs/html/structs_chunk_sub_header.html | 2 +- docs/html/structs_kml_log-members.html | 2 +- docs/html/structs_kml_log.html | 2 +- docs/html/structs_kml_log_data-members.html | 2 +- docs/html/structs_kml_log_data.html | 2 +- docs/html/structs_lpf_o0-members.html | 2 +- docs/html/structs_lpf_o0.html | 2 +- docs/html/structs_lpf_o1-members.html | 2 +- docs/html/structs_lpf_o1.html | 2 +- docs/html/structsbsmsg__t-members.html | 2 +- docs/html/structsbsmsg__t.html | 14 +- docs/html/structserial__port__t-members.html | 2 +- docs/html/structserial__port__t.html | 2 +- .../structserial_port_handle-members.html | 2 +- docs/html/structserial_port_handle.html | 2 +- docs/html/structsta__t-members.html | 2 +- docs/html/structsta__t.html | 14 +- docs/html/structsurvey__in__t-members.html | 2 +- docs/html/structsurvey__in__t.html | 16 +- docs/html/structxmodem__chunk__t-members.html | 2 +- docs/html/structxmodem__chunk__t.html | 2 +- docs/html/time__conversion_8c.html | 2 +- docs/html/time__conversion_8c_source.html | 2 +- docs/html/time__conversion_8h.html | 2 +- docs/html/time__conversion_8h_source.html | 2 +- docs/html/tinystr_8cpp.html | 2 +- docs/html/tinystr_8cpp_source.html | 2 +- docs/html/tinystr_8h.html | 2 +- docs/html/tinystr_8h_source.html | 2 +- docs/html/tinyxml_8cpp.html | 2 +- docs/html/tinyxml_8cpp_source.html | 2 +- docs/html/tinyxml_8h.html | 2 +- docs/html/tinyxml_8h_source.html | 2 +- docs/html/tinyxmlerror_8cpp.html | 2 +- docs/html/tinyxmlerror_8cpp_source.html | 2 +- docs/html/tinyxmlparser_8cpp.html | 2 +- docs/html/tinyxmlparser_8cpp_source.html | 2 +- resources/update_doxygen_docs.bat | 2 +- src/cltool.cpp | 4 +- src/data_sets.h | 13 +- src/pybindMacros.h | 66 + 555 files changed, 5174 insertions(+), 1283 deletions(-) create mode 100644 docs/doxygen_objdb_9480.tmp create mode 100644 docs/html/pybind_macros_8h.html create mode 100644 docs/html/pybind_macros_8h_source.html create mode 100644 docs/html/search/files_8.html create mode 100644 docs/html/search/files_8.js create mode 100644 src/pybindMacros.h diff --git a/CLTool/VS_project/CLTool.vcxproj b/CLTool/VS_project/CLTool.vcxproj index 33a735ca9..6f4d81a6b 100644 --- a/CLTool/VS_project/CLTool.vcxproj +++ b/CLTool/VS_project/CLTool.vcxproj @@ -22,7 +22,7 @@ {F2B29FD9-C54E-4E14-A253-3F8EDE3F542E} Win32Proj CLTool - 10.0.16299.0 + 10.0.17134.0 CLTool diff --git a/CMakeLists.txt b/CMakeLists.txt index a8b088e14..ca5704b72 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -44,5 +44,5 @@ add_definitions( -Wno-extended-offsetof ) -SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu11 -fms-extensions") -SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11 -fms-extensions") \ No newline at end of file +SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu11 -fms-extensions -fPIC") +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11 -fms-extensions -fPIC") diff --git a/VS_project/InertialSenseLib.vcxproj b/VS_project/InertialSenseLib.vcxproj index 7693e15e6..89d3134da 100644 --- a/VS_project/InertialSenseLib.vcxproj +++ b/VS_project/InertialSenseLib.vcxproj @@ -104,7 +104,7 @@ {B6DF5042-23C7-42D9-976B-D313E6EA092C} Win32Proj InertialSenseLib - 10.0.16299.0 + 10.0.17134.0 diff --git a/docs/doxygen_objdb_9480.tmp b/docs/doxygen_objdb_9480.tmp new file mode 100644 index 000000000..e69de29bb diff --git a/docs/html/_data_c_s_v_8cpp.html b/docs/html/_data_c_s_v_8cpp.html index 347824bdc..0980a94d9 100644 --- a/docs/html/_data_c_s_v_8cpp.html +++ b/docs/html/_data_c_s_v_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_c_s_v_8cpp_source.html b/docs/html/_data_c_s_v_8cpp_source.html index 4ce2b4300..4f0371c30 100644 --- a/docs/html/_data_c_s_v_8cpp_source.html +++ b/docs/html/_data_c_s_v_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_c_s_v_8h.html b/docs/html/_data_c_s_v_8h.html index 27aa1d66a..88446e98f 100644 --- a/docs/html/_data_c_s_v_8h.html +++ b/docs/html/_data_c_s_v_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_c_s_v_8h_source.html b/docs/html/_data_c_s_v_8h_source.html index d1155212f..7c373132b 100644 --- a/docs/html/_data_c_s_v_8h_source.html +++ b/docs/html/_data_c_s_v_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_chunk_8cpp.html b/docs/html/_data_chunk_8cpp.html index b5e3e97a4..4cf3bb00c 100644 --- a/docs/html/_data_chunk_8cpp.html +++ b/docs/html/_data_chunk_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_chunk_8cpp_source.html b/docs/html/_data_chunk_8cpp_source.html index f9d93a04b..91b9f4c4d 100644 --- a/docs/html/_data_chunk_8cpp_source.html +++ b/docs/html/_data_chunk_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_chunk_8h.html b/docs/html/_data_chunk_8h.html index 383793138..7bd679269 100644 --- a/docs/html/_data_chunk_8h.html +++ b/docs/html/_data_chunk_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_chunk_8h_source.html b/docs/html/_data_chunk_8h_source.html index 39097673a..98d865db8 100644 --- a/docs/html/_data_chunk_8h_source.html +++ b/docs/html/_data_chunk_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_chunk_sorted_8cpp.html b/docs/html/_data_chunk_sorted_8cpp.html index e91de7188..508b743de 100644 --- a/docs/html/_data_chunk_sorted_8cpp.html +++ b/docs/html/_data_chunk_sorted_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_chunk_sorted_8cpp_source.html b/docs/html/_data_chunk_sorted_8cpp_source.html index 951679962..5c29ea47f 100644 --- a/docs/html/_data_chunk_sorted_8cpp_source.html +++ b/docs/html/_data_chunk_sorted_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_chunk_sorted_8h.html b/docs/html/_data_chunk_sorted_8h.html index 5264ef8c7..0e98e5f4b 100644 --- a/docs/html/_data_chunk_sorted_8h.html +++ b/docs/html/_data_chunk_sorted_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_chunk_sorted_8h_source.html b/docs/html/_data_chunk_sorted_8h_source.html index ba38d843b..ee537f0c2 100644 --- a/docs/html/_data_chunk_sorted_8h_source.html +++ b/docs/html/_data_chunk_sorted_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_j_s_o_n_8cpp.html b/docs/html/_data_j_s_o_n_8cpp.html index 672d82143..e83266842 100644 --- a/docs/html/_data_j_s_o_n_8cpp.html +++ b/docs/html/_data_j_s_o_n_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_j_s_o_n_8cpp_source.html b/docs/html/_data_j_s_o_n_8cpp_source.html index f647de686..e047b4439 100644 --- a/docs/html/_data_j_s_o_n_8cpp_source.html +++ b/docs/html/_data_j_s_o_n_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_j_s_o_n_8h.html b/docs/html/_data_j_s_o_n_8h.html index d06810c0e..06026563f 100644 --- a/docs/html/_data_j_s_o_n_8h.html +++ b/docs/html/_data_j_s_o_n_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_j_s_o_n_8h_source.html b/docs/html/_data_j_s_o_n_8h_source.html index c95c7c606..164186ca2 100644 --- a/docs/html/_data_j_s_o_n_8h_source.html +++ b/docs/html/_data_j_s_o_n_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_k_m_l_8cpp.html b/docs/html/_data_k_m_l_8cpp.html index 16269c627..b69fbcb32 100644 --- a/docs/html/_data_k_m_l_8cpp.html +++ b/docs/html/_data_k_m_l_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_k_m_l_8cpp_source.html b/docs/html/_data_k_m_l_8cpp_source.html index fb7049b50..6586f1d4f 100644 --- a/docs/html/_data_k_m_l_8cpp_source.html +++ b/docs/html/_data_k_m_l_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -78,10 +78,10 @@
cDataKML::GetDatasetName
string GetDatasetName(int kid)
Definition: DataKML.cpp:45
cDataKML::WriteDataToFile
int WriteDataToFile(vector< sKmlLogData > &list, const p_data_hdr_t *dataHdr, const uint8_t *dataBuf)
Definition: DataKML.cpp:65
-
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2571
+
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2576
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:449
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:469
-
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2570
+
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2575
DID_INS_1
#define DID_INS_1
Definition: data_sets.h:38
PACKED::lla
double lla[3]
Definition: data_sets.h:464
DID_GPS1_UBX_POS
#define DID_GPS1_UBX_POS
Definition: data_sets.h:40
@@ -98,7 +98,7 @@
quat2euler
void quat2euler(const Quat_t q, Euler_t theta)
Definition: ISPose.c:185
DID_GPS2_POS
#define DID_GPS2_POS
Definition: data_sets.h:48
data_sets.h
-
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2569
+
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2574
PACKED::timeOfWeekMs
uint32_t timeOfWeekMs
Definition: data_sets.h:646
DID_GPS1_POS
#define DID_GPS1_POS
Definition: data_sets.h:47
p_data_hdr_t
Definition: ISComm.h:466
@@ -107,7 +107,7 @@
DID_GPS1_RTK_POS
#define DID_GPS1_RTK_POS
Definition: data_sets.h:88
-
PACKED::gpsPos
gps_pos_t gpsPos
Definition: data_sets.h:2579
+
PACKED::gpsPos
gps_pos_t gpsPos
Definition: data_sets.h:2584
ISConstants.h
diff --git a/docs/html/_data_k_m_l_8h.html b/docs/html/_data_k_m_l_8h.html index 383c1d699..d59f6ae2d 100644 --- a/docs/html/_data_k_m_l_8h.html +++ b/docs/html/_data_k_m_l_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_data_k_m_l_8h_source.html b/docs/html/_data_k_m_l_8h_source.html index 13d2266e3..adbfc7a15 100644 --- a/docs/html/_data_k_m_l_8h_source.html +++ b/docs/html/_data_k_m_l_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_8cpp.html b/docs/html/_device_log_8cpp.html index 3770ac306..4da436c46 100644 --- a/docs/html/_device_log_8cpp.html +++ b/docs/html/_device_log_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_8cpp_source.html b/docs/html/_device_log_8cpp_source.html index 9519b1080..4a8dd7966 100644 --- a/docs/html/_device_log_8cpp_source.html +++ b/docs/html/_device_log_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_8h.html b/docs/html/_device_log_8h.html index 0fc7f3a9c..0fc82069b 100644 --- a/docs/html/_device_log_8h.html +++ b/docs/html/_device_log_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_8h_source.html b/docs/html/_device_log_8h_source.html index 3dce13fbe..2afdb8e67 100644 --- a/docs/html/_device_log_8h_source.html +++ b/docs/html/_device_log_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_c_s_v_8cpp.html b/docs/html/_device_log_c_s_v_8cpp.html index cf3081b1d..30a4e36e7 100644 --- a/docs/html/_device_log_c_s_v_8cpp.html +++ b/docs/html/_device_log_c_s_v_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_c_s_v_8cpp_source.html b/docs/html/_device_log_c_s_v_8cpp_source.html index f85df4658..41e7d854c 100644 --- a/docs/html/_device_log_c_s_v_8cpp_source.html +++ b/docs/html/_device_log_c_s_v_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_c_s_v_8h.html b/docs/html/_device_log_c_s_v_8h.html index 513901bff..21e7e4876 100644 --- a/docs/html/_device_log_c_s_v_8h.html +++ b/docs/html/_device_log_c_s_v_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_c_s_v_8h_source.html b/docs/html/_device_log_c_s_v_8h_source.html index 28d4ba3cd..a88e6959a 100644 --- a/docs/html/_device_log_c_s_v_8h_source.html +++ b/docs/html/_device_log_c_s_v_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_j_s_o_n_8cpp.html b/docs/html/_device_log_j_s_o_n_8cpp.html index 9b06596ab..092bec0b1 100644 --- a/docs/html/_device_log_j_s_o_n_8cpp.html +++ b/docs/html/_device_log_j_s_o_n_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_j_s_o_n_8cpp_source.html b/docs/html/_device_log_j_s_o_n_8cpp_source.html index 576b54e2f..6f89aa763 100644 --- a/docs/html/_device_log_j_s_o_n_8cpp_source.html +++ b/docs/html/_device_log_j_s_o_n_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_j_s_o_n_8h.html b/docs/html/_device_log_j_s_o_n_8h.html index e3cf14774..d3162de82 100644 --- a/docs/html/_device_log_j_s_o_n_8h.html +++ b/docs/html/_device_log_j_s_o_n_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_j_s_o_n_8h_source.html b/docs/html/_device_log_j_s_o_n_8h_source.html index 8a5e3952c..1a7ba8da1 100644 --- a/docs/html/_device_log_j_s_o_n_8h_source.html +++ b/docs/html/_device_log_j_s_o_n_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_k_m_l_8cpp.html b/docs/html/_device_log_k_m_l_8cpp.html index ca0ada2d2..df5e8ec75 100644 --- a/docs/html/_device_log_k_m_l_8cpp.html +++ b/docs/html/_device_log_k_m_l_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_k_m_l_8cpp_source.html b/docs/html/_device_log_k_m_l_8cpp_source.html index 51be91d8f..69e0f39b6 100644 --- a/docs/html/_device_log_k_m_l_8cpp_source.html +++ b/docs/html/_device_log_k_m_l_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -85,7 +85,7 @@
cDeviceLogKML::SaveData
bool SaveData(p_data_hdr_t *dataHdr, const uint8_t *dataBuf) OVERRIDE
Definition: DeviceLogKML.cpp:397
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:449
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:469
-
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2570
+
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2575
DID_INS_1
#define DID_INS_1
Definition: data_sets.h:38
C_PIDIV2
#define C_PIDIV2
Definition: ISConstants.h:491
diff --git a/docs/html/_device_log_k_m_l_8h.html b/docs/html/_device_log_k_m_l_8h.html index fdabe13e2..915491b82 100644 --- a/docs/html/_device_log_k_m_l_8h.html +++ b/docs/html/_device_log_k_m_l_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_k_m_l_8h_source.html b/docs/html/_device_log_k_m_l_8h_source.html index a4f111c9f..193bf7762 100644 --- a/docs/html/_device_log_k_m_l_8h_source.html +++ b/docs/html/_device_log_k_m_l_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_serial_8cpp.html b/docs/html/_device_log_serial_8cpp.html index f87df428d..fad70b1a4 100644 --- a/docs/html/_device_log_serial_8cpp.html +++ b/docs/html/_device_log_serial_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_serial_8cpp_source.html b/docs/html/_device_log_serial_8cpp_source.html index 0bea6b598..386f6d5f4 100644 --- a/docs/html/_device_log_serial_8cpp_source.html +++ b/docs/html/_device_log_serial_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_serial_8h.html b/docs/html/_device_log_serial_8h.html index 4498d7fe5..7edf4b9c7 100644 --- a/docs/html/_device_log_serial_8h.html +++ b/docs/html/_device_log_serial_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_serial_8h_source.html b/docs/html/_device_log_serial_8h_source.html index c90dbf25b..07bf3a5b2 100644 --- a/docs/html/_device_log_serial_8h_source.html +++ b/docs/html/_device_log_serial_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_sorted_8cpp.html b/docs/html/_device_log_sorted_8cpp.html index 298d6c959..a2c1c5d2a 100644 --- a/docs/html/_device_log_sorted_8cpp.html +++ b/docs/html/_device_log_sorted_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_sorted_8cpp_source.html b/docs/html/_device_log_sorted_8cpp_source.html index 3c984e61e..b24f06646 100644 --- a/docs/html/_device_log_sorted_8cpp_source.html +++ b/docs/html/_device_log_sorted_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_sorted_8h.html b/docs/html/_device_log_sorted_8h.html index d6147e8ad..d2546d587 100644 --- a/docs/html/_device_log_sorted_8h.html +++ b/docs/html/_device_log_sorted_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_device_log_sorted_8h_source.html b/docs/html/_device_log_sorted_8h_source.html index 4408a6128..6b4f52776 100644 --- a/docs/html/_device_log_sorted_8h_source.html +++ b/docs/html/_device_log_sorted_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_gps_parser_8cpp.html b/docs/html/_gps_parser_8cpp.html index 39fc45e1e..1ab62f7be 100644 --- a/docs/html/_gps_parser_8cpp.html +++ b/docs/html/_gps_parser_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_gps_parser_8cpp_source.html b/docs/html/_gps_parser_8cpp_source.html index 584b59433..2bb9b563d 100644 --- a/docs/html/_gps_parser_8cpp_source.html +++ b/docs/html/_gps_parser_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -99,7 +99,7 @@
cRtcmParser::WriteByte
void WriteByte(uint8_t b) OVERRIDE
Definition: GpsParser.cpp:122
cGpsParser::cGpsParser
cGpsParser(iGpsParserDelegate *delegate)
Definition: GpsParser.cpp:497
iGpsParserDelegate::OnGpsEphemerisReceived
virtual void OnGpsEphemerisReceived(const cGpsParser *parser, const eph_t *eph, int prn)
Definition: GpsParser.h:90
-
BE_SWAP16
#define BE_SWAP16(_i)
Definition: data_sets.h:2694
+
BE_SWAP16
#define BE_SWAP16(_i)
Definition: data_sets.h:2699
calculate24BitCRCQ
unsigned int calculate24BitCRCQ(unsigned char *buffer, unsigned int len)
Definition: ISComm.c:27
GpsParserTypeRtcm3
Definition: GpsParser.h:49
@@ -107,7 +107,7 @@
iGpsParserDelegate::OnStationReceived
virtual void OnStationReceived(const cGpsParser *parser, sta_t *sta)
Definition: GpsParser.h:126
gtime_t::time
int64_t time
Definition: data_sets.h:1522
GpsParser.h
-
PACKED::data
uGpsRawData data
Definition: data_sets.h:2208
+
PACKED::data
uGpsRawData data
Definition: data_sets.h:2213
iGpsParserDelegate::OnObservationReceived
virtual void OnObservationReceived(const cGpsParser *parser, const obs_t *obs)
Definition: GpsParser.h:78
UBLOX_PREAMBLE1
#define UBLOX_PREAMBLE1
Definition: GpsParser.cpp:21
ALLOCATE_M_RTCM
#define ALLOCATE_M_RTCM
Definition: GpsParser.cpp:47
@@ -118,7 +118,7 @@
cGpsParser::GetDelegate
iGpsParserDelegate * GetDelegate()
Definition: GpsParser.h:193
cGpsParser::GetReceiverIndex
int32_t GetReceiverIndex() const
Definition: GpsParser.h:205
eGpsParserType
eGpsParserType
Definition: GpsParser.h:34
-
PACKED::obs
obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE]
Definition: data_sets.h:2171
+
PACKED::obs
obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE]
Definition: data_sets.h:2176
INIT_M_RTCM
#define INIT_M_RTCM
Definition: GpsParser.cpp:46
com_manager.h
_ARRAY_ELEMENT_COUNT
#define _ARRAY_ELEMENT_COUNT(a)
Definition: ISConstants.h:294
diff --git a/docs/html/_gps_parser_8h.html b/docs/html/_gps_parser_8h.html index 5a730e55f..30d7c5019 100644 --- a/docs/html/_gps_parser_8h.html +++ b/docs/html/_gps_parser_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_gps_parser_8h_source.html b/docs/html/_gps_parser_8h_source.html index 12bab1b17..ecdd623b4 100644 --- a/docs/html/_gps_parser_8h_source.html +++ b/docs/html/_gps_parser_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -76,8 +76,8 @@
iGpsParserDelegate::OnError
virtual void OnError(const cGpsParser *parser, uint32_t id, uint32_t errorCode)
Definition: GpsParser.h:149
iGpsParserDelegate::OnIonosphereModelUtcAlmanacReceived
virtual void OnIonosphereModelUtcAlmanacReceived(const cGpsParser *parser, ion_model_utc_alm_t *ionUtcAlm)
Definition: GpsParser.h:137
cGpsParser::SetReceiverIndex
void SetReceiverIndex(int32_t index)
Definition: GpsParser.h:199
-
geph_t
Definition: data_sets.h:1840
-
eph_t
Definition: data_sets.h:1726
+
geph_t
Definition: data_sets.h:1845
+
eph_t
Definition: data_sets.h:1731
GpsParserTypeInertialSense
Definition: GpsParser.h:39
cGpsParser::CreateParser
static cGpsParser * CreateParser(eGpsParserType type, iGpsParserDelegate *delegate)
Definition: GpsParser.cpp:471
iGpsParserDelegate::OnGlonassEphemerisReceived
virtual void OnGlonassEphemerisReceived(const cGpsParser *parser, const geph_t *geph, int prn)
Definition: GpsParser.h:103
@@ -92,17 +92,17 @@
iGpsParserDelegate::OnStationReceived
virtual void OnStationReceived(const cGpsParser *parser, sta_t *sta)
Definition: GpsParser.h:126
data_sets.h
-
sta_t
Definition: data_sets.h:1905
+
sta_t
Definition: data_sets.h:1910
iGpsParserDelegate::OnObservationReceived
virtual void OnObservationReceived(const cGpsParser *parser, const obs_t *obs)
Definition: GpsParser.h:78
cGpsParser::WriteByte
virtual void WriteByte(uint8_t b)=0
cGpsParser::GetDelegate
iGpsParserDelegate * GetDelegate()
Definition: GpsParser.h:193
cGpsParser::GetReceiverIndex
int32_t GetReceiverIndex() const
Definition: GpsParser.h:205
eGpsParserType
eGpsParserType
Definition: GpsParser.h:34
-
ion_model_utc_alm_t
Definition: data_sets.h:1973
+
ion_model_utc_alm_t
Definition: data_sets.h:1978
GpsParserTypeUblox
Definition: GpsParser.h:44
cGpsParser::~cGpsParser
virtual ~cGpsParser()
Definition: GpsParser.h:168
-
obs_t
Definition: data_sets.h:1713
-
sbsmsg_t
Definition: data_sets.h:1886
+
obs_t
Definition: data_sets.h:1718
+
sbsmsg_t
Definition: data_sets.h:1891
diff --git a/docs/html/_i_s_comm_8c.html b/docs/html/_i_s_comm_8c.html index 4b161fa03..44ab3e93e 100644 --- a/docs/html/_i_s_comm_8c.html +++ b/docs/html/_i_s_comm_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_comm_8c_source.html b/docs/html/_i_s_comm_8c_source.html index bbcee47f0..3e44e59f2 100644 --- a/docs/html/_i_s_comm_8c_source.html +++ b/docs/html/_i_s_comm_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -119,7 +119,7 @@
PID_GET_DATA
#define PID_GET_DATA
Definition: ISComm.h:276
PSC_ASCII_END_BYTE
Definition: ISComm.h:369
packet_ftr_t::cksum2
uint8_t cksum2
Definition: ISComm.h:438
-
BE_SWAP16
#define BE_SWAP16(_i)
Definition: data_sets.h:2694
+
BE_SWAP16
#define BE_SWAP16(_i)
Definition: data_sets.h:2699
FREE
#define FREE(m)
Definition: ISConstants.h:135
MALLOC
#define MALLOC(m)
Definition: ISConstants.h:134
calculate24BitCRCQ
unsigned int calculate24BitCRCQ(unsigned char *buffer, unsigned int len)
Definition: ISComm.c:27
diff --git a/docs/html/_i_s_comm_8h.html b/docs/html/_i_s_comm_8h.html index a24d4872b..1f6bac468 100644 --- a/docs/html/_i_s_comm_8h.html +++ b/docs/html/_i_s_comm_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_comm_8h_source.html b/docs/html/_i_s_comm_8h_source.html index b6b48f169..9596e16b6 100644 --- a/docs/html/_i_s_comm_8h_source.html +++ b/docs/html/_i_s_comm_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_comm_data_buffer_8cpp.html b/docs/html/_i_s_comm_data_buffer_8cpp.html index bee788df6..ec6b6279c 100644 --- a/docs/html/_i_s_comm_data_buffer_8cpp.html +++ b/docs/html/_i_s_comm_data_buffer_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_comm_data_buffer_8cpp_source.html b/docs/html/_i_s_comm_data_buffer_8cpp_source.html index c38724a2e..76c34588b 100644 --- a/docs/html/_i_s_comm_data_buffer_8cpp_source.html +++ b/docs/html/_i_s_comm_data_buffer_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_comm_data_buffer_8h.html b/docs/html/_i_s_comm_data_buffer_8h.html index c25f57445..9e83e6cd6 100644 --- a/docs/html/_i_s_comm_data_buffer_8h.html +++ b/docs/html/_i_s_comm_data_buffer_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_comm_data_buffer_8h_source.html b/docs/html/_i_s_comm_data_buffer_8h_source.html index 00da690d4..6008022a3 100644 --- a/docs/html/_i_s_comm_data_buffer_8h_source.html +++ b/docs/html/_i_s_comm_data_buffer_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_constants_8h.html b/docs/html/_i_s_constants_8h.html index b8f79c7f0..d3a94533c 100644 --- a/docs/html/_i_s_constants_8h.html +++ b/docs/html/_i_s_constants_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_constants_8h_source.html b/docs/html/_i_s_constants_8h_source.html index a958e0d53..de0059bf7 100644 --- a/docs/html/_i_s_constants_8h_source.html +++ b/docs/html/_i_s_constants_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_data_mappings_8cpp.html b/docs/html/_i_s_data_mappings_8cpp.html index 47366314f..abfbc252c 100644 --- a/docs/html/_i_s_data_mappings_8cpp.html +++ b/docs/html/_i_s_data_mappings_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_data_mappings_8cpp_source.html b/docs/html/_i_s_data_mappings_8cpp_source.html index b1cf5643c..bd9b48477 100644 --- a/docs/html/_i_s_data_mappings_8cpp_source.html +++ b/docs/html/_i_s_data_mappings_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -122,7 +122,7 @@
ISUtilities.h
gps_rtk_misc_t
struct PACKED gps_rtk_misc_t
DID_SENSORS_TC_BIAS
#define DID_SENSORS_TC_BIAS
Definition: data_sets.h:60
-
diag_msg_t
Definition: data_sets.h:2242
+
diag_msg_t
Definition: data_sets.h:2247
DID_GPS_BASE_RAW
#define DID_GPS_BASE_RAW
Definition: data_sets.h:94
DataTypeUInt64
Definition: ISDataMappings.h:34
strobe_in_time_t
struct PACKED strobe_in_time_t
@@ -154,7 +154,7 @@
ADD_MAP
#define ADD_MAP(map, totalSize, name, member, dataSize, dataType, memberType)
Definition: ISDataMappings.cpp:79
gps_rtk_rel_t
struct PACKED gps_rtk_rel_t
nvm_flash_cfg_t
struct PACKED nvm_flash_cfg_t
-
MAX_TASK_NAME_LEN
#define MAX_TASK_NAME_LEN
Definition: data_sets.h:2494
+
MAX_TASK_NAME_LEN
#define MAX_TASK_NAME_LEN
Definition: data_sets.h:2499
DID_GPS1_POS
#define DID_GPS1_POS
Definition: data_sets.h:47
p_data_hdr_t
Definition: ISComm.h:466
sys_sensors_t
struct PACKED sys_sensors_t
diff --git a/docs/html/_i_s_data_mappings_8h.html b/docs/html/_i_s_data_mappings_8h.html index 3c7fdddc8..8b1b9e3b9 100644 --- a/docs/html/_i_s_data_mappings_8h.html +++ b/docs/html/_i_s_data_mappings_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_data_mappings_8h_source.html b/docs/html/_i_s_data_mappings_8h_source.html index d8d79b61c..da36524b5 100644 --- a/docs/html/_i_s_data_mappings_8h_source.html +++ b/docs/html/_i_s_data_mappings_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_display_8cpp.html b/docs/html/_i_s_display_8cpp.html index 6bb548245..906a019f0 100644 --- a/docs/html/_i_s_display_8cpp.html +++ b/docs/html/_i_s_display_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_display_8cpp_source.html b/docs/html/_i_s_display_8cpp_source.html index 33fd2f0a7..df2b77910 100644 --- a/docs/html/_i_s_display_8cpp_source.html +++ b/docs/html/_i_s_display_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -73,7 +73,7 @@
Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014-2018 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 #include <stdio.h>
14 #include <iostream>
15 #include <sstream>
16 #include <iomanip>
17 #include <math.h>
18 
19 #include "ISConstants.h"
20 #include "ISUtilities.h"
21 #include "ISDisplay.h"
22 #include "ISPose.h"
23 #include "ISEarth.h"
24 #include "ISDataMappings.h"
25 #include "DataCSV.h"
26 
27 #if PLATFORM_IS_LINUX || PLATFORM_IS_APPLE
28 
29 #include <unistd.h>
30 #include <sys/time.h>
31 #include <termios.h>
32 
33 #endif
34 
35 #define PRINTV3_P1 "%8.1f,%8.1f,%8.1f\n"
36 #define PRINTV3_P2 " %8.2f,%8.2f,%8.2f\n"
37 #define PRINTV3_P3 " %8.3f,%8.3f,%8.3f\n"
38 #define PRINTV4_P1 "%8.1f,%8.1f,%8.1f,%8.1f\n"
39 #define PRINTV4_P2 " %8.2f,%8.2f,%8.2f,%8.2f\n"
40 #define PRINTV4_P3 " %8.3f,%8.3f,%8.3f,%8.3f\n"
41 #define PRINTV3_LLA "%13.7f,%13.7f,%7.1f ellipsoid\n"
42 #define PRINTV3_LLA_MSL "%13.7f,%13.7f,%7.1f MSL\n"
43 #define BUF_SIZE 8192
44 
45 #define DISPLAY_DELTA_TIME 0 // show delta time instead of time
46 
47 static bool s_controlCWasPressed;
48 
49 #if PLATFORM_IS_WINDOWS
50 
51 static bool ctrlHandler(DWORD fdwCtrlType)
52 {
53  switch (fdwCtrlType)
54  {
55  case CTRL_C_EVENT:
56  case CTRL_CLOSE_EVENT:
57  case CTRL_BREAK_EVENT:
58  case CTRL_LOGOFF_EVENT:
59  case CTRL_SHUTDOWN_EVENT:
60  s_controlCWasPressed = true;
61  return true;
62  default:
63  return false;
64  }
65 }
66 
67 #else
68 
69 #include <signal.h>
70 
71 static void signalFunction(int sig)
72 {
73  (void)sig;
74  s_controlCWasPressed = true;
75 }
76 
77 #endif
78 
79 cInertialSenseDisplay::cInertialSenseDisplay()
80 {
81  cout << endl << Hello() << endl;
82 
83  m_displayMode = DMODE_PRETTY;
84 
85 #if PLATFORM_IS_WINDOWS
86 
87  // Hide cursor
88  ShowCursor(false);
89 
90  if (!SetConsoleCtrlHandler((PHANDLER_ROUTINE)ctrlHandler, true))
91  {
92  std::cout << "Failed to set console ctrl handler!" << std::endl;
93  }
94 
95 #else
96 
97  signal(SIGINT, signalFunction);
98 
99 #endif
100 
101 }
102 
103 
104 void cInertialSenseDisplay::ShowCursor(bool visible)
105 {
106 
107 #if PLATFORM_IS_WINDOWS
108 
109 // m_windowsConsoleIn = GetStdHandle(STD_INPUT_HANDLE);
110  m_windowsConsoleOut = GetStdHandle(STD_OUTPUT_HANDLE);
111  CONSOLE_CURSOR_INFO cursorInfo;
112  GetConsoleCursorInfo(m_windowsConsoleOut, &cursorInfo);
113  cursorInfo.bVisible = visible;
114  SetConsoleCursorInfo(m_windowsConsoleOut, &cursorInfo);
115 
116 #endif
117 
118 }
119 
120 
121 void cInertialSenseDisplay::ShutDown()
122 {
123  ShowCursor(true);
124 // cout << "Shutting down..." << endl;
125 }
126 
127 
128 void cInertialSenseDisplay::Clear(void)
129 {
130 
131 #if PLATFORM_IS_WINDOWS
132 
133  COORD topLeft = { 0, 0 };
134  HANDLE console = GetStdHandle(STD_OUTPUT_HANDLE);
135  CONSOLE_SCREEN_BUFFER_INFO screen;
136  DWORD written;
137  GetConsoleScreenBufferInfo(console, &screen);
138  FillConsoleOutputCharacterA(console, ' ', screen.dwSize.X * screen.dwSize.Y, topLeft, &written);
139  FillConsoleOutputAttribute(console, FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE, screen.dwSize.X * screen.dwSize.Y, topLeft, &written);
140  SetConsoleCursorPosition(console, topLeft);
141 
142 #else
143 
144  printf( "\x1B[2J" ); // VT100 terminal command
145 
146 #endif
147 
148 }
149 
150 void cInertialSenseDisplay::Home(void)
151 {
152 
153 #if PLATFORM_IS_WINDOWS
154 
155  COORD topLeft = { 0, 0 };
156  SetConsoleCursorPosition(m_windowsConsoleOut, topLeft);
157 
158 #else
159 
160  printf( "\x1B[H" ); // VT100 terminal command
161 
162 #endif
163 
164 }
165 
166 void cInertialSenseDisplay::GoToRow(int y)
167 {
168 
169 #if PLATFORM_IS_WINDOWS
170 
171  COORD pos = { 0, (int16_t)y };
172  SetConsoleCursorPosition(m_windowsConsoleOut, pos);
173 
174 #else
175 
176  printf("\x1B[%dH", y); // VT100 terminal command
177 
178 #endif
179 
180 }
181 
182 void cInertialSenseDisplay::GoToColumnAndRow(int x, int y)
183 {
184 
185 #if PLATFORM_IS_WINDOWS
186 
187  COORD pos = { (int16_t)x, (int16_t)y };
188  SetConsoleCursorPosition(m_windowsConsoleOut, pos);
189 
190 #else
191 
192  printf("\x1B[%d;%df", y, x); // VT100 terminal command
193 
194 #endif
195 
196 }
197 
198 string cInertialSenseDisplay::Hello()
199 {
200  return "$ Inertial Sense. Press CTRL-C to terminate.\n";
201 }
202 
203 string cInertialSenseDisplay::Connected()
204 {
205  return string("$ Inertial Sense. Connected. Press CTRL-C to terminate. Rx ") + std::to_string(m_rxCount) + "\n";
206 }
207 
208 string cInertialSenseDisplay::Replay(double speed)
209 {
210  char buf[BUF_SIZE];
211 
212  SNPRINTF(buf, BUF_SIZE, "$ Inertial Sense. Replay mode at %.1lfx speed. Press CTRL-C to terminate.\n", speed);
213 
214  return buf;
215 }
216 
217 string cInertialSenseDisplay::Goodbye()
218 {
219  return "\nThanks for using Inertial Sense!\n";
220 }
221 
222 int cInertialSenseDisplay::ReadKey()
223 {
224 
225 #if PLATFORM_IS_WINDOWS
226 
227  INPUT_RECORD ip;
228  DWORD numRead = 0;
229  PeekConsoleInputA(m_windowsConsoleIn, &ip, 1, &numRead);
230  if (numRead == 1)
231  {
232  ReadConsoleInputA(m_windowsConsoleIn, &ip, 1, &numRead);
233  if (numRead == 1 && ip.EventType == KEY_EVENT && ip.Event.KeyEvent.bKeyDown)
234  {
235  return ip.Event.KeyEvent.uChar.AsciiChar;
236  }
237  }
238 
239 #else
240 
241  struct timeval tv;
242  fd_set fds;
243  tv.tv_sec = 0;
244  tv.tv_usec = 0;
245  FD_ZERO(&fds);
246  FD_SET(STDIN_FILENO, &fds);
247  select(STDIN_FILENO + 1, &fds, NULL, NULL, &tv);
248  if (FD_ISSET(0, &fds))
249  {
250  struct termios oldt;
251  struct termios newt;
252  tcgetattr(STDIN_FILENO, &oldt); /* store old settings*/
253  newt = oldt; /* copy old settings to new settings */
254  newt.c_lflag &= ~(ICANON); /* change settings */
255  tcsetattr(STDIN_FILENO, TCSANOW, &newt); /*apply the new settings immediatly */
256  int ch = getchar(); /* standard getchar call */
257  tcsetattr(STDIN_FILENO, TCSANOW, &oldt); /* reapply the old settings */
258  return ch; /* return received char */
259  }
260 
261 #endif
262 
263  return -1;
264 }
265 
266 bool cInertialSenseDisplay::ControlCWasPressed()
267 {
268  return s_controlCWasPressed;
269 }
270 
271 void cInertialSenseDisplay::ProcessData(p_data_t *data, bool enableReplay, double replaySpeedX)
272 {
273  if (m_displayMode == DMODE_QUIET)
274  {
275  return;
276  }
277 
278  int curTimeMs = current_weekMs();
279  m_rxCount++;
280 
281  if (enableReplay)
282  {
283  static bool isTowMode = false;
284  static int gpsTowMsOffset = 0;
285  static int msgTimeMsOffset = 0;
286  int msgTimeMs = 0;
287 
288  // Copy only new data
289  uDatasets d = {};
290  copyDataPToStructP(&d, data, sizeof(uDatasets));
291 
292  // Record message time. In either ToW or time since boot.
293  switch (data->hdr.id)
294  {
295  // Time of week - double
296  case DID_INS_1:
297  case DID_INS_2:
298  msgTimeMs = (int)(1000.0*d.ins1.timeOfWeek);
299  isTowMode = true;
300  break;
301 
302  // Time of week - uint32 ms
303  case DID_SYS_PARAMS:
304  msgTimeMs = d.gpsPos.timeOfWeekMs;
305  isTowMode = true;
306  break;
307 
308  case DID_GPS1_POS:
309  case DID_GPS1_RTK_POS:
310  msgTimeMs = d.gpsPos.timeOfWeekMs;
311  gpsTowMsOffset = (int)(1000.0*d.gpsPos.towOffset);
312  isTowMode = true;
313  break;
314 
315  case DID_GPS1_RTK_REL:
316  msgTimeMs = d.gpsRtkRel.timeOfWeekMs;
317  isTowMode = true;
318  break;
319 
320  case DID_GPS1_RTK_MISC:
321  msgTimeMs = d.gpsPos.timeOfWeekMs;
322  gpsTowMsOffset = (int)(1000.0*d.gpsPos.towOffset);
323  isTowMode = false;
324  break;
325 
326  // Time since boot - double
327  case DID_MAGNETOMETER_1:
328  case DID_BAROMETER:
329  case DID_SYS_SENSORS:
330  case DID_PREINTEGRATED_IMU:
331  case DID_DUAL_IMU:
332  case DID_INL2_STATES:
333  case DID_GPS_BASE_RAW:
334  if( isTowMode )
335  msgTimeMs = (int)(1000.0*d.imu.time) + gpsTowMsOffset;
336  else
337  msgTimeMs = (int)(1000.0*d.imu.time);
338  break;
339 
340  // Unidentified data type
341 // default: printf("Unknown DID %d\t", data->hdr.id); return;
342  }
343 
344 
345  // Control replay rate
346  if (msgTimeMs != 0 && replaySpeedX>0.0)
347  {
348  for (;;)
349  {
350  curTimeMs = current_weekMs();
351 
352  // Replay speed
353  int replayTimeMs = (int)(long)(((double)curTimeMs)*replaySpeedX);
354 
355  // Reinitialize message offset
356  if (abs(msgTimeMs + msgTimeMsOffset - replayTimeMs) > 1500)
357  msgTimeMsOffset = replayTimeMs - msgTimeMs;
358 
359  // Proceed if we're caught up
360  if (replayTimeMs >= msgTimeMs + msgTimeMsOffset)
361  break;
362 
363  // Add delay
364 // SLEEP_US(1000);
365  SLEEP_MS(10);
366  }
367  }
368  }
369 
370 
371  static int timeSinceRefreshMs = 0;
372  static int timeSinceClearMs = 0;
373  static char idHist[DID_COUNT] = { 0 };
374  if (m_displayMode != DMODE_SCROLL)
375  {
376  // Clear display every 2 seconds or if we start seeing new messages.
377  if (curTimeMs - timeSinceClearMs > 2000 || curTimeMs < timeSinceClearMs || idHist[data->hdr.id] == 0)
378  {
379  Clear();
380  idHist[data->hdr.id] = 1;
381  timeSinceClearMs = curTimeMs;
382  }
383  }
384 
385 
386  // Display Data
387  switch (m_displayMode)
388  {
389  default:
390  m_displayMode = DMODE_PRETTY;
391  case DMODE_PRETTY:
392 
393  // Data stays at fixed location (no scroll history)
394  DataToVector(data);
395 
396  // Limit printData display updates to 20Hz (50 ms)
397  if (curTimeMs - timeSinceRefreshMs > 50 || curTimeMs < timeSinceRefreshMs)
398  {
399  Home();
400  if (enableReplay)
401  cout << Replay(replaySpeedX) << endl;
402  else
403  cout << Connected() << endl;
404 
405  cout << VectortoString();
406 
407  timeSinceRefreshMs = curTimeMs;
408  }
409  break;
410 
411  case DMODE_STATS:
412  // Limit printData display updates to 20Hz (50 ms)
413  if (curTimeMs - timeSinceRefreshMs > 50 || curTimeMs < timeSinceRefreshMs)
414  {
415  Home();
416  cout << Connected() << endl;
417  DataToStats(data);
418 
419  timeSinceRefreshMs = curTimeMs;
420  }
421  break;
422 
423 
424  case DMODE_SCROLL: // Scroll display
425  cout << DataToString(data) << endl;
426  break;
427  }
428 
429 
430 
431 }
432 
433 string cInertialSenseDisplay::VectortoString()
434 {
435  stringstream ss;
436 
437  for (size_t i = 0; i < m_didMsgs.size(); i++)
438  {
439  if (m_didMsgs[i].size())
440  {
441  ss << m_didMsgs[i];
442  }
443  }
444 
445  return ss.str();
446 }
447 
448 void cInertialSenseDisplay::DataToVector(const p_data_t* data)
449 {
450  size_t id = data->hdr.id;
451  if (m_didMsgs.size() <= id)
452  { // Resize vector if necessary
453  m_didMsgs.resize(id + 1);
454  }
455  // Add string to vector
456  m_didMsgs[id] = DataToString(data);
457 }
458 
459 void cInertialSenseDisplay::DataToStats(const p_data_t* data)
460 {
461  size_t id = data->hdr.id;
462  if (m_didStats.size() <= id)
463  { // Resize vector if necessary
464  m_didStats.resize(id + 1);
465  }
466 
467  // Update stats
468  int curTimeMs = current_weekMs();
469  sDidStats &s = m_didStats[id];
470  s.count++;
471  if(s.lastTimeMs)
472  s.dtMs = curTimeMs - s.lastTimeMs;
473  s.lastTimeMs = curTimeMs;
474 
475  // Display stats
476  printf(" Name DID Count dt\n");
477  for (int i = 0; i < (int)m_didStats.size(); i++)
478  {
479  sDidStats &s = m_didStats[i];
480  if (s.count)
481  {
482  printf("%20s %4d %9d %9.3lf\n", cISDataMappings::GetDataSetName(i), i, s.count, s.dtMs*0.001);
483  }
484  }
485 }
486 
487 string cInertialSenseDisplay::DataToString(const p_data_t* data)
488 {
489  uDatasets d = {};
490 
491  // Copy only new data
492  copyDataPToStructP(&d, data, sizeof(uDatasets));
493 
494  string str;
495  switch (data->hdr.id)
496  {
497  case DID_DEV_INFO: str = DataToStringDevInfo(d.devInfo, data->hdr); break;
498  case DID_DUAL_IMU: str = DataToStringDualIMU(d.dualImu, data->hdr); break;
499  case DID_PREINTEGRATED_IMU: str = DataToStringPreintegratedImu(d.pImu, data->hdr); break;
500  case DID_INS_1: str = DataToStringINS1(d.ins1, data->hdr); break;
501  case DID_INS_2: str = DataToStringINS2(d.ins2, data->hdr); break;
502  case DID_INS_3: str = DataToStringINS3(d.ins3, data->hdr); break;
503  case DID_INS_4: str = DataToStringINS4(d.ins4, data->hdr); break;
504  case DID_MAGNETOMETER_1:
505  case DID_MAGNETOMETER_2: str = DataToStringMag(d.mag, data->hdr); break;
506  case DID_MAG_CAL: str = DataToStringMagCal(d.magCal, data->hdr); break;
507  case DID_BAROMETER: str = DataToStringBaro(d.baro, data->hdr); break;
508  case DID_GPS1_POS: str = DataToStringGpsPos(d.gpsPos, data->hdr, "DID_GPS1_POS"); break;
509  case DID_GPS2_POS: str = DataToStringGpsPos(d.gpsPos, data->hdr, "DID_GPS2_POS"); break;
510  case DID_GPS1_RTK_POS: str = DataToStringGpsPos(d.gpsPos, data->hdr, "DID_GPS1_RTK_POS"); break;
511  case DID_GPS1_RTK_REL: str = DataToStringRtkRel(d.gpsRtkRel, data->hdr); break;
512  case DID_GPS1_RTK_MISC: str = DataToStringRtkMisc(d.gpsRtkMisc, data->hdr); break;
513  case DID_GPS1_RAW:
514  case DID_GPS2_RAW:
515  case DID_GPS_BASE_RAW: str = DataToStringRawGPS(d.gpsRaw, data->hdr); break;
516  case DID_SURVEY_IN: str = DataToStringSurveyIn(d.surveyIn, data->hdr); break;
517  case DID_SYS_PARAMS: str = DataToStringSysParams(d.sysParams, data->hdr); break;
518  case DID_SYS_SENSORS: str = DataToStringSysSensors(d.sysSensors, data->hdr); break;
519  case DID_RTOS_INFO: str = DataToStringRTOS(d.rtosInfo, data->hdr); break;
520  case DID_SENSORS_ADC: str = DataToStringSensorsADC(d.sensorsAdc, data->hdr); break;
521  default:
522 #if 0 // List all DIDs
523  char buf[128];
524  SNPRINTF(buf, 128, "DID: %d\n", data->hdr.id);
525  str = buf;
526 #endif
527  break;
528  }
529 
530  return str;
531 }
532 
533 char* cInertialSenseDisplay::StatusToString(char* ptr, char* ptrEnd, const uint32_t insStatus, const uint32_t hdwStatus)
534 {
535  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tSTATUS\n");
536  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tSatellite Rx %d Aiding: Mag %d, GPS (Hdg %d, Pos %d)\n",
537  (hdwStatus & HDW_STATUS_GPS_SATELLITE_RX) != 0,
538  (insStatus & INS_STATUS_MAG_AIDING_HEADING) != 0,
539  (insStatus & INS_STATUS_GPS_AIDING_HEADING) != 0,
540  (insStatus & INS_STATUS_GPS_AIDING_POS_VEL) != 0);
541  if (insStatus & INS_STATUS_NAV_MODE)
542  {
543  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tMode: NAV ");
544  }
545  else
546  {
547  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tMode: AHRS");
548  }
549  switch (INS_STATUS_SOLUTION(insStatus))
550  {
551  default:
552  case INS_STATUS_SOLUTION_OFF: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: OFF\n"); break;
553  case INS_STATUS_SOLUTION_ALIGNING: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: ALIGNING\n"); break;
554  case INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: ALIGNMENT COMPLETE\n"); break;
555  case INS_STATUS_SOLUTION_NAV: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: NAV\n"); break;
556  case INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: NAV HIGH VARIANCE\n"); break;
557  case INS_STATUS_SOLUTION_AHRS: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: AHRS\n"); break;
558  case INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " Solution: AHRS HIGH VARIANCE\n"); break;
559  }
560 // ptr += SNPRINTF(ptr, ptrEnd - ptr, " Align Good: Att %d, Vel %d, Pos %d\n",
561 // (insStatus & INS_STATUS_ATT_ALIGN_GOOD) != 0,
562 // (insStatus & INS_STATUS_VEL_ALIGN_GOOD) != 0,
563 // (insStatus & INS_STATUS_POS_ALIGN_GOOD) != 0);
564  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t\tErrors Rx parse %d, temperature %d, self-test %d\n",
565  HDW_STATUS_COM_PARSE_ERROR_COUNT(hdwStatus),
566  (hdwStatus & HDW_STATUS_ERR_TEMPERATURE) != 0,
567  (hdwStatus & HDW_STATUS_BIT_FAULT) != 0);
568 
569  return ptr;
570 }
571 
572 char* cInertialSenseDisplay::InsStatusToSolStatusString(char* ptr, char* ptrEnd, const uint32_t insStatus)
573 {
574  switch (INS_STATUS_SOLUTION(insStatus))
575  {
576  default:
577  case INS_STATUS_SOLUTION_OFF: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", OFF "); break;
578  case INS_STATUS_SOLUTION_ALIGNING: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", ALIGNING "); break;
579  case INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", COMPLETE "); break;
580  case INS_STATUS_SOLUTION_NAV: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", NAV "); break;
581  case INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", NAV VARIA"); break;
582  case INS_STATUS_SOLUTION_AHRS: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", AHRS "); break;
583  case INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE: ptr += SNPRINTF(ptr, ptrEnd - ptr, ", AHRS VARI"); break;
584  }
585 
586  return ptr;
587 }
588 
589 string cInertialSenseDisplay::DataToStringINS1(const ins_1_t &ins1, const p_data_hdr_t& hdr)
590 {
591  (void)hdr;
592  char buf[BUF_SIZE];
593  char* ptr = buf;
594  char* ptrEnd = buf + BUF_SIZE;
595  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_1:");
596 
597 #if DISPLAY_DELTA_TIME==1
598  static double lastTime = 0;
599  double dtMs = 1000.0*(ins1.timeOfWeek - lastTime);
600  lastTime = ins1.timeOfWeek;
601  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
602 #else
603  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins1.timeOfWeek);
604 #endif
605 
606  if (m_displayMode == DMODE_SCROLL)
607  { // Single line format
608  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins1.insStatus);
609  ptr += SNPRINTF(ptr, ptrEnd - ptr, " theta[%6.2f,%6.2f,%7.2f], uvw[%6.2f,%6.2f,%6.2f], lla[%12.7f,%12.7f,%7.1f], ned[%6.3f,%6.3f,%6.3f]",
610  ins1.theta[0] * C_RAD2DEG_F,
611  ins1.theta[1] * C_RAD2DEG_F,
612  ins1.theta[2] * C_RAD2DEG_F,
613  ins1.uvw[0], ins1.uvw[1], ins1.uvw[2],
614  ins1.lla[0], ins1.lla[1], ins1.lla[2],
615  ins1.ned[0], ins1.ned[1], ins1.ned[2]);
616  }
617  else
618  { // Spacious format
619  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tEuler\t");
620  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2,
621  ins1.theta[0] * C_RAD2DEG_F, // Roll
622  ins1.theta[1] * C_RAD2DEG_F, // Pitch
623  ins1.theta[2] * C_RAD2DEG_F); // Yaw
624  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tUWV\t");
625  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
626  ins1.uvw[0], // U body velocity
627  ins1.uvw[1], // V body velocity
628  ins1.uvw[2]); // W body velocity
629  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA\t");
630  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
631  ins1.lla[0], // INS Latitude
632  ins1.lla[1], // INS Longitude
633  ins1.lla[2]); // INS Ellipsoid altitude (meters)
634  ptr = StatusToString(ptr, ptrEnd, ins1.insStatus, ins1.hdwStatus);
635  }
636 
637  return buf;
638 }
639 
640 string cInertialSenseDisplay::DataToStringINS2(const ins_2_t &ins2, const p_data_hdr_t& hdr)
641 {
642  (void)hdr;
643  char buf[BUF_SIZE];
644  char* ptr = buf;
645  char* ptrEnd = buf + BUF_SIZE;
646  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_2:");
647 
648 #if DISPLAY_DELTA_TIME==1
649  static double lastTime = 0;
650  double dtMs = 1000.0*(ins2.timeOfWeek - lastTime);
651  lastTime = ins2.timeOfWeek;
652  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
653 #else
654  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins2.timeOfWeek);
655 #endif
656 
657  if (m_displayMode == DMODE_SCROLL)
658  { // Single line format
659  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins2.insStatus);
660  ptr += SNPRINTF(ptr, ptrEnd - ptr, " qn2b[%6.3f,%6.3f,%6.3f,%6.3f], uvw[%6.2f,%6.2f,%6.2f], lla[%12.7f,%12.7f,%7.1f]",
661  ins2.qn2b[0], ins2.qn2b[1], ins2.qn2b[2], ins2.qn2b[3],
662  ins2.uvw[0], ins2.uvw[1], ins2.uvw[2],
663  ins2.lla[0], ins2.lla[1], ins2.lla[2]);
664  }
665  else
666  { // Spacious format
667  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tQn2b\t");
668  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV4_P3, // Quaternion attitude rotation
669  ins2.qn2b[0], // W
670  ins2.qn2b[1], // X
671  ins2.qn2b[2], // Y
672  ins2.qn2b[3]); // Z
673  float theta[3];
674  quat2euler(ins2.qn2b, theta);
675  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t(Euler)\t");
676  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2, // Convert quaternion to euler rotation
677  theta[0] * C_RAD2DEG_F, // Roll
678  theta[1] * C_RAD2DEG_F, // Pitch
679  theta[2] * C_RAD2DEG_F); // Yaw
680  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tUWV\t");
681  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
682  ins2.uvw[0], // U body velocity
683  ins2.uvw[1], // V body velocity
684  ins2.uvw[2]); // W body velocity
685  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA\t");
686  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
687  ins2.lla[0], // INS Latitude
688  ins2.lla[1], // INS Longitude
689  ins2.lla[2]); // INS Ellipsoid altitude (meters)
690  ptr = StatusToString(ptr, ptrEnd, ins2.insStatus, ins2.hdwStatus);
691  }
692 
693  return buf;
694 }
695 
696 string cInertialSenseDisplay::DataToStringINS3(const ins_3_t &ins3, const p_data_hdr_t& hdr)
697 {
698  (void)hdr;
699  char buf[BUF_SIZE];
700  char* ptr = buf;
701  char* ptrEnd = buf + BUF_SIZE;
702  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_3:");
703 
704 #if DISPLAY_DELTA_TIME==1
705  static double lastTime = 0;
706  double dtMs = 1000.0*(ins3.timeOfWeek - lastTime);
707  lastTime = ins3.timeOfWeek;
708  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
709 #else
710  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins3.timeOfWeek);
711 #endif
712 
713  if (m_displayMode == DMODE_SCROLL)
714  { // Single line format
715  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins3.insStatus);
716  ptr += SNPRINTF(ptr, ptrEnd - ptr, " qn2b[%6.3f,%6.3f,%6.3f,%6.3f], uvw[%6.2f,%6.2f,%6.2f], lla[%12.7f,%12.7f,%7.1f]",
717  ins3.qn2b[0], ins3.qn2b[1], ins3.qn2b[2], ins3.qn2b[3],
718  ins3.uvw[0], ins3.uvw[1], ins3.uvw[2],
719  ins3.lla[0], ins3.lla[1], ins3.lla[2]);
720  }
721  else
722  { // Spacious format
723  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tQn2b\t");
724  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV4_P3, // Quaternion attitude rotation
725  ins3.qn2b[0], // W
726  ins3.qn2b[1], // X
727  ins3.qn2b[2], // Y
728  ins3.qn2b[3]); // Z
729  float theta[3];
730  quat2euler(ins3.qn2b, theta);
731  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t(Euler)\t");
732  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2, // Convert quaternion to euler rotation
733  theta[0] * C_RAD2DEG_F, // Roll
734  theta[1] * C_RAD2DEG_F, // Pitch
735  theta[2] * C_RAD2DEG_F); // Yaw
736  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tUWV\t");
737  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
738  ins3.uvw[0], // U body velocity
739  ins3.uvw[1], // V body velocity
740  ins3.uvw[2]); // W body velocity
741  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA\t");
742  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA_MSL,
743  ins3.lla[0], // INS Latitude
744  ins3.lla[1], // INS Longitude
745  ins3.lla[2]); // INS Ellipsoid altitude (meters)
746  ptr = StatusToString(ptr, ptrEnd, ins3.insStatus, ins3.hdwStatus);
747  }
748 
749  return buf;
750 }
751 
752 string cInertialSenseDisplay::DataToStringINS4(const ins_4_t &ins4, const p_data_hdr_t& hdr)
753 {
754  (void)hdr;
755  char buf[BUF_SIZE];
756  char* ptr = buf;
757  char* ptrEnd = buf + BUF_SIZE;
758  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_INS_3:");
759 
760 #if DISPLAY_DELTA_TIME==1
761  static double lastTime = 0;
762  double dtMs = 1000.0*(ins4.timeOfWeek - lastTime);
763  lastTime = ins4.timeOfWeek;
764  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
765 #else
766  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", ins4.timeOfWeek);
767 #endif
768 
769  if (m_displayMode == DMODE_SCROLL)
770  { // Single line format
771  ptr = InsStatusToSolStatusString(ptr, ptrEnd, ins4.insStatus);
772  ptr += SNPRINTF(ptr, ptrEnd - ptr, " qe2b[%6.3f,%6.3f,%6.3f,%6.3f], ve[%6.2f,%6.2f,%6.2f], ecef[%12.7f,%12.7f,%7.1f]",
773  ins4.qe2b[0], ins4.qe2b[1], ins4.qe2b[2], ins4.qe2b[3],
774  ins4.ve[0], ins4.ve[1], ins4.ve[2],
775  ins4.ecef[0], ins4.ecef[1], ins4.ecef[2]);
776  }
777  else
778  { // Spacious format
779  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tQe2b\t");
780  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV4_P3, // Quaternion attitude rotation
781  ins4.qe2b[0], // W
782  ins4.qe2b[1], // X
783  ins4.qe2b[2], // Y
784  ins4.qe2b[3]); // Z
785  float theta[3];
786  qe2b2EulerNedEcef(theta, (float*)ins4.qe2b, (double*)ins4.ecef);
787  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\t(Euler)\t");
788  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2, // Convert quaternion to euler rotation
789  theta[0] * C_RAD2DEG_F, // Roll
790  theta[1] * C_RAD2DEG_F, // Pitch
791  theta[2] * C_RAD2DEG_F); // Yaw
792  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tVE\t");
793  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
794  ins4.ve[0], // X ECEF velocity
795  ins4.ve[1], // Y ECEF velocity
796  ins4.ve[2]); // Z ECEF velocity
797  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tECEF\t");
798  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
799  ins4.ecef[0], // X ECEF position
800  ins4.ecef[1], // Y ECEF position
801  ins4.ecef[2]); // Z ECEF position
802  ptr = StatusToString(ptr, ptrEnd, ins4.insStatus, ins4.hdwStatus);
803  }
804 
805  return buf;
806 }
807 
808 string cInertialSenseDisplay::DataToStringDualIMU(const dual_imu_t &imu, const p_data_hdr_t& hdr)
809 {
810  (void)hdr;
811  char buf[BUF_SIZE];
812  char* ptr = buf;
813  char* ptrEnd = buf + BUF_SIZE;
814  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_DUAL_IMU:");
815 
816 #if DISPLAY_DELTA_TIME==1
817  static double lastTime = 0;
818  double dtMs = 1000.0*(imu.time - lastTime);
819  lastTime = imu.time;
820  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
821 #else
822  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", imu.time);
823 #endif
824 
825  if (m_displayMode == DMODE_SCROLL)
826  { // Single line format
827  for (int i = 0; i < 2; i++)
828  {
829  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", pqr[%5.1f,%5.1f,%5.1f]",
830  imu.I[i].pqr[0] * C_RAD2DEG_F,
831  imu.I[i].pqr[1] * C_RAD2DEG_F,
832  imu.I[i].pqr[2] * C_RAD2DEG_F);
833  }
834  for (int i = 0; i < 2; i++)
835  {
836  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", acc[%5.1f,%5.1f,%5.1f]",
837  imu.I[i].acc[0], imu.I[i].acc[1], imu.I[i].acc[2]);
838  }
839  }
840  else
841  { // Spacious format
842  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
843  for (int i = 0; i < 2; i++)
844  {
845  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tPQR\t");
846  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
847  imu.I[i].pqr[0] * C_RAD2DEG_F, // P angular rate
848  imu.I[i].pqr[1] * C_RAD2DEG_F, // Q angular rate
849  imu.I[i].pqr[2] * C_RAD2DEG_F); // R angular rate
850  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tAcc\t");
851  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P1,
852  imu.I[i].acc[0], // X acceleration
853  imu.I[i].acc[1], // Y acceleration
854  imu.I[i].acc[2]); // Z acceleration
855  }
856  }
857 
858  return buf;
859 }
860 
861 string cInertialSenseDisplay::DataToStringPreintegratedImu(const preintegrated_imu_t &imu, const p_data_hdr_t& hdr)
862 {
863  (void)hdr;
864  char buf[BUF_SIZE];
865  char* ptr = buf;
866  char* ptrEnd = buf + BUF_SIZE;
867  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_PREINTEGRATED_IMU:");
868 
869 #if DISPLAY_DELTA_TIME==1
870  static double lastTime = 0;
871  double dtMs = 1000.0*(imu.time - lastTime);
872  lastTime = imu.time;
873  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
874 #else
875  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", imu.time);
876 #endif
877 
878  if (m_displayMode == DMODE_SCROLL)
879  { // Single line format
880  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", theta1[%6.3f,%6.3f,%6.3f], vel1[%6.3f,%6.3f,%6.3f]",
881  imu.theta1[0] * C_RAD2DEG_F,
882  imu.theta1[1] * C_RAD2DEG_F,
883  imu.theta1[2] * C_RAD2DEG_F,
884  imu.vel1[0], imu.vel1[1], imu.vel1[2]);
885  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", theta2[%6.3f,%6.3f,%6.3f], vel2[%6.3f,%6.3f,%6.3f]",
886  imu.theta2[0] * C_RAD2DEG_F,
887  imu.theta2[1] * C_RAD2DEG_F,
888  imu.theta2[2] * C_RAD2DEG_F,
889  imu.vel2[0], imu.vel2[1], imu.vel2[2]);
890  }
891  else
892  { // Spacious format
893  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tIMU1 theta1\t");
894  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
895  imu.theta1[0] * C_RAD2DEG_F, // IMU1 P angular rate
896  imu.theta1[1] * C_RAD2DEG_F, // IMU1 Q angular rate
897  imu.theta1[2] * C_RAD2DEG_F); // IMU1 R angular rate
898  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tIMU1 vel1\t");
899  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
900  imu.vel1[0], // IMU1 X acceleration
901  imu.vel1[1], // IMU1 Y acceleration
902  imu.vel1[2]); // IMU1 Z acceleration
903  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tIMU2 theta2\t");
904  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
905  imu.theta2[0] * C_RAD2DEG_F, // IMU2 P angular rate
906  imu.theta2[1] * C_RAD2DEG_F, // IMU2 Q angular rate
907  imu.theta2[2] * C_RAD2DEG_F); // IMU2 R angular rate
908  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tIMU2 vel2\t");
909  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
910  imu.vel2[0], // IMU2 X acceleration
911  imu.vel2[1], // IMU2 Y acceleration
912  imu.vel2[2]); // IMU2 Z acceleration
913  }
914 
915  return buf;
916 }
917 
918 string cInertialSenseDisplay::DataToStringMag(const magnetometer_t &mag, const p_data_hdr_t& hdr)
919 {
920  (void)hdr;
921  char buf[BUF_SIZE];
922  char* ptr = buf;
923  char* ptrEnd = buf + BUF_SIZE;
924  int i = 0;
925  if (hdr.id == DID_MAGNETOMETER_2) i = 1;
926  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_MAGNETOMETER_%d:", i + 1);
927 
928 #if DISPLAY_DELTA_TIME==1
929  static double lastTime[2] = { 0 };
930  double dtMs = 1000.0*(mag.time - lastTime[i]);
931  lastTime[i] = mag.time;
932  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
933 #else
934  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", mag.time);
935 #endif
936 
937  if (m_displayMode == DMODE_SCROLL)
938  { // Single line format
939  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", mag[%6.2f,%6.2f,%6.2f]",
940  mag.mag[0], // X magnetometer
941  mag.mag[1], // Y magnetometer
942  mag.mag[2]); // Z magnetometer
943  }
944  else
945  { // Spacious format
946  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tmag\t");
947  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P2,
948  mag.mag[0], // X magnetometer
949  mag.mag[1], // Y magnetometer
950  mag.mag[2]); // Z magnetometer
951  }
952 
953  return buf;
954 }
955 
956 string cInertialSenseDisplay::DataToStringMagCal(const mag_cal_t &mag, const p_data_hdr_t& hdr)
957 {
958  (void)hdr;
959  char buf[BUF_SIZE];
960  char* ptr = buf;
961  char* ptrEnd = buf + BUF_SIZE;
962  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_MAG_CAL:");
963 
964  switch (mag.enMagRecal)
965  {
966  default: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d, ", mag.enMagRecal); break;
967  case MAG_RECAL_MODE_MULTI_AXIS: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d (MULTI-AXIS ), ", mag.enMagRecal); break;
968  case MAG_RECAL_MODE_SINGLE_AXIS: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d (SINGLE-AXIS), ", mag.enMagRecal); break;
969  case MAG_RECAL_MODE_COMPLETE: ptr += SNPRINTF(ptr, ptrEnd - ptr, " enMagRecal %3d (COMPLETE! ), ", mag.enMagRecal); break;
970  }
971 
972  { // Single line format
973  ptr += SNPRINTF(ptr, ptrEnd - ptr, " progress: %3.0f %%, declination: %4.1f",
974  mag.progress,
975  mag.declination * C_RAD2DEG_F);
976  }
977 
978  if (m_displayMode == DMODE_PRETTY)
979  {
980  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
981  }
982 
983  return buf;
984 }
985 
986 string cInertialSenseDisplay::DataToStringBaro(const barometer_t &baro, const p_data_hdr_t& hdr)
987 {
988  (void)hdr;
989  char buf[BUF_SIZE];
990  char* ptr = buf;
991  char* ptrEnd = buf + BUF_SIZE;
992  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_BAROMETER:");
993 
994 #if DISPLAY_DELTA_TIME==1
995  static double lastTime = 0;
996  double dtMs = 1000.0*(baro.time - lastTime);
997  lastTime = baro.time;
998  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
999 #else
1000  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", baro.time);
1001 #endif
1002 
1003  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %.2fkPa", baro.bar);
1004  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %.1fm", baro.mslBar);
1005  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %.2fC", baro.barTemp);
1006  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", Humid. %.1f%%", baro.humidity);
1007 
1008  if (m_displayMode == DMODE_PRETTY)
1009  {
1010  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1011  }
1012 
1013  return buf;
1014 }
1015 
1016 string cInertialSenseDisplay::DataToStringGpsPos(const gps_pos_t &gps, const p_data_hdr_t& hdr, const string didName)
1017 {
1018  (void)hdr;
1019  char buf[BUF_SIZE];
1020  char* ptr = buf;
1021  char* ptrEnd = buf + BUF_SIZE;
1022 
1023  ptr += SNPRINTF(ptr, ptrEnd - ptr, "%s:", didName.c_str());
1024 
1025 #if DISPLAY_DELTA_TIME==1
1026  static int lastTimeMs = 0;
1027  int dtMs = gps.timeOfWeekMs - lastTimeMs;
1028  lastTimeMs = gps.timeOfWeekMs;
1029  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %3dms", dtMs);
1030 #else
1031  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %dms", gps.timeOfWeekMs);
1032 #endif
1033 
1034  if (m_displayMode == DMODE_SCROLL)
1035  { // Single line format
1036  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", LLA[%12.7f,%12.7f,%7.1f], %d sats, %4.1f cno, %4.3f hAcc, %4.3f vAcc, %4.3f pDop",
1037  gps.lla[0], gps.lla[1], gps.lla[2],
1038  gps.status&GPS_STATUS_NUM_SATS_USED_MASK, gps.cnoMean,
1039  gps.hAcc, gps.vAcc, gps.pDop);
1040  }
1041  else
1042  { // Spacious format
1043  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\tSats: %2d, ",
1044  gps.status&GPS_STATUS_NUM_SATS_USED_MASK); // Satellites used in solution
1045  ptr += SNPRINTF(ptr, ptrEnd - ptr, "Status: 0x%08x (", gps.status);
1046  switch (gps.status&GPS_STATUS_FIX_MASK)
1047  {
1048  default:
1049  case GPS_STATUS_FIX_NONE: ptr += SNPRINTF(ptr, ptrEnd - ptr, "%d", (gps.status&GPS_STATUS_FIX_MASK)>>GPS_STATUS_FIX_BIT_OFFSET); break;
1050  case GPS_STATUS_FIX_2D: ptr += SNPRINTF(ptr, ptrEnd - ptr, "2D"); break;
1051  case GPS_STATUS_FIX_3D: ptr += SNPRINTF(ptr, ptrEnd - ptr, "3D"); break;
1052  case GPS_STATUS_FIX_RTK_SINGLE: ptr += SNPRINTF(ptr, ptrEnd - ptr, "RTK Single"); break;
1053  case GPS_STATUS_FIX_RTK_FLOAT: ptr += SNPRINTF(ptr, ptrEnd - ptr, "RTK Float"); break;
1054  case GPS_STATUS_FIX_RTK_FIX: ptr += SNPRINTF(ptr, ptrEnd - ptr, "RTK FIX"); break;
1055  }
1056  ptr += SNPRINTF(ptr, ptrEnd - ptr, "),\thAcc: %.3f m cno: %3.1f dBHz\n", gps.hAcc, gps.cnoMean); // Position accuracy
1057  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tLLA: ");
1058  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
1059  gps.lla[0], // GPS Latitude
1060  gps.lla[1], // GPS Longitude
1061  gps.lla[2]); // GPS Ellipsoid altitude (meters)
1062  if (gps.status&GPS_STATUS_FLAGS_RTK_ENABLED)
1063  {
1064  if (gps.status&GPS_STATUS_FLAGS_GPS_COMPASSING_ENABLED)
1065  {
1066  ptr += SNPRINTF(ptr, ptrEnd - ptr, "Compassing, ");
1067  }
1068  else
1069  {
1070  if (gps.status&GPS_STATUS_FLAGS_BASE_POSITION_MOVING) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "Moving base, "); }
1071  }
1072  if (gps.status&GPS_STATUS_FLAGS_BASE_NO_OBSERV_EPHEM) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "No obs/ephem, "); }
1073  if (gps.status&GPS_STATUS_FLAGS_BASE_NO_POSITION) { ptr += SNPRINTF(ptr, ptrEnd - ptr, "No base position, "); }
1074  }
1075  }
1076 
1077  return buf;
1078 }
1079 
1080 string cInertialSenseDisplay::DataToStringRtkRel(const gps_rtk_rel_t &rel, const p_data_hdr_t& hdr)
1081 {
1082  (void)hdr;
1083  char buf[BUF_SIZE];
1084  char* ptr = buf;
1085  char* ptrEnd = buf + BUF_SIZE;
1086 
1087  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_GPS1_RTK_REL:");
1088 
1089 #if DISPLAY_DELTA_TIME==1
1090  static int lastTimeMs = 0;
1091  int dtMs = rel.timeOfWeekMs - lastTimeMs;
1092  lastTimeMs = rel.timeOfWeekMs;
1093  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %3dms", dtMs);
1094 #else
1095  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %dms", rel.timeOfWeekMs);
1096 #endif
1097 
1098  if (m_displayMode == DMODE_SCROLL)
1099  { // Single line format
1100  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", V2B[%10.3f,%10.3f,%9.2f], %4.1f age, %4.1f arRatio, %4.3f dist, %4.2f bear",
1101  rel.vectorToBase[0], rel.vectorToBase[1], rel.vectorToBase[2],
1102  rel.differentialAge, rel.arRatio, rel.distanceToBase, rel.headingToBase);
1103  }
1104  else
1105  { // Spacious format
1106  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tVectorToBase: ");
1107  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_P3,
1108  rel.vectorToBase[0], // Vector to base in ECEF
1109  rel.vectorToBase[1], // Vector to base in ECEF
1110  rel.vectorToBase[2]); // Vector to base in ECEF
1111  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tRTK:\tdiffAge: %3.1fs arRatio: %4.1f dist:%5.2fm bear:%4.1f\n",
1112  rel.differentialAge, rel.arRatio, rel.distanceToBase, rel.headingToBase*C_RAD2DEG_F);
1113  }
1114 
1115  return buf;
1116 }
1117 
1118 string cInertialSenseDisplay::DataToStringRtkMisc(const gps_rtk_misc_t& rtk, const p_data_hdr_t& hdr)
1119 {
1120  (void)hdr;
1121  char buf[BUF_SIZE];
1122  char* ptr = buf;
1123  char* ptrEnd = buf + BUF_SIZE;
1124  const char* terminator = (m_displayMode != DMODE_SCROLL ? "\n" : "");
1125  ptr += SNPRINTF(buf, ptrEnd - ptr, "RTK MISC: T=%d, lla[%4.7f,%4.7f,%7.3f], A[%3.3f,%3.3f,%3.3f], AR:%3.3f, dop(g,h,v)[%3.3f,%3.3f,%3.3f] %s",
1126  rtk.timeOfWeekMs, rtk.baseLla[0], rtk.baseLla[1], rtk.baseLla[2],
1127  rtk.accuracyPos[0], rtk.accuracyPos[1], rtk.accuracyPos[2],
1128  rtk.arThreshold,
1129  rtk.gDop, rtk.hDop, rtk.vDop,
1130  terminator);
1131 
1132  if (m_displayMode != DMODE_SCROLL)
1133  {
1134  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1135  }
1136 
1137  return buf;
1138 }
1139 
1140 string cInertialSenseDisplay::DataToStringRawGPS(const gps_raw_t& raw, const p_data_hdr_t& hdr)
1141 {
1142  (void)hdr;
1143  char buf[BUF_SIZE];
1144  char* ptr = buf;
1145  char* ptrEnd = buf + BUF_SIZE;
1146  const char* terminator = (m_displayMode != DMODE_SCROLL ? "\n" : "");
1147  ptr += SNPRINTF(buf, ptrEnd - ptr, "RAW GPS: receiverIndex=%d, type=%d, count=%d %s",
1148  raw.receiverIndex, raw.dataType, raw.obsCount, terminator);
1149 
1150  if (m_displayMode != DMODE_SCROLL)
1151  {
1152  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1153  }
1154  return buf;
1155 }
1156 
1157 string cInertialSenseDisplay::DataToStringSurveyIn(const survey_in_t &survey, const p_data_hdr_t& hdr)
1158 {
1159  (void)hdr;
1160  char buf[BUF_SIZE];
1161  char* ptr = buf;
1162  char* ptrEnd = buf + BUF_SIZE;
1163  int i = 0;
1164  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_SURVEY_IN:");
1165 
1166  ptr += SNPRINTF(ptr, ptrEnd - ptr, " state: %d ", survey.state);
1167  switch (survey.state)
1168  {
1169  case SURVEY_IN_STATE_OFF: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(off)"); break;
1170  case SURVEY_IN_STATE_RUNNING_3D: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(running 3D)"); break;
1171  case SURVEY_IN_STATE_RUNNING_FLOAT: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(running Float)"); break;
1172  case SURVEY_IN_STATE_RUNNING_FIX: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(running Fix)"); break;
1173  case SURVEY_IN_STATE_SAVE_POS: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(saving pos)"); break;
1174  case SURVEY_IN_STATE_DONE: ptr += SNPRINTF(ptr, ptrEnd - ptr, "(done)"); break;
1175  }
1176 
1177  int elapsedTimeMin = survey.elapsedTimeSec / 60;
1178  int elapsedTimeSec = survey.elapsedTimeSec - (elapsedTimeMin * 60);
1179  int maxDurationMin = survey.maxDurationSec / 60;
1180  int maxDurationSec = survey.maxDurationSec - (maxDurationMin * 60);
1181 
1182  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", elapsed: %d:%02d of %2d:%02d",
1183  elapsedTimeMin, elapsedTimeSec, maxDurationMin, maxDurationSec );
1184  if (m_displayMode != DMODE_SCROLL)
1185  {
1186  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n\thAcc: %4.3f\tlla:", survey.hAccuracy);
1187  ptr += SNPRINTF(ptr, ptrEnd - ptr, PRINTV3_LLA,
1188  survey.lla[0], // latitude
1189  survey.lla[1], // longitude
1190  survey.lla[2]); // altitude
1191  }
1192  else
1193  { // Single line format
1194  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", hAcc: %4.3f ", survey.hAccuracy);
1195  ptr += SNPRINTF(ptr, ptrEnd - ptr, " lla[%12.7f,%12.7f,%7.1f]",
1196  survey.lla[0], // latitude
1197  survey.lla[1], // longitude
1198  survey.lla[2]); // altitude
1199  }
1200  return buf;
1201 }
1202 
1203 string cInertialSenseDisplay::DataToStringSysParams(const sys_params_t& sys, const p_data_hdr_t& hdr)
1204 {
1205  (void)hdr;
1206  char buf[BUF_SIZE];
1207  char* ptr = buf;
1208  char* ptrEnd = buf + BUF_SIZE;
1209  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_SYS_PARAMS:");
1210 
1211 #if DISPLAY_DELTA_TIME==1
1212  static int lastTimeMs = 0;
1213  int dtMs = sys.timeOfWeekMs - lastTimeMs;
1214  lastTimeMs = sys.timeOfWeekMs;
1215  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %3dms", dtMs);
1216 #else
1217  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %dms", sys.timeOfWeekMs);
1218 #endif
1219 
1220  ptr += SNPRINTF(ptr, ptrEnd - ptr, ",%d,%d,%d\n", sys.imuPeriodMs, sys.navPeriodMs, sys.genFaultCode);
1221 
1222  if (m_displayMode == DMODE_PRETTY)
1223  {
1224  ptr = StatusToString(ptr, ptrEnd, sys.insStatus, sys.hdwStatus);
1225  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\tTemp: IMU %4.1f C\tBaro %4.1f C\tMCU %4.1f C\n", sys.imuTemp, sys.baroTemp, sys.mcuTemp);
1226  }
1227 
1228  return buf;
1229 }
1230 
1231 string cInertialSenseDisplay::DataToStringSysSensors(const sys_sensors_t& sensors, const p_data_hdr_t& hdr)
1232 {
1233  (void)hdr;
1234  char buf[BUF_SIZE];
1235  char* ptr = buf;
1236  char* ptrEnd = buf + BUF_SIZE;
1237  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_SYS_SENSORS:");
1238 
1239 #if DISPLAY_DELTA_TIME==1
1240  static double lastTime = 0;
1241  double dtMs = 1000.0*(sensors.time - lastTime);
1242  lastTime = sensors.time;
1243  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %4.1lfms", dtMs);
1244 #else
1245  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %.3lfs", sensors.time);
1246 #endif
1247 
1248  // Single line format
1249  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", %4.1fC, pqr[%5.1f,%5.1f,%5.1f], acc[%5.1f,%5.1f,%5.1f], mag[%6.2f,%6.2f,%6.2f]",
1250  sensors.temp,
1251  sensors.pqr[0] * C_RAD2DEG_F,
1252  sensors.pqr[1] * C_RAD2DEG_F,
1253  sensors.pqr[2] * C_RAD2DEG_F,
1254  sensors.acc[0], sensors.acc[1], sensors.acc[2],
1255  sensors.mag[0], sensors.mag[1], sensors.mag[2]
1256  );
1257 
1258  ptr += SNPRINTF(ptr, ptrEnd - ptr, ", baro[%5.2fkPa, %4.1fC, %7.2fm, %3.1f%% humidity], adc[%3.1fV, %3.1fV, %3.1fV, %3.1fV]",
1259  sensors.bar, sensors.barTemp, sensors.mslBar, sensors.humidity,
1260  sensors.vin, sensors.ana1, sensors.ana3, sensors.ana4
1261  );
1262 
1263  if (m_displayMode != DMODE_SCROLL)
1264  {
1265  ptr += SNPRINTF(ptr, ptrEnd - ptr, "\n");
1266  }
1267 
1268  return buf;
1269 }
1270 
1271 string cInertialSenseDisplay::DataToStringRTOS(const rtos_info_t& info, const p_data_hdr_t& hdr)
1272 {
1273  cDataCSV csv;
1274  string csvString;
1275  csv.DataToStringCSV(hdr, (const uint8_t*)&info, csvString);
1276  const char* terminator = (m_displayMode != DMODE_SCROLL ? "\n" : "");
1277  return string("RTOS: ") + csvString + terminator;
1278 }
1279 
1280 string cInertialSenseDisplay::DataToStringDevInfo(const dev_info_t &info, const p_data_hdr_t& hdr)
1281 {
1282  (void)hdr;
1283  char buf[BUF_SIZE];
1284  char* ptr = buf;
1285  char* ptrEnd = buf + BUF_SIZE;
1286  ptr += SNPRINTF(ptr, ptrEnd - ptr, "DID_DEV_INFO:");
1287 
1288  // Single line format
1289  ptr += SNPRINTF(ptr, ptrEnd - ptr, " SN%d, Fw %d.%d.%d.%d %c%d, %04d-%02d-%02d",
1290  info.serialNumber,
1291  info.firmwareVer[0],
1292  info.firmwareVer[1],
1293  info.firmwareVer[2],
1294  info.firmwareVer[3],
1295  info.buildDate[0],
1296  info.buildNumber,
1297  info.buildDate[1] + 2000,
1298  info.buildDate[2],
1299  info.buildDate[3]
1300  );
1301 
1302  if (m_displayMode != DMODE_SCROLL)
1303  { // Spacious format
1304  ptr += SNPRINTF(ptr, ptrEnd - ptr, " %02d:%02d:%02d, Proto %d.%d.%d.%d\n",
1305  info.buildTime[0],
1306  info.buildTime[1],
1307  info.buildTime[2],
1308  info.protocolVer[0],
1309  info.protocolVer[1],
1310  info.protocolVer[2],
1311  info.protocolVer[3]
1312  );
1313  }
1314 
1315  return buf;
1316 }
1317 
1318 string cInertialSenseDisplay::DataToStringSensorsADC(const sys_sensors_adc_t &sensorsADC, const p_data_hdr_t &hdr) {
1319  (void) hdr; // hdr is not used
1320 
1321  stringstream ss;
1322  ss << "DID_SENSORS_ADC:";
1323  ss << fixed;
1324  ss << "time " << setprecision(3) << sensorsADC.time << ", ";
1325  ss << "bar " << setprecision(2) << sensorsADC.bar << ", ";
1326  ss << "barTemp " << setprecision(2) << sensorsADC.barTemp << ", ";
1327  ss << "humidity " << setprecision(2) << sensorsADC.humidity << ", ";
1328 
1329 // ss << " ana[" << setprecision(2);
1330 // for (size_t i = 0; i < NUM_ANA_CHANNELS; ++i)
1331 // {
1332 // if (i != 0) { ss << ", "; }
1333 // ss << sensorsADC.ana[i];
1334 // }
1335 // ss << "]";
1336 
1337  if (m_displayMode != DMODE_SCROLL)
1338  { // Spacious format
1339  ss << "\n";
1340 #define SADC_WIDTH 5
1341  for (size_t i = 0; i < NUM_MPU_DEVICES; ++i)
1342  {
1343  auto &mpu = sensorsADC.mpu[i];
1344  ss << "\tmpu[" << i << "]: " << setprecision(0);
1345  ss << "pqr[" << setw(SADC_WIDTH) << mpu.pqr[0] << "," << setw(SADC_WIDTH) << mpu.pqr[1] << "," << setw(SADC_WIDTH) << mpu.pqr[2] << "], ";
1346  ss << "acc[" << setw(SADC_WIDTH) << mpu.acc[0] << "," << setw(SADC_WIDTH) << mpu.acc[1] << "," << setw(SADC_WIDTH) << mpu.acc[2] << "], ";
1347  ss << "mag[" << setw(SADC_WIDTH) << mpu.mag[0] << "," << setw(SADC_WIDTH) << mpu.mag[1] << "," << setw(SADC_WIDTH) << mpu.mag[2] << "], ";
1348  ss << "temp " << setprecision(3) << mpu.temp << ",";
1349  ss << "\n";
1350  }
1351  }
1352  else
1353  {
1354  for (size_t i = 0; i < NUM_MPU_DEVICES; ++i)
1355  {
1356  auto &mpu = sensorsADC.mpu[i];
1357  ss << "mpu[" << i << "]: " << setprecision(0);
1358  ss << "pqr[" << mpu.pqr[0] << "," << mpu.pqr[1] << "," << mpu.pqr[2] << "], ";
1359  ss << "acc[" << mpu.acc[0] << "," << mpu.acc[1] << "," << mpu.acc[2] << "], ";
1360  ss << "mag[" << mpu.mag[0] << "," << mpu.mag[1] << "," << mpu.mag[2] << "], ";
1361  ss << "temp " << setprecision(3) << mpu.temp << ",";
1362  }
1363  }
1364 
1365  return ss.str();
1366 }
1367 
1368 
1369 ostream& boldOn(ostream& os)
1370 {
1371 
1372 #if PLATFORM_IS_WINDOWS
1373 
1374  return os;
1375 
1376 #else
1377 
1378  return os << "\033[1m";
1379 
1380 #endif
1381 
1382 }
1383 
1384 ostream& boldOff(ostream& os)
1385 {
1386 
1387 #if PLATFORM_IS_WINDOWS
1388 
1389  return os;
1390 
1391 #else
1392 
1393  return os << "\033[0m";
1394 
1395 #endif
1396 
1397 }
1398 
1399 // Bold on with newline
1400 ostream& endlbOn(ostream& os)
1401 {
1402 
1403 #if PLATFORM_IS_WINDOWS
1404 
1405  return os << endl;
1406 
1407 #else
1408 
1409  return os << endl << boldOn;
1410 
1411 #endif
1412 
1413 }
1414 
1415 // Bold off with newline
1416 ostream& endlbOff(ostream& os)
1417 {
1418 
1419 #if PLATFORM_IS_WINDOWS
1420 
1421  return os << endl;
1422 
1423 #else
1424 
1425  return os << endl << boldOff;
1426 
1427 #endif
1428 
1429 }
GPS_STATUS_FIX_RTK_SINGLE
Definition: data_sets.h:347
-
PACKED::baseLla
double baseLla[3]
Definition: data_sets.h:2065
+
PACKED::baseLla
double baseLla[3]
Definition: data_sets.h:2070
DID_SURVEY_IN
#define DID_SURVEY_IN
Definition: data_sets.h:107
HDW_STATUS_ERR_TEMPERATURE
Definition: data_sets.h:310
DID_DUAL_IMU
#define DID_DUAL_IMU
Definition: data_sets.h:92
@@ -87,31 +87,31 @@
PACKED::mpu
sensors_mpu_w_temp_t mpu[NUM_MPU_DEVICES]
Definition: data_sets.h:1004
SLEEP_MS
#define SLEEP_MS(timeMs)
Definition: ISUtilities.h:134
PACKED::ana4
float ana4
Definition: data_sets.h:873
-
PACKED::vectorToBase
float vectorToBase[3]
Definition: data_sets.h:2029
+
PACKED::vectorToBase
float vectorToBase[3]
Definition: data_sets.h:2034
cInertialSenseDisplay::DataToStringSensorsADC
string DataToStringSensorsADC(const sys_sensors_adc_t &sensorsADC, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1318
-
PACKED::gpsRtkRel
gps_rtk_rel_t gpsRtkRel
Definition: data_sets.h:2582
-
survey_in_t::hAccuracy
float hAccuracy
Definition: data_sets.h:2291
+
PACKED::gpsRtkRel
gps_rtk_rel_t gpsRtkRel
Definition: data_sets.h:2587
+
survey_in_t::hAccuracy
float hAccuracy
Definition: data_sets.h:2296
GPS_STATUS_FIX_NONE
Definition: data_sets.h:337
ISDisplay.h
PRINTV3_P3
#define PRINTV3_P3
Definition: ISDisplay.cpp:37
-
PACKED::arRatio
float arRatio
Definition: data_sets.h:2026
+
PACKED::arRatio
float arRatio
Definition: data_sets.h:2031
GPS_STATUS_FLAGS_GPS_COMPASSING_ENABLED
Definition: data_sets.h:360
GPS_STATUS_FIX_BIT_OFFSET
Definition: data_sets.h:351
cInertialSenseDisplay::DataToStringSysParams
string DataToStringSysParams(const sys_params_t &sys, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1203
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
-
PACKED::distanceToBase
float distanceToBase
Definition: data_sets.h:2032
-
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2571
+
PACKED::distanceToBase
float distanceToBase
Definition: data_sets.h:2037
+
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2576
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:449
-
survey_in_t::elapsedTimeSec
uint32_t elapsedTimeSec
Definition: data_sets.h:2288
+
survey_in_t::elapsedTimeSec
uint32_t elapsedTimeSec
Definition: data_sets.h:2293
ISDataMappings.h
boldOn
ostream & boldOn(ostream &os)
Definition: ISDisplay.cpp:1369
p_data_hdr_t::id
uint32_t id
Definition: ISComm.h:469
-
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2570
+
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2575
DID_INS_1
#define DID_INS_1
Definition: data_sets.h:38
PACKED::imuPeriodMs
uint32_t imuPeriodMs
Definition: data_sets.h:917
cInertialSenseDisplay::DataToString
string DataToString(const p_data_t *data)
Definition: ISDisplay.cpp:487
-
survey_in_t::maxDurationSec
uint32_t maxDurationSec
Definition: data_sets.h:2282
-
survey_in_t::state
uint32_t state
Definition: data_sets.h:2279
+
survey_in_t::maxDurationSec
uint32_t maxDurationSec
Definition: data_sets.h:2287
+
survey_in_t::state
uint32_t state
Definition: data_sets.h:2284
DataCSV.h
PACKED::lla
double lla[3]
Definition: data_sets.h:464
INS_STATUS_NAV_MODE
Definition: data_sets.h:186
@@ -127,18 +127,18 @@
PACKED::bar
float bar
Definition: data_sets.h:603
DID_DEV_INFO
#define DID_DEV_INFO
Definition: data_sets.h:35
DID_INS_2
#define DID_INS_2
Definition: data_sets.h:39
-
SURVEY_IN_STATE_SAVE_POS
Definition: data_sets.h:2269
+
SURVEY_IN_STATE_SAVE_POS
Definition: data_sets.h:2274
cInertialSenseDisplay::DataToStringRtkMisc
string DataToStringRtkMisc(const gps_rtk_misc_t &sol, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1118
-
PACKED::sensorsAdc
sys_sensors_adc_t sensorsAdc
Definition: data_sets.h:2592
+
PACKED::sensorsAdc
sys_sensors_adc_t sensorsAdc
Definition: data_sets.h:2597
SADC_WIDTH
#define SADC_WIDTH
PACKED::status
uint32_t status
Definition: data_sets.h:649
cInertialSenseDisplay::DataToStringRawGPS
string DataToStringRawGPS(const gps_raw_t &raw, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1140
DID_PREINTEGRATED_IMU
#define DID_PREINTEGRATED_IMU
Definition: data_sets.h:37
-
SURVEY_IN_STATE_RUNNING_FLOAT
Definition: data_sets.h:2267
+
SURVEY_IN_STATE_RUNNING_FLOAT
Definition: data_sets.h:2272
PACKED::imuTemp
float imuTemp
Definition: data_sets.h:905
-
PACKED::obsCount
uint8_t obsCount
Definition: data_sets.h:2202
+
PACKED::obsCount
uint8_t obsCount
Definition: data_sets.h:2207
cInertialSenseDisplay::DataToStringPreintegratedImu
string DataToStringPreintegratedImu(const preintegrated_imu_t &imu, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:861
PACKED::theta
float theta[3]
Definition: data_sets.h:458
cInertialSenseDisplay::DataToStringBaro
string DataToStringBaro(const barometer_t &baro, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:986
@@ -148,11 +148,11 @@
MAG_RECAL_MODE_MULTI_AXIS
Definition: data_sets.h:1109
ISUtilities.h
PACKED::time
double time
Definition: data_sets.h:567
-
PACKED::sysParams
sys_params_t sysParams
Definition: data_sets.h:2588
+
PACKED::sysParams
sys_params_t sysParams
Definition: data_sets.h:2593
DID_GPS_BASE_RAW
#define DID_GPS_BASE_RAW
Definition: data_sets.h:94
DID_MAG_CAL
#define DID_MAG_CAL
Definition: data_sets.h:53
-
PACKED::gpsRtkMisc
gps_rtk_misc_t gpsRtkMisc
Definition: data_sets.h:2583
-
PACKED::imu
imu_t imu
Definition: data_sets.h:2573
+
PACKED::gpsRtkMisc
gps_rtk_misc_t gpsRtkMisc
Definition: data_sets.h:2588
+
PACKED::imu
imu_t imu
Definition: data_sets.h:2578
PACKED::vAcc
float vAcc
Definition: data_sets.h:664
BUF_SIZE
#define BUF_SIZE
Definition: ISDisplay.cpp:43
@@ -164,17 +164,17 @@
PACKED::declination
float declination
Definition: data_sets.h:1125
GPS_STATUS_FLAGS_BASE_NO_POSITION
Definition: data_sets.h:362
cInertialSenseDisplay::DataToStringDevInfo
string DataToStringDevInfo(const dev_info_t &info, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1280
-
PACKED::arThreshold
float arThreshold
Definition: data_sets.h:2053
+
PACKED::arThreshold
float arThreshold
Definition: data_sets.h:2058
MAG_RECAL_MODE_COMPLETE
Definition: data_sets.h:1111
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:487
-
PACKED::headingToBase
float headingToBase
Definition: data_sets.h:2035
+
PACKED::headingToBase
float headingToBase
Definition: data_sets.h:2040
cInertialSenseDisplay::DataToStringRTOS
string DataToStringRTOS(const rtos_info_t &info, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1271
PACKED::progress
float progress
Definition: data_sets.h:1122
PACKED::pqr
float pqr[3]
Definition: data_sets.h:556
PACKED::uvw
float uvw[3]
Definition: data_sets.h:461
PACKED::hAcc
float hAcc
Definition: data_sets.h:661
PACKED::enMagRecal
uint32_t enMagRecal
Definition: data_sets.h:1119
-
PACKED::magCal
mag_cal_t magCal
Definition: data_sets.h:2576
+
PACKED::magCal
mag_cal_t magCal
Definition: data_sets.h:2581
INS_STATUS_MAG_AIDING_HEADING
Definition: data_sets.h:183
quat2euler
void quat2euler(const Quat_t q, Euler_t theta)
Definition: ISPose.c:185
@@ -182,59 +182,59 @@
PRINTV4_P3
#define PRINTV4_P3
Definition: ISDisplay.cpp:40
PACKED::mcuTemp
float mcuTemp
Definition: data_sets.h:911
PACKED::insStatus
uint32_t insStatus
Definition: data_sets.h:452
-
PACKED::dualImu
dual_imu_t dualImu
Definition: data_sets.h:2574
+
PACKED::dualImu
dual_imu_t dualImu
Definition: data_sets.h:2579
cInertialSenseDisplay::DataToStats
void DataToStats(const p_data_t *data)
Definition: ISDisplay.cpp:459
cInertialSenseDisplay::DataToStringINS1
string DataToStringINS1(const ins_1_t &ins1, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:589
-
PACKED::gDop
float gDop
Definition: data_sets.h:2056
-
PACKED::rtosInfo
rtos_info_t rtosInfo
Definition: data_sets.h:2590
+
PACKED::gDop
float gDop
Definition: data_sets.h:2061
+
PACKED::rtosInfo
rtos_info_t rtosInfo
Definition: data_sets.h:2595
cInertialSenseDisplay::InsStatusToSolStatusString
char * InsStatusToSolStatusString(char *ptr, char *ptrEnd, const uint32_t insStatus)
Definition: ISDisplay.cpp:572
-
SURVEY_IN_STATE_RUNNING_FIX
Definition: data_sets.h:2268
+
SURVEY_IN_STATE_RUNNING_FIX
Definition: data_sets.h:2273
PACKED::ecef
double ecef[3]
Definition: data_sets.h:548
endlbOn
ostream & endlbOn(ostream &os)
Definition: ISDisplay.cpp:1400
PACKED::mag
float mag[3]
Definition: data_sets.h:592
PACKED::hdwStatus
uint32_t hdwStatus
Definition: data_sets.h:455
-
PACKED::vDop
float vDop
Definition: data_sets.h:2062
+
PACKED::vDop
float vDop
Definition: data_sets.h:2067
cInertialSenseDisplay::DataToStringGpsPos
string DataToStringGpsPos(const gps_pos_t &gps, const p_data_hdr_t &hdr, const string didName)
Definition: ISDisplay.cpp:1016
INS_STATUS_SOLUTION_NAV
Definition: data_sets.h:200
DID_GPS1_RAW
#define DID_GPS1_RAW
Definition: data_sets.h:103
-
PACKED::differentialAge
float differentialAge
Definition: data_sets.h:2023
+
PACKED::differentialAge
float differentialAge
Definition: data_sets.h:2028
PACKED::theta2
float theta2[3]
Definition: data_sets.h:626
PACKED::baroTemp
float baroTemp
Definition: data_sets.h:908
DID_GPS2_POS
#define DID_GPS2_POS
Definition: data_sets.h:48
-
PACKED::dataType
uint8_t dataType
Definition: data_sets.h:2199
+
PACKED::dataType
uint8_t dataType
Definition: data_sets.h:2204
cInertialSenseDisplay::DataToStringINS4
string DataToStringINS4(const ins_4_t &ins4, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:752
cInertialSenseDisplay::DataToStringDualIMU
string DataToStringDualIMU(const dual_imu_t &imu, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:808
HDW_STATUS_BIT_FAULT
Definition: data_sets.h:308
-
PACKED::ins4
ins_4_t ins4
Definition: data_sets.h:2572
+
PACKED::ins4
ins_4_t ins4
Definition: data_sets.h:2577
HDW_STATUS_GPS_SATELLITE_RX
Definition: data_sets.h:264
-
SURVEY_IN_STATE_OFF
Definition: data_sets.h:2257
+
SURVEY_IN_STATE_OFF
Definition: data_sets.h:2262
p_data_t::hdr
p_data_hdr_t hdr
Definition: ISComm.h:482
PACKED::barTemp
float barTemp
Definition: data_sets.h:609
cInertialSenseDisplay::DataToStringINS3
string DataToStringINS3(const ins_3_t &ins3, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:696
PACKED::ned
float ned[3]
Definition: data_sets.h:467
cInertialSenseDisplay::DataToStringSysSensors
string DataToStringSysSensors(const sys_sensors_t &sensors, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1231
-
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2569
+
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2574
GPS_STATUS_FLAGS_BASE_POSITION_MOVING
Definition: data_sets.h:363
DID_MAGNETOMETER_1
#define DID_MAGNETOMETER_1
Definition: data_sets.h:86
-
SURVEY_IN_STATE_RUNNING_3D
Definition: data_sets.h:2266
+
SURVEY_IN_STATE_RUNNING_3D
Definition: data_sets.h:2271
GPS_STATUS_FIX_2D
Definition: data_sets.h:339
PACKED::timeOfWeekMs
uint32_t timeOfWeekMs
Definition: data_sets.h:646
INS_STATUS_SOLUTION
#define INS_STATUS_SOLUTION(insStatus)
Definition: data_sets.h:195
cInertialSenseDisplay::DataToStringINS2
string DataToStringINS2(const ins_2_t &ins2, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:640
-
SURVEY_IN_STATE_DONE
Definition: data_sets.h:2270
+
SURVEY_IN_STATE_DONE
Definition: data_sets.h:2275
GPS_STATUS_FLAGS_BASE_NO_OBSERV_EPHEM
Definition: data_sets.h:361
-
PACKED::sysSensors
sys_sensors_t sysSensors
Definition: data_sets.h:2589
+
PACKED::sysSensors
sys_sensors_t sysSensors
Definition: data_sets.h:2594
qe2b2EulerNedEcef
void qe2b2EulerNedEcef(Vector3 eul, const Vector4 qe2b, const Vector3d ecef)
Definition: ISPose.c:281
-
PACKED::surveyIn
survey_in_t surveyIn
Definition: data_sets.h:2587
+
PACKED::surveyIn
survey_in_t surveyIn
Definition: data_sets.h:2592
GPS_STATUS_FIX_MASK
Definition: data_sets.h:350
-
PACKED::baro
barometer_t baro
Definition: data_sets.h:2577
+
PACKED::baro
barometer_t baro
Definition: data_sets.h:2582
DID_GPS1_POS
#define DID_GPS1_POS
Definition: data_sets.h:47
p_data_hdr_t
Definition: ISComm.h:466
PRINTV3_P2
#define PRINTV3_P2
Definition: ISDisplay.cpp:36
GPS_STATUS_FIX_RTK_FIX
Definition: data_sets.h:349
-
PACKED::devInfo
dev_info_t devInfo
Definition: data_sets.h:2568
+
PACKED::devInfo
dev_info_t devInfo
Definition: data_sets.h:2573
INS_STATUS_SOLUTION_OFF
Definition: data_sets.h:197
cInertialSenseDisplay::ShowCursor
void ShowCursor(bool visible)
Definition: ISDisplay.cpp:104
@@ -256,37 +256,37 @@
PACKED::ve
float ve[3]
Definition: data_sets.h:545
ISPose.h
PRINTV3_LLA
#define PRINTV3_LLA
Definition: ISDisplay.cpp:41
-
survey_in_t
Definition: data_sets.h:2276
+
survey_in_t
Definition: data_sets.h:2281
DID_GPS1_RTK_POS
#define DID_GPS1_RTK_POS
Definition: data_sets.h:88
cInertialSenseDisplay::DataToStringMag
string DataToStringMag(const magnetometer_t &mag, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:918
SNPRINTF
#define SNPRINTF
Definition: ISConstants.h:142
current_weekMs
int current_weekMs()
Definition: ISUtilities.cpp:239
-
PACKED::gpsRaw
gps_raw_t gpsRaw
Definition: data_sets.h:2591
+
PACKED::gpsRaw
gps_raw_t gpsRaw
Definition: data_sets.h:2596
PACKED::towOffset
double towOffset
Definition: data_sets.h:673
PACKED::vel2
float vel2[3]
Definition: data_sets.h:632
-
PACKED::receiverIndex
uint8_t receiverIndex
Definition: data_sets.h:2196
+
PACKED::receiverIndex
uint8_t receiverIndex
Definition: data_sets.h:2201
C_RAD2DEG_F
#define C_RAD2DEG_F
Definition: ISConstants.h:509
GPS_STATUS_FLAGS_RTK_ENABLED
Definition: data_sets.h:358
copyDataPToStructP
char copyDataPToStructP(void *sptr, const p_data_t *data, const unsigned int maxsize)
Definition: ISComm.c:799
cInertialSenseDisplay::DataToStringRtkRel
string DataToStringRtkRel(const gps_rtk_rel_t &gps, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1080
cInertialSenseDisplay::GoToColumnAndRow
void GoToColumnAndRow(int x, int y)
Definition: ISDisplay.cpp:182
-
PACKED::gpsPos
gps_pos_t gpsPos
Definition: data_sets.h:2579
+
PACKED::gpsPos
gps_pos_t gpsPos
Definition: data_sets.h:2584
cInertialSenseDisplay::ProcessData
void ProcessData(p_data_t *data, bool enableReplay=false, double replaySpeedX=1.0)
Definition: ISDisplay.cpp:271
-
PACKED::accuracyPos
float accuracyPos[3]
Definition: data_sets.h:2046
+
PACKED::accuracyPos
float accuracyPos[3]
Definition: data_sets.h:2051
DID_GPS1_RTK_REL
#define DID_GPS1_RTK_REL
Definition: data_sets.h:55
HDW_STATUS_COM_PARSE_ERROR_COUNT
#define HDW_STATUS_COM_PARSE_ERROR_COUNT(hdwStatus)
Definition: data_sets.h:305
PACKED::ana1
float ana1
Definition: data_sets.h:867
PACKED::pDop
float pDop
Definition: data_sets.h:667
endlbOff
ostream & endlbOff(ostream &os)
Definition: ISDisplay.cpp:1416
boldOff
ostream & boldOff(ostream &os)
Definition: ISDisplay.cpp:1384
-
PACKED::pImu
preintegrated_imu_t pImu
Definition: data_sets.h:2578
+
PACKED::pImu
preintegrated_imu_t pImu
Definition: data_sets.h:2583
DID_INS_4
#define DID_INS_4
Definition: data_sets.h:100
-
PACKED::hDop
float hDop
Definition: data_sets.h:2059
+
PACKED::hDop
float hDop
Definition: data_sets.h:2064
cInertialSenseDisplay::DataToStringSurveyIn
string DataToStringSurveyIn(const survey_in_t &survey, const p_data_hdr_t &hdr)
Definition: ISDisplay.cpp:1157
DID_BAROMETER
#define DID_BAROMETER
Definition: data_sets.h:87
DID_RTOS_INFO
#define DID_RTOS_INFO
Definition: data_sets.h:72
-
survey_in_t::lla
double lla[3]
Definition: data_sets.h:2294
+
survey_in_t::lla
double lla[3]
Definition: data_sets.h:2299
DID_INL2_STATES
#define DID_INL2_STATES
Definition: data_sets.h:82
PACKED::acc
float acc[3]
Definition: data_sets.h:559
INS_STATUS_SOLUTION_ALIGNING
Definition: data_sets.h:198
diff --git a/docs/html/_i_s_display_8h.html b/docs/html/_i_s_display_8h.html index 443c5d144..d1d3c599d 100644 --- a/docs/html/_i_s_display_8h.html +++ b/docs/html/_i_s_display_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_display_8h_source.html b/docs/html/_i_s_display_8h_source.html index 7dd14fe5c..d14ddc78e 100644 --- a/docs/html/_i_s_display_8h_source.html +++ b/docs/html/_i_s_display_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -86,7 +86,7 @@
p_data_hdr_t
Definition: ISComm.h:466
p_data_t
Definition: ISComm.h:479
-
survey_in_t
Definition: data_sets.h:2276
+
survey_in_t
Definition: data_sets.h:2281
cInertialSenseDisplay::SetDisplayMode
void SetDisplayMode(eDisplayMode mode)
Definition: ISDisplay.h:43
com_manager.h
boldOff
ostream & boldOff(ostream &os)
Definition: ISDisplay.cpp:1384
diff --git a/docs/html/_i_s_earth_8c.html b/docs/html/_i_s_earth_8c.html index c5214c882..e6a689e5a 100644 --- a/docs/html/_i_s_earth_8c.html +++ b/docs/html/_i_s_earth_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_earth_8c_source.html b/docs/html/_i_s_earth_8c_source.html index 1842a52b4..0f10f458e 100644 --- a/docs/html/_i_s_earth_8c_source.html +++ b/docs/html/_i_s_earth_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_earth_8h.html b/docs/html/_i_s_earth_8h.html index 301335c65..6d237d5a2 100644 --- a/docs/html/_i_s_earth_8h.html +++ b/docs/html/_i_s_earth_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_earth_8h_source.html b/docs/html/_i_s_earth_8h_source.html index c8b63cb8a..4b27121dd 100644 --- a/docs/html/_i_s_earth_8h_source.html +++ b/docs/html/_i_s_earth_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_logger_8cpp.html b/docs/html/_i_s_logger_8cpp.html index 4433ae31a..b60ee7502 100644 --- a/docs/html/_i_s_logger_8cpp.html +++ b/docs/html/_i_s_logger_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_logger_8cpp_source.html b/docs/html/_i_s_logger_8cpp_source.html index 7ba49cb1b..fdbd7b02d 100644 --- a/docs/html/_i_s_logger_8cpp_source.html +++ b/docs/html/_i_s_logger_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -115,7 +115,7 @@
cISLogger::LogHeaderIsCorrupt
static bool LogHeaderIsCorrupt(const p_data_hdr_t *hdr)
Definition: ISLogger.cpp:40
cISLogger::LogDataIsCorrupt
static bool LogDataIsCorrupt(const p_data_t *data)
Definition: ISLogger.cpp:55
ISUtilities.h
-
diag_msg_t
Definition: data_sets.h:2242
+
diag_msg_t
Definition: data_sets.h:2247
cLogStats::LogError
void LogError(const p_data_hdr_t *hdr)
Definition: ISLogger.cpp:964
cISLogger::GetAllFilesInDirectory
static bool GetAllFilesInDirectory(const string &directory, bool recursive, vector< string > &files)
Definition: ISLogger.cpp:255
diff --git a/docs/html/_i_s_logger_8h.html b/docs/html/_i_s_logger_8h.html index ef7377c0e..497d9e36c 100644 --- a/docs/html/_i_s_logger_8h.html +++ b/docs/html/_i_s_logger_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_logger_8h_source.html b/docs/html/_i_s_logger_8h_source.html index 72a47247a..5f8a1b059 100644 --- a/docs/html/_i_s_logger_8h_source.html +++ b/docs/html/_i_s_logger_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_matrix_8c.html b/docs/html/_i_s_matrix_8c.html index 12a1c1868..8648ce34f 100644 --- a/docs/html/_i_s_matrix_8c.html +++ b/docs/html/_i_s_matrix_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_matrix_8c_source.html b/docs/html/_i_s_matrix_8c_source.html index 14e149786..b77691ec0 100644 --- a/docs/html/_i_s_matrix_8c_source.html +++ b/docs/html/_i_s_matrix_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_matrix_8h.html b/docs/html/_i_s_matrix_8h.html index c5afb617c..af58236db 100644 --- a/docs/html/_i_s_matrix_8h.html +++ b/docs/html/_i_s_matrix_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_matrix_8h_source.html b/docs/html/_i_s_matrix_8h_source.html index ceb06427c..4d1155231 100644 --- a/docs/html/_i_s_matrix_8h_source.html +++ b/docs/html/_i_s_matrix_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_pose_8c.html b/docs/html/_i_s_pose_8c.html index 37621330e..9742d6b2f 100644 --- a/docs/html/_i_s_pose_8c.html +++ b/docs/html/_i_s_pose_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_pose_8c_source.html b/docs/html/_i_s_pose_8c_source.html index 92af68c02..dfd3bdc6e 100644 --- a/docs/html/_i_s_pose_8c_source.html +++ b/docs/html/_i_s_pose_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_pose_8h.html b/docs/html/_i_s_pose_8h.html index 38aa95dbf..a4abee71e 100644 --- a/docs/html/_i_s_pose_8h.html +++ b/docs/html/_i_s_pose_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_pose_8h_source.html b/docs/html/_i_s_pose_8h_source.html index b7becde43..7ffc99941 100644 --- a/docs/html/_i_s_pose_8h_source.html +++ b/docs/html/_i_s_pose_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_serial_port_8cpp.html b/docs/html/_i_s_serial_port_8cpp.html index 04e8bd73e..c760639ed 100644 --- a/docs/html/_i_s_serial_port_8cpp.html +++ b/docs/html/_i_s_serial_port_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_serial_port_8cpp_source.html b/docs/html/_i_s_serial_port_8cpp_source.html index d819da80f..221456908 100644 --- a/docs/html/_i_s_serial_port_8cpp_source.html +++ b/docs/html/_i_s_serial_port_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_serial_port_8h.html b/docs/html/_i_s_serial_port_8h.html index 301f736ad..e75beb70c 100644 --- a/docs/html/_i_s_serial_port_8h.html +++ b/docs/html/_i_s_serial_port_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_serial_port_8h_source.html b/docs/html/_i_s_serial_port_8h_source.html index be0318fdb..1e02ad79a 100644 --- a/docs/html/_i_s_serial_port_8h_source.html +++ b/docs/html/_i_s_serial_port_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_stream_8cpp.html b/docs/html/_i_s_stream_8cpp.html index 9d7f2c337..44a235399 100644 --- a/docs/html/_i_s_stream_8cpp.html +++ b/docs/html/_i_s_stream_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_stream_8cpp_source.html b/docs/html/_i_s_stream_8cpp_source.html index 7e4a5fa34..96b233a53 100644 --- a/docs/html/_i_s_stream_8cpp_source.html +++ b/docs/html/_i_s_stream_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_client_8cpp.html b/docs/html/_i_s_tcp_client_8cpp.html index 28fd2c19d..67cef2147 100644 --- a/docs/html/_i_s_tcp_client_8cpp.html +++ b/docs/html/_i_s_tcp_client_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_client_8cpp_source.html b/docs/html/_i_s_tcp_client_8cpp_source.html index 55f3392ec..1894f50b5 100644 --- a/docs/html/_i_s_tcp_client_8cpp_source.html +++ b/docs/html/_i_s_tcp_client_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_client_8h.html b/docs/html/_i_s_tcp_client_8h.html index 9e70f06d9..f08a55a21 100644 --- a/docs/html/_i_s_tcp_client_8h.html +++ b/docs/html/_i_s_tcp_client_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_client_8h_source.html b/docs/html/_i_s_tcp_client_8h_source.html index aa9c9a43d..5e2c9188b 100644 --- a/docs/html/_i_s_tcp_client_8h_source.html +++ b/docs/html/_i_s_tcp_client_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_server_8cpp.html b/docs/html/_i_s_tcp_server_8cpp.html index 487eba7ff..0380e086d 100644 --- a/docs/html/_i_s_tcp_server_8cpp.html +++ b/docs/html/_i_s_tcp_server_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_server_8cpp_source.html b/docs/html/_i_s_tcp_server_8cpp_source.html index d75ebbdee..7a2523809 100644 --- a/docs/html/_i_s_tcp_server_8cpp_source.html +++ b/docs/html/_i_s_tcp_server_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_server_8h.html b/docs/html/_i_s_tcp_server_8h.html index d24eb1bc8..c705c12c3 100644 --- a/docs/html/_i_s_tcp_server_8h.html +++ b/docs/html/_i_s_tcp_server_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_tcp_server_8h_source.html b/docs/html/_i_s_tcp_server_8h_source.html index 99c600389..d9fbd2a92 100644 --- a/docs/html/_i_s_tcp_server_8h_source.html +++ b/docs/html/_i_s_tcp_server_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_utilities_8cpp.html b/docs/html/_i_s_utilities_8cpp.html index e9819a29f..d7861544d 100644 --- a/docs/html/_i_s_utilities_8cpp.html +++ b/docs/html/_i_s_utilities_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_utilities_8cpp_source.html b/docs/html/_i_s_utilities_8cpp_source.html index afe8321f3..1f0355e89 100644 --- a/docs/html/_i_s_utilities_8cpp_source.html +++ b/docs/html/_i_s_utilities_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_utilities_8h.html b/docs/html/_i_s_utilities_8h.html index fa74ef9a9..c14056e0b 100644 --- a/docs/html/_i_s_utilities_8h.html +++ b/docs/html/_i_s_utilities_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_i_s_utilities_8h_source.html b/docs/html/_i_s_utilities_8h_source.html index 02f66f025..45238707a 100644 --- a/docs/html/_i_s_utilities_8h_source.html +++ b/docs/html/_i_s_utilities_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_inertial_sense_8cpp.html b/docs/html/_inertial_sense_8cpp.html index 99f367261..a54177c53 100644 --- a/docs/html/_inertial_sense_8cpp.html +++ b/docs/html/_inertial_sense_8cpp.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_inertial_sense_8cpp_source.html b/docs/html/_inertial_sense_8cpp_source.html index e5eaacc7b..4a108c6ea 100644 --- a/docs/html/_inertial_sense_8cpp_source.html +++ b/docs/html/_inertial_sense_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_inertial_sense_8h.html b/docs/html/_inertial_sense_8h.html index 168f08205..bfb0229a6 100644 --- a/docs/html/_inertial_sense_8h.html +++ b/docs/html/_inertial_sense_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_inertial_sense_8h_source.html b/docs/html/_inertial_sense_8h_source.html index 05dc6d591..407440264 100644 --- a/docs/html/_inertial_sense_8h_source.html +++ b/docs/html/_inertial_sense_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_inertial_sense_s_d_k_8h.html b/docs/html/_inertial_sense_s_d_k_8h.html index 7ae1bbf05..5bb094fd9 100644 --- a/docs/html/_inertial_sense_s_d_k_8h.html +++ b/docs/html/_inertial_sense_s_d_k_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_inertial_sense_s_d_k_8h_source.html b/docs/html/_inertial_sense_s_d_k_8h_source.html index ad317ccc4..8e5a829aa 100644 --- a/docs/html/_inertial_sense_s_d_k_8h_source.html +++ b/docs/html/_inertial_sense_s_d_k_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_r_e_a_d_m_e_8md.html b/docs/html/_r_e_a_d_m_e_8md.html index 1539b8b12..3ea42cdca 100644 --- a/docs/html/_r_e_a_d_m_e_8md.html +++ b/docs/html/_r_e_a_d_m_e_8md.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/_r_e_a_d_m_e_8md_source.html b/docs/html/_r_e_a_d_m_e_8md_source.html index 975861823..c8d313d7f 100644 --- a/docs/html/_r_e_a_d_m_e_8md_source.html +++ b/docs/html/_r_e_a_d_m_e_8md_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/annotated.html b/docs/html/annotated.html index 359da7c30..4d1d40b36 100644 --- a/docs/html/annotated.html +++ b/docs/html/annotated.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_inertial_sense-members.html b/docs/html/class_inertial_sense-members.html index 3b208ac79..7c912ab92 100644 --- a/docs/html/class_inertial_sense-members.html +++ b/docs/html/class_inertial_sense-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_inertial_sense.html b/docs/html/class_inertial_sense.html index 96986ae10..e71f90df8 100644 --- a/docs/html/class_inertial_sense.html +++ b/docs/html/class_inertial_sense.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_attribute-members.html b/docs/html/class_ti_xml_attribute-members.html index 5b070f41f..cce8b4439 100644 --- a/docs/html/class_ti_xml_attribute-members.html +++ b/docs/html/class_ti_xml_attribute-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_attribute.html b/docs/html/class_ti_xml_attribute.html index 6d2afec8c..0070e641d 100644 --- a/docs/html/class_ti_xml_attribute.html +++ b/docs/html/class_ti_xml_attribute.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_attribute_set-members.html b/docs/html/class_ti_xml_attribute_set-members.html index 554695be3..303ad8ff5 100644 --- a/docs/html/class_ti_xml_attribute_set-members.html +++ b/docs/html/class_ti_xml_attribute_set-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_attribute_set.html b/docs/html/class_ti_xml_attribute_set.html index 02da9326f..c188f8b74 100644 --- a/docs/html/class_ti_xml_attribute_set.html +++ b/docs/html/class_ti_xml_attribute_set.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_base-members.html b/docs/html/class_ti_xml_base-members.html index 0d886e357..374290d72 100644 --- a/docs/html/class_ti_xml_base-members.html +++ b/docs/html/class_ti_xml_base-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_base.html b/docs/html/class_ti_xml_base.html index 74c95b77c..96d98d1fc 100644 --- a/docs/html/class_ti_xml_base.html +++ b/docs/html/class_ti_xml_base.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_comment-members.html b/docs/html/class_ti_xml_comment-members.html index 559689835..960a7be30 100644 --- a/docs/html/class_ti_xml_comment-members.html +++ b/docs/html/class_ti_xml_comment-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_comment.html b/docs/html/class_ti_xml_comment.html index 61b75aee2..2537248b3 100644 --- a/docs/html/class_ti_xml_comment.html +++ b/docs/html/class_ti_xml_comment.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_declaration-members.html b/docs/html/class_ti_xml_declaration-members.html index e3241e69c..c1e62b000 100644 --- a/docs/html/class_ti_xml_declaration-members.html +++ b/docs/html/class_ti_xml_declaration-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_declaration.html b/docs/html/class_ti_xml_declaration.html index 1c28db37e..09bcbb353 100644 --- a/docs/html/class_ti_xml_declaration.html +++ b/docs/html/class_ti_xml_declaration.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_document-members.html b/docs/html/class_ti_xml_document-members.html index 8efb9488f..a5a24bfea 100644 --- a/docs/html/class_ti_xml_document-members.html +++ b/docs/html/class_ti_xml_document-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_document.html b/docs/html/class_ti_xml_document.html index 62a4da52d..7079b91ab 100644 --- a/docs/html/class_ti_xml_document.html +++ b/docs/html/class_ti_xml_document.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_element-members.html b/docs/html/class_ti_xml_element-members.html index 17b9dc440..de03da014 100644 --- a/docs/html/class_ti_xml_element-members.html +++ b/docs/html/class_ti_xml_element-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_element.html b/docs/html/class_ti_xml_element.html index d528885ac..fda4a2c4d 100644 --- a/docs/html/class_ti_xml_element.html +++ b/docs/html/class_ti_xml_element.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_handle-members.html b/docs/html/class_ti_xml_handle-members.html index 0b8888e0c..183cd9fc7 100644 --- a/docs/html/class_ti_xml_handle-members.html +++ b/docs/html/class_ti_xml_handle-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_handle.html b/docs/html/class_ti_xml_handle.html index f38cddf03..2dadad21f 100644 --- a/docs/html/class_ti_xml_handle.html +++ b/docs/html/class_ti_xml_handle.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_node-members.html b/docs/html/class_ti_xml_node-members.html index 19ba9cd1d..059b35456 100644 --- a/docs/html/class_ti_xml_node-members.html +++ b/docs/html/class_ti_xml_node-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_node.html b/docs/html/class_ti_xml_node.html index 2963d92f8..3229c7176 100644 --- a/docs/html/class_ti_xml_node.html +++ b/docs/html/class_ti_xml_node.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_out_stream-members.html b/docs/html/class_ti_xml_out_stream-members.html index c7c4e8c34..5495303cf 100644 --- a/docs/html/class_ti_xml_out_stream-members.html +++ b/docs/html/class_ti_xml_out_stream-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_out_stream.html b/docs/html/class_ti_xml_out_stream.html index 31ad759b2..e3f226f8e 100644 --- a/docs/html/class_ti_xml_out_stream.html +++ b/docs/html/class_ti_xml_out_stream.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_parsing_data-members.html b/docs/html/class_ti_xml_parsing_data-members.html index e0a14ec18..0093b3356 100644 --- a/docs/html/class_ti_xml_parsing_data-members.html +++ b/docs/html/class_ti_xml_parsing_data-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_parsing_data.html b/docs/html/class_ti_xml_parsing_data.html index 1606fce36..5ee544e81 100644 --- a/docs/html/class_ti_xml_parsing_data.html +++ b/docs/html/class_ti_xml_parsing_data.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_printer-members.html b/docs/html/class_ti_xml_printer-members.html index 9f914cf83..e27c80d4e 100644 --- a/docs/html/class_ti_xml_printer-members.html +++ b/docs/html/class_ti_xml_printer-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_printer.html b/docs/html/class_ti_xml_printer.html index 64046ecc3..4d2aebb97 100644 --- a/docs/html/class_ti_xml_printer.html +++ b/docs/html/class_ti_xml_printer.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_string-members.html b/docs/html/class_ti_xml_string-members.html index 4b796c670..8b148290d 100644 --- a/docs/html/class_ti_xml_string-members.html +++ b/docs/html/class_ti_xml_string-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_string.html b/docs/html/class_ti_xml_string.html index f7d3f7d37..9917560f4 100644 --- a/docs/html/class_ti_xml_string.html +++ b/docs/html/class_ti_xml_string.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_text-members.html b/docs/html/class_ti_xml_text-members.html index 4e76fe6f1..2f233a060 100644 --- a/docs/html/class_ti_xml_text-members.html +++ b/docs/html/class_ti_xml_text-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_text.html b/docs/html/class_ti_xml_text.html index 6fecc8ed3..0a36dabb4 100644 --- a/docs/html/class_ti_xml_text.html +++ b/docs/html/class_ti_xml_text.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_unknown-members.html b/docs/html/class_ti_xml_unknown-members.html index c7c429638..3fe40f127 100644 --- a/docs/html/class_ti_xml_unknown-members.html +++ b/docs/html/class_ti_xml_unknown-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_unknown.html b/docs/html/class_ti_xml_unknown.html index 66056aa62..886470365 100644 --- a/docs/html/class_ti_xml_unknown.html +++ b/docs/html/class_ti_xml_unknown.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_visitor-members.html b/docs/html/class_ti_xml_visitor-members.html index a51dcca08..17f84c718 100644 --- a/docs/html/class_ti_xml_visitor-members.html +++ b/docs/html/class_ti_xml_visitor-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/class_ti_xml_visitor.html b/docs/html/class_ti_xml_visitor.html index 8834a1a40..2a57b728f 100644 --- a/docs/html/class_ti_xml_visitor.html +++ b/docs/html/class_ti_xml_visitor.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_com_data_buffer-members.html b/docs/html/classc_com_data_buffer-members.html index fdebaec7f..b60421955 100644 --- a/docs/html/classc_com_data_buffer-members.html +++ b/docs/html/classc_com_data_buffer-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_com_data_buffer.html b/docs/html/classc_com_data_buffer.html index 81eedb76c..8b7ce0925 100644 --- a/docs/html/classc_com_data_buffer.html +++ b/docs/html/classc_com_data_buffer.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_csv_log-members.html b/docs/html/classc_csv_log-members.html index f7730e4d8..177f3d9b2 100644 --- a/docs/html/classc_csv_log-members.html +++ b/docs/html/classc_csv_log-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_csv_log.html b/docs/html/classc_csv_log.html index 3ab49f99f..e49ee8b31 100644 --- a/docs/html/classc_csv_log.html +++ b/docs/html/classc_csv_log.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_data_c_s_v-members.html b/docs/html/classc_data_c_s_v-members.html index 532a73470..9e7b1d95d 100644 --- a/docs/html/classc_data_c_s_v-members.html +++ b/docs/html/classc_data_c_s_v-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_data_c_s_v.html b/docs/html/classc_data_c_s_v.html index 6c406e6e6..3a9d7337a 100644 --- a/docs/html/classc_data_c_s_v.html +++ b/docs/html/classc_data_c_s_v.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_data_chunk-members.html b/docs/html/classc_data_chunk-members.html index c77f6b4e6..4d4a3a72b 100644 --- a/docs/html/classc_data_chunk-members.html +++ b/docs/html/classc_data_chunk-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_data_chunk.html b/docs/html/classc_data_chunk.html index b6828ac38..01695bd53 100644 --- a/docs/html/classc_data_chunk.html +++ b/docs/html/classc_data_chunk.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_data_j_s_o_n-members.html b/docs/html/classc_data_j_s_o_n-members.html index fe4e52797..7136d5c74 100644 --- a/docs/html/classc_data_j_s_o_n-members.html +++ b/docs/html/classc_data_j_s_o_n-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_data_j_s_o_n.html b/docs/html/classc_data_j_s_o_n.html index 5395e63b7..fbf52310f 100644 --- a/docs/html/classc_data_j_s_o_n.html +++ b/docs/html/classc_data_j_s_o_n.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_data_k_m_l-members.html b/docs/html/classc_data_k_m_l-members.html index fd7882620..2268e1db8 100644 --- a/docs/html/classc_data_k_m_l-members.html +++ b/docs/html/classc_data_k_m_l-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_data_k_m_l.html b/docs/html/classc_data_k_m_l.html index b9c21444a..7936f2fbb 100644 --- a/docs/html/classc_data_k_m_l.html +++ b/docs/html/classc_data_k_m_l.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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SDK -  Release 1.7.1 +  Release 1.7.2
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SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_device_log_c_s_v-members.html b/docs/html/classc_device_log_c_s_v-members.html index f5fcdb814..40f7b9fe8 100644 --- a/docs/html/classc_device_log_c_s_v-members.html +++ b/docs/html/classc_device_log_c_s_v-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_device_log_c_s_v.html b/docs/html/classc_device_log_c_s_v.html index d004690c7..11e194aec 100644 --- a/docs/html/classc_device_log_c_s_v.html +++ b/docs/html/classc_device_log_c_s_v.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_device_log_j_s_o_n-members.html b/docs/html/classc_device_log_j_s_o_n-members.html index a04e62c38..c790a7616 100644 --- a/docs/html/classc_device_log_j_s_o_n-members.html +++ b/docs/html/classc_device_log_j_s_o_n-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_device_log_j_s_o_n.html b/docs/html/classc_device_log_j_s_o_n.html index 620362acf..cebbea305 100644 --- a/docs/html/classc_device_log_j_s_o_n.html +++ b/docs/html/classc_device_log_j_s_o_n.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_device_log_k_m_l-members.html b/docs/html/classc_device_log_k_m_l-members.html index 2bad5642a..3c3f98ca0 100644 --- a/docs/html/classc_device_log_k_m_l-members.html +++ b/docs/html/classc_device_log_k_m_l-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_device_log_k_m_l.html b/docs/html/classc_device_log_k_m_l.html index 53d501b8e..4567cdc62 100644 --- a/docs/html/classc_device_log_k_m_l.html +++ b/docs/html/classc_device_log_k_m_l.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_device_log_serial-members.html b/docs/html/classc_device_log_serial-members.html index fc8d64b65..67ffeffd9 100644 --- a/docs/html/classc_device_log_serial-members.html +++ b/docs/html/classc_device_log_serial-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_device_log_serial.html b/docs/html/classc_device_log_serial.html index 20ad59c94..e984ddac1 100644 --- a/docs/html/classc_device_log_serial.html +++ b/docs/html/classc_device_log_serial.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_device_log_sorted-members.html b/docs/html/classc_device_log_sorted-members.html index 4f0a0fe46..54332e304 100644 --- a/docs/html/classc_device_log_sorted-members.html +++ b/docs/html/classc_device_log_sorted-members.html @@ -23,7 +23,7 @@ Logo
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SDK -  Release 1.7.1 +  Release 1.7.2
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SDK -  Release 1.7.1 +  Release 1.7.2
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SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_i_s_data_mappings.html b/docs/html/classc_i_s_data_mappings.html index b49e2fd82..74c09874e 100644 --- a/docs/html/classc_i_s_data_mappings.html +++ b/docs/html/classc_i_s_data_mappings.html @@ -23,7 +23,7 @@ Logo
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SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_i_s_file_stream.html b/docs/html/classc_i_s_file_stream.html index 2c2d36b53..0b55eb7fa 100644 --- a/docs/html/classc_i_s_file_stream.html +++ b/docs/html/classc_i_s_file_stream.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_i_s_logger-members.html b/docs/html/classc_i_s_logger-members.html index 15daf853c..92169f26b 100644 --- a/docs/html/classc_i_s_logger-members.html +++ b/docs/html/classc_i_s_logger-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_i_s_serial_port-members.html b/docs/html/classc_i_s_serial_port-members.html index 124355f43..6bb8d6f7a 100644 --- a/docs/html/classc_i_s_serial_port-members.html +++ b/docs/html/classc_i_s_serial_port-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_i_s_serial_port.html b/docs/html/classc_i_s_serial_port.html index da671c4e8..66a7ec665 100644 --- a/docs/html/classc_i_s_serial_port.html +++ b/docs/html/classc_i_s_serial_port.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_i_s_stream-members.html b/docs/html/classc_i_s_stream-members.html index 8de599793..013fab1fe 100644 --- a/docs/html/classc_i_s_stream-members.html +++ b/docs/html/classc_i_s_stream-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_i_s_stream.html b/docs/html/classc_i_s_stream.html index 68f2bec96..d29c0c512 100644 --- a/docs/html/classc_i_s_stream.html +++ b/docs/html/classc_i_s_stream.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/classc_i_s_tcp_client-members.html b/docs/html/classc_i_s_tcp_client-members.html index 749a61c76..ae001b69c 100644 --- a/docs/html/classc_i_s_tcp_client-members.html +++ b/docs/html/classc_i_s_tcp_client-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
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SDK -  Release 1.7.1 +  Release 1.7.2
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_inertial_sense_display-members.html b/docs/html/classc_inertial_sense_display-members.html index a192cf798..51f12570a 100644 --- a/docs/html/classc_inertial_sense_display-members.html +++ b/docs/html/classc_inertial_sense_display-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_inertial_sense_display.html b/docs/html/classc_inertial_sense_display.html index cc7a7b14e..59eff59c5 100644 --- a/docs/html/classc_inertial_sense_display.html +++ b/docs/html/classc_inertial_sense_display.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_inertial_sense_parser-members.html b/docs/html/classc_inertial_sense_parser-members.html index b5a3f8c95..6faaccf51 100644 --- a/docs/html/classc_inertial_sense_parser-members.html +++ b/docs/html/classc_inertial_sense_parser-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_inertial_sense_parser.html b/docs/html/classc_inertial_sense_parser.html index 189c28f3f..426c7eae5 100644 --- a/docs/html/classc_inertial_sense_parser.html +++ b/docs/html/classc_inertial_sense_parser.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_log_stat_data_id-members.html b/docs/html/classc_log_stat_data_id-members.html index ec00aa840..4ba6b60e3 100644 --- a/docs/html/classc_log_stat_data_id-members.html +++ b/docs/html/classc_log_stat_data_id-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_log_stat_data_id.html b/docs/html/classc_log_stat_data_id.html index 5178d7539..a18c268bf 100644 --- a/docs/html/classc_log_stat_data_id.html +++ b/docs/html/classc_log_stat_data_id.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_log_stats-members.html b/docs/html/classc_log_stats-members.html index 634313750..20b6210d6 100644 --- a/docs/html/classc_log_stats-members.html +++ b/docs/html/classc_log_stats-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_log_stats.html b/docs/html/classc_log_stats.html index 59f5cad16..e1e432aae 100644 --- a/docs/html/classc_log_stats.html +++ b/docs/html/classc_log_stats.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_rtcm_parser-members.html b/docs/html/classc_rtcm_parser-members.html index 4a415362f..78631280e 100644 --- a/docs/html/classc_rtcm_parser-members.html +++ b/docs/html/classc_rtcm_parser-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_rtcm_parser.html b/docs/html/classc_rtcm_parser.html index 44b9e696b..91d386941 100644 --- a/docs/html/classc_rtcm_parser.html +++ b/docs/html/classc_rtcm_parser.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_sorted_data_chunk-members.html b/docs/html/classc_sorted_data_chunk-members.html index 1cfec15a0..761ce1288 100644 --- a/docs/html/classc_sorted_data_chunk-members.html +++ b/docs/html/classc_sorted_data_chunk-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_sorted_data_chunk.html b/docs/html/classc_sorted_data_chunk.html index d2b687296..99e47616c 100644 --- a/docs/html/classc_sorted_data_chunk.html +++ b/docs/html/classc_sorted_data_chunk.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classc_ublox_parser-members.html b/docs/html/classc_ublox_parser-members.html index a394a35b7..8e3e29712 100644 --- a/docs/html/classc_ublox_parser-members.html +++ b/docs/html/classc_ublox_parser-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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Communications, logger, and bootloader libraries.
diff --git a/docs/html/classi_gps_parser_delegate-members.html b/docs/html/classi_gps_parser_delegate-members.html index b1f29b849..adc6b73bf 100644 --- a/docs/html/classi_gps_parser_delegate-members.html +++ b/docs/html/classi_gps_parser_delegate-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classi_i_s_tcp_server_delegate-members.html b/docs/html/classi_i_s_tcp_server_delegate-members.html index e34e15575..f0694eb0f 100644 --- a/docs/html/classi_i_s_tcp_server_delegate-members.html +++ b/docs/html/classi_i_s_tcp_server_delegate-members.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/classi_i_s_tcp_server_delegate.html b/docs/html/classi_i_s_tcp_server_delegate.html index 7a9f8e184..8fa2280b2 100644 --- a/docs/html/classi_i_s_tcp_server_delegate.html +++ b/docs/html/classi_i_s_tcp_server_delegate.html @@ -23,7 +23,7 @@ Logo
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diff --git a/docs/html/cltool_8cpp.html b/docs/html/cltool_8cpp.html index d78bf094c..f62d44132 100644 --- a/docs/html/cltool_8cpp.html +++ b/docs/html/cltool_8cpp.html @@ -23,7 +23,7 @@ Logo
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diff --git a/docs/html/cltool_8cpp_source.html b/docs/html/cltool_8cpp_source.html index e7cf8d5fb..21242148f 100644 --- a/docs/html/cltool_8cpp_source.html +++ b/docs/html/cltool_8cpp_source.html @@ -23,7 +23,7 @@ Logo
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@@ -72,7 +72,7 @@
cltool.cpp
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014-2018 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 #include "cltool.h"
14 #include "ISDataMappings.h"
15 
16 cmd_options_t g_commandLineOptions;
17 serial_port_t g_serialPort;
18 cInertialSenseDisplay g_inertialSenseDisplay;
19 
20 int cltool_serialPortSendComManager(CMHANDLE cmHandle, int pHandle, buffer_t* bufferToSend)
21 {
22  (void)cmHandle;
23  (void)pHandle;
24  return serialPortWrite(&g_serialPort, bufferToSend->buf, bufferToSend->size);
25 }
26 
27 bool cltool_setupLogger(InertialSense& inertialSenseInterface)
28 {
29  // Enable logging in continuous background mode
30  return inertialSenseInterface.SetLoggerEnabled
31  (
32  g_commandLineOptions.enableLogging, // enable logger
33  g_commandLineOptions.logPath, // path to log to, if empty defaults to DEFAULT_LOGS_DIRECTORY
34  cISLogger::ParseLogType(g_commandLineOptions.logType), // log type
35  g_commandLineOptions.rmcPreset, // Stream rmc preset
36  g_commandLineOptions.maxLogSpacePercent, // max space in percentage of free space to use, 0 for unlimited
37  g_commandLineOptions.maxLogFileSize, // each log file will be no larger than this in bytes
38  g_commandLineOptions.maxLogMemory, // logger will try and keep under this amount of memory
39  g_commandLineOptions.logSubFolder // log sub folder name
40  );
41 
42  // Call these elsewhere as needed
43 // inertialSenseInterface.EnableLogger(false); // Enable/disable during runtime
44 // inertialSenseInterface.CloseLogger(); // Stop logging and save remaining data to file
45 }
46 
47 static bool startsWith(const char* str, const char* pre)
48 {
49  size_t lenpre = strlen(pre), lenstr = strlen(str);
50  return lenstr < lenpre ? false : strncasecmp(pre, str, lenpre) == 0;
51 }
52 
53 #define CL_DEFAULT_BAUD_RATE IS_COM_BAUDRATE_DEFAULT
54 #define CL_DEFAULT_COM_PORT "*"
55 #define CL_DEFAULT_DISPLAY_MODE cInertialSenseDisplay::DMODE_PRETTY
56 #define CL_DEFAULT_LOG_TYPE "dat"
57 #define CL_DEFAULT_LOGS_DIRECTORY DEFAULT_LOGS_DIRECTORY
58 #define CL_DEFAULT_ENABLE_LOGGING false
59 #define CL_DEFAULT_MAX_LOG_FILE_SIZE 1024 * 1024 * 5
60 #define CL_DEFAULT_MAX_LOG_SPACE_PERCENT 0.5f
61 #define CL_DEFAULT_MAX_LOG_MEMORY 131072
62 #define CL_DEFAULT_REPLAY_SPEED 1.0
63 #define CL_DEFAULT_BOOTLOAD_VERIFY true
64 
65 bool cltool_parseCommandLine(int argc, char* argv[])
66 {
67  // set defaults
68  g_commandLineOptions.baudRate = CL_DEFAULT_BAUD_RATE;
69  g_commandLineOptions.comPort = CL_DEFAULT_COM_PORT;
70  g_commandLineOptions.displayMode = CL_DEFAULT_DISPLAY_MODE;
71  g_commandLineOptions.rmcPreset = 0;
72  g_commandLineOptions.enableLogging = CL_DEFAULT_ENABLE_LOGGING;
73  g_commandLineOptions.logType = CL_DEFAULT_LOG_TYPE;
74  g_commandLineOptions.logPath = CL_DEFAULT_LOGS_DIRECTORY;
75  g_commandLineOptions.maxLogFileSize = CL_DEFAULT_MAX_LOG_FILE_SIZE;
76  g_commandLineOptions.maxLogSpacePercent = CL_DEFAULT_MAX_LOG_SPACE_PERCENT;
77  g_commandLineOptions.maxLogMemory = CL_DEFAULT_MAX_LOG_MEMORY;
78  g_commandLineOptions.replaySpeed = CL_DEFAULT_REPLAY_SPEED;
79  g_commandLineOptions.bootloaderVerify = CL_DEFAULT_BOOTLOAD_VERIFY;
80  g_commandLineOptions.timeoutFlushLoggerSeconds = 3;
81  g_commandLineOptions.asciiMessages = "";
82 
83  g_commandLineOptions.surveyIn.state = 0;
84  g_commandLineOptions.surveyIn.maxDurationSec = 15 * 60; // default survey of 15 minutes
85  g_commandLineOptions.surveyIn.minAccuracy = 0;
86 
87  cltool_outputHelp();
88 
89  if(argc <= 1)
90  { // Display usage menu if no options are provided
91  cltool_outputUsage();
92  return false;
93  }
94 
95  // parse command line. Keep these options in alphabetic order!
96  for (int i = 1; i < argc; i++)
97  {
98  const char* a = argv[i];
99  if (startsWith(a, "-baud="))
100  {
101  g_commandLineOptions.baudRate = strtol(&a[6], NULL, 10);
102  }
103  else if (startsWith(a, "-b="))
104  {
105  g_commandLineOptions.bootloaderFileName = &a[3];
106  }
107  else if (startsWith(a, "-bv="))
108  {
109  g_commandLineOptions.bootloaderVerify = a[4] == '1';
110  }
111  else if (startsWith(a, "-c="))
112  {
113  g_commandLineOptions.comPort = &a[3];
114  }
115  else if (startsWith(a, "-dboc"))
116  {
117  g_commandLineOptions.disableBroadcastsOnClose = true;
118  }
119  else if (startsWith(a, "-flashConfig="))
120  {
121  g_commandLineOptions.flashConfig = &a[13];
122  }
123  else if (startsWith(a, "-flashConfig"))
124  {
125  g_commandLineOptions.flashConfig = ".";
126  }
127  else if (startsWith(a, "-host="))
128  {
129  g_commandLineOptions.host = &a[6];
130  }
131  else if (startsWith(a, "-h") || startsWith(a, "--h") || startsWith(a, "-help") || startsWith(a, "--help"))
132  {
133  cltool_outputUsage();
134  return false;
135  }
136  else if (startsWith(a, "-lms="))
137  {
138  g_commandLineOptions.maxLogSpacePercent = (float)atof(&a[5]);
139  }
140  else if (startsWith(a, "-lmf="))
141  {
142  g_commandLineOptions.maxLogFileSize = (uint32_t)strtoul(&a[5], NULL, 10);
143  }
144  else if (startsWith(a, "-lmm="))
145  {
146  g_commandLineOptions.maxLogMemory = (uint32_t)strtoul(&a[5], NULL, 10);
147  }
148  else if (startsWith(a, "-lts="))
149  {
150  const char* subFolder = &a[5];
151  if (*subFolder == '1' || startsWith(subFolder, "true"))
152  {
153  g_commandLineOptions.logSubFolder = cISLogger::CreateCurrentTimestamp();
154  }
155  else if (*subFolder == '\0' || *subFolder == '0' || startsWith(subFolder, "false"))
156  {
157  g_commandLineOptions.logSubFolder = cISLogger::g_emptyString;
158  }
159  else
160  {
161  g_commandLineOptions.logSubFolder = subFolder;
162  }
163  }
164  else if (startsWith(a, "-lp="))
165  {
166  g_commandLineOptions.logPath = &a[4];
167  }
168  else if (startsWith(a, "-lt="))
169  {
170  g_commandLineOptions.logType = &a[4];
171  }
172  else if (startsWith(a, "-lon"))
173  {
174  g_commandLineOptions.enableLogging = true;
175  }
176  else if (startsWith(a, "-magRecal"))
177  {
178  g_commandLineOptions.rmcPreset = 0;
179  g_commandLineOptions.magRecal = true;
180  g_commandLineOptions.magRecalMode = strtol(a + 9, NULL, 10);
181  }
182  else if (startsWith(a, "-survey="))
183  {
184  g_commandLineOptions.rmcPreset = 0;
185  g_commandLineOptions.surveyIn.state = strtol(a + 8, NULL, 10);
186  int maxDurationSec = strtol(a + 10, NULL, 10);
187  if (maxDurationSec > 5)
188  {
189  g_commandLineOptions.surveyIn.maxDurationSec = maxDurationSec;
190  }
191  }
192  else if (startsWith(a, "-msgBaro"))
193  {
194  g_commandLineOptions.streamBaro = true;
195  }
196  else if (startsWith(a, "-msgDualIMU"))
197  {
198  g_commandLineOptions.streamDualIMU = true;
199  }
200  else if (startsWith(a, "-msgGPS"))
201  {
202  g_commandLineOptions.streamGPS = true;
203  }
204  else if (startsWith(a, "-msgIMU1"))
205  {
206  g_commandLineOptions.streamIMU1 = true;
207  }
208  else if (startsWith(a, "-msgIMU2"))
209  {
210  g_commandLineOptions.streamIMU2 = true;
211  }
212  else if (startsWith(a, "-msgINS1"))
213  {
214  g_commandLineOptions.streamINS1 = true;
215  }
216  else if (startsWith(a, "-msgINS2"))
217  {
218  g_commandLineOptions.streamINS2 = true;
219  }
220  else if (startsWith(a, "-msgINS3"))
221  {
222  g_commandLineOptions.streamINS3 = true;
223  }
224  else if (startsWith(a, "-msgINS4"))
225  {
226  g_commandLineOptions.streamINS4 = true;
227  }
228  else if (startsWith(a, "-msgMag1"))
229  {
230  g_commandLineOptions.streamMag1 = true;
231  }
232  else if (startsWith(a, "-msgMag2"))
233  {
234  g_commandLineOptions.streamMag2 = true;
235  }
236  else if (startsWith(a, "-msgPIMU"))
237  {
238  g_commandLineOptions.streamDThetaVel = true;
239  }
240  else if (startsWith(a, "-msgPresetPPD"))
241  {
242  g_commandLineOptions.rmcPreset = RMC_PRESET_PPD_BITS;
243  }
244  else if (startsWith(a, "-msgPresetINS2"))
245  {
246  g_commandLineOptions.rmcPreset = RMC_PRESET_INS_BITS;
247  }
248  else if (startsWith(a, "-msgRtkPos"))
249  {
250  g_commandLineOptions.streamRtkPos = true;
251  }
252  else if (startsWith(a, "-msgRtkRel"))
253  {
254  g_commandLineOptions.streamRtkRel = true;
255  }
256  else if (startsWith(a, "-msgRTOS"))
257  {
258  g_commandLineOptions.streamRTOS = true;
259  }
260  else if (startsWith(a, "-msgSensorsADC"))
261  {
262  g_commandLineOptions.streamSensorsADC = true;
263  }
264  else if (startsWith(a, "-msgSensors"))
265  {
266  g_commandLineOptions.streamSysSensors = true;
267  }
268  else if (startsWith(a, "-persistent"))
269  {
270  g_commandLineOptions.persistentMessages = true;
271  }
272  else if (startsWith(a, "-q"))
273  {
274  g_commandLineOptions.displayMode = cInertialSenseDisplay::DMODE_QUIET;
275  }
276  else if (startsWith(a, "-rp="))
277  {
278  g_commandLineOptions.replayDataLog = true;
279  g_commandLineOptions.logPath = &a[4];
280  }
281  else if (startsWith(a, "-rs="))
282  {
283  g_commandLineOptions.replayDataLog = true;
284  g_commandLineOptions.replaySpeed = (float)atof(&a[4]);
285  }
286  else if (startsWith(a, "-r"))
287  {
288  g_commandLineOptions.replayDataLog = true;
289  }
290  else if (startsWith(a, "-stats"))
291  {
292  g_commandLineOptions.displayMode = cInertialSenseDisplay::DMODE_STATS;
293  }
294  else if (startsWith(a, "-svr="))
295  {
296  g_commandLineOptions.serverConnection = &a[5];
297  }
298  else if (startsWith(a, "-s"))
299  {
300  g_commandLineOptions.displayMode = cInertialSenseDisplay::DMODE_SCROLL;
301  }
302  else if (startsWith(a, "-log-flush-timeout="))
303  {
304  g_commandLineOptions.timeoutFlushLoggerSeconds = strtoul(&a[19], NULLPTR, 10);
305  }
306  else if (startsWith(a, "-asciiMessages="))
307  {
308  g_commandLineOptions.asciiMessages = &a[15];
309  }
310  else
311  {
312  cout << "Unrecognized command line option: " << a << endl;
313  cltool_outputUsage();
314  return false;
315  }
316  }
317 
318  // We are either using a serial port or replaying data
319  if ((g_commandLineOptions.comPort.length() == 0) && !g_commandLineOptions.replayDataLog)
320  {
321  cltool_outputUsage();
322  return false;
323  }
324  else if (g_commandLineOptions.bootloaderFileName.length() != 0 && g_commandLineOptions.comPort.length() == 0)
325  {
326  cout << "Use COM_PORT option \"-c=\" with bootloader" << endl;
327  return false;
328  }
329 
330  return true;
331 }
332 
333 bool cltool_replayDataLog()
334 {
335  if (g_commandLineOptions.logPath.length() == 0)
336  {
337  cout << "Please specify the replay log path!" << endl;
338  return false;
339  }
340 
341  cISLogger logger;
342  if (!logger.LoadFromDirectory(g_commandLineOptions.logPath, cISLogger::ParseLogType(g_commandLineOptions.logType), { "ALL" }))
343  {
344  cout << "Failed to load log files: " << g_commandLineOptions.logPath << endl;
345  return false;
346  }
347 
348  cout << "Replaying log files: " << g_commandLineOptions.logPath << endl;
349  p_data_t *data;
350  while ((data = logger.ReadData()) != NULL)
351  {
352  g_inertialSenseDisplay.ProcessData(data, g_commandLineOptions.replayDataLog, g_commandLineOptions.replaySpeed);
353 
354 // if (data->hdr.id == DID_GPS1_RAW)
355 // {
356 // // Insert your code for processing data here
357 // }
358  }
359 
360  cout << "Done replaying log files: " << g_commandLineOptions.logPath << endl;
361  g_inertialSenseDisplay.Goodbye();
362  return true;
363 }
364 
365 void cltool_outputUsage()
366 {
367  cout << boldOff;
368  cout << "-----------------------------------------------------------------" << endl;
369  cout << endlbOn;
370  cout << "DESCRIPTION" << endlbOff;
371  cout << " Command line utility for communicating, logging, and updating" << endl;
372  cout << " firmware with Inertial Sense product line." << endl;
373  cout << endlbOn;
374  cout << "EXAMPLES" << endlbOn;
375  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -msgPresetPPD " << EXAMPLE_SPACE_1 << boldOff << " # stream post processing data (PPD) with INS2" << endlbOn;
376  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -msgPresetPPD -lon " << EXAMPLE_SPACE_1 << boldOff << " # stream PPD + INS2 data, logging" << endlbOn;
377  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -msgPresetPPD -lon -lts=1" << EXAMPLE_SPACE_1 << boldOff << " # stream PPD + INS2 data, logging, dir timestamp" << endlbOn;
378  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -baud=115200 -msgINS2 -msgGPS -msgBaro" << boldOff << " # stream multiple at 115200 bps" << endlbOn;
379  cout << " " << APP_NAME << APP_EXT << " -rp=" << EXAMPLE_LOG_DIR << boldOff << " # replay log files from a folder" << endlbOn;
380  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -b= " << EXAMPLE_FIRMWARE_FILE << boldOff << " # bootload firmware" << endlbOn;
381  cout << " " << APP_NAME << APP_EXT << " -c=* -baud=921600 " << EXAMPLE_SPACE_2 << boldOff << " # 921600 bps baudrate on all serial ports" << endlbOn;
382  cout << endlbOn;
383  cout << "OPTIONS (General)" << endl;
384  cout << " -h --help" << boldOff << " display this help menu" << endlbOn;
385  cout << " -c=" << boldOff << "COM_PORT select the serial port. Set COM_PORT to \"*\" for all ports and \"*4\" to use" << endlbOn;
386  cout << " " << boldOff << " only the first four ports. " << endlbOn;
387  cout << " -baud=" << boldOff << "BAUDRATE set serial port baudrate. Options: " << IS_BAUDRATE_115200 << ", " << IS_BAUDRATE_230400 << ", " << IS_BAUDRATE_460800 << ", " << IS_BAUDRATE_921600 << " (default)" << endlbOn;
388  cout << " -b=" << boldOff << "FILEPATH bootload firmware using .hex file FILEPATH" << endlbOn;
389  cout << " -q" << boldOff << " quite mode, no display" << endlbOn;
390  cout << " -s" << boldOff << " scroll displayed messages to show history" << endlbOn;
391  cout << " -stats" << boldOff << " display statistics of data received" << endlbOn;
392  cout << " -magRecal[n]" << boldOff << " recalibrate magnetometers: 0=multi-axis, 1=single-axis" << endlbOn;
393  cout << " -survey=[s],[d]" << boldOff << " survey-in and store base position to refLla: s=[" << SURVEY_IN_STATE_START_3D << "=3D, " << SURVEY_IN_STATE_START_FLOAT << "=float, " << SURVEY_IN_STATE_START_FIX << "=fix], d=durationSec" << endlbOn;
394  cout << endlbOn;
395  cout << "OPTIONS (Message Streaming)" << endl;
396  cout << " -msgPresetPPD " << boldOff << " stream preset: post processing data sets" << endlbOn;
397  cout << " -msgPresetINS2" << boldOff << " stream preset: INS2 sets" << endlbOn;
398  cout << " -msgINS[n] " << boldOff << " stream DID_INS_[n], where [n] = 1, 2, 3 or 4 (without brackets)" << endlbOn;
399  cout << " -msgDualIMU " << boldOff << " stream DID_DUAL_IMU" << endlbOn;
400  cout << " -msgPIMU " << boldOff << " stream DID_PREINTEGRATED_IMU" << endlbOn;
401  cout << " -msgMag[n] " << boldOff << " stream DID_MAGNETOMETER_[n], where [n] = 1 or 2 (without brackets)" << endlbOn;
402  cout << " -msgBaro " << boldOff << " stream DID_BAROMETER" << endlbOn;
403  cout << " -msgGPS " << boldOff << " stream DID_GPS_NAV" << endlbOn;
404  cout << " -msgSensors " << boldOff << " stream DID_SYS_SENSORS" << endlbOn;
405  cout << " -msgRtkRel " << boldOff << " stream DID_GPS1_RTK_REL" << endlbOn;
406  cout << " -persistent " << boldOff << " save current streams as persistent messages enabled on startup" << endlbOn;
407  cout << endlbOn;
408  cout << "OPTIONS (Logging to file, disabled by default)" << endl;
409  cout << " -lon" << boldOff << " enable logging" << endlbOn;
410  cout << " -lt=" << boldOff << "TYPE log type dat (default), sdat, kml or csv" << endlbOn;
411  cout << " -lp=" << boldOff << "PATH log data to path (default: ./" << CL_DEFAULT_LOGS_DIRECTORY << ")" << endlbOn;
412  cout << " -lms=" << boldOff << "PERCENT log max space in percent of free space (default: " << CL_DEFAULT_MAX_LOG_SPACE_PERCENT << ")" << endlbOn;
413  cout << " -lmf=" << boldOff << "BYTES log max file size in bytes (default: " << CL_DEFAULT_MAX_LOG_FILE_SIZE << ")" << endlbOn;
414  cout << " -lmm=" << boldOff << "BYTES log max memory in bytes (default: "<< CL_DEFAULT_MAX_LOG_MEMORY << ")" << endlbOn;
415  cout << " -lts=" << boldOff << "0 log sub folder, 0 or blank for none, 1 for timestamp, else use as is" << endlbOn;
416  cout << " -r" << boldOff << " replay data log from default path" << endlbOn;
417  cout << " -rp=" << boldOff << "PATH replay data log from PATH" << endlbOn;
418  cout << " -rs=" << boldOff << "SPEED replay data log at x SPEED. SPEED=0 runs as fast as possible." << endlbOn;
419  cout << endlbOn;
420  cout << "OPTIONS (Read or write flash configuration)" << endl;
421  cout << " -flashConfig" << boldOff << " read and print to screen flash config \"keys\" and \"values\"" << endlbOn;
422  cout << " -flashConfig=key=value|key=value " << boldOff << endlbOn;
423  cout << " " << boldOff << " set key / value pairs in flash config. (Run -flashConfig to list all keys)" << endlbOn;
424  cout << "EXAMPLES" << endlbOn;
425  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -flashConfig " << EXAMPLE_SPACE_1 << boldOff << "# Read from device and print all keys and values" << endlbOn;
426  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -flashConfig=insRotation[0]=1.5708" << EXAMPLE_SPACE_1 << boldOff << "# Set INS X rotation in radians (90 deg)" << endlbOn;
427  cout << endlbOn;
428  cout << "OPTIONS (Client / Server)" << endl;
429  cout << " -svr=" << boldOff << "INFO used to retrieve external data and send to the uINS. Examples:" << endl;
430  cout << " - SERIAL: -svr=RTCM3:SERIAL:COM9:57600 (port, baud rate)" << endl;
431  cout << " - RTCM3: -svr=RTCM3:192.168.1.100:7777:URL:user:password" << endl;
432  cout << " (URL, user, password optional)" << endl;
433  cout << " - UBLOX data: -svr=UBLOX:192.168.1.100:7777 (no URL, user or password)" << endl;
434  cout << " - InertialSense: -svr=IS:192.168.1.100:7777 (no URL, user or password)" << endlbOn;
435  cout << " -host=" << boldOff << "IP:PORT used to host a TCP/IP InertialSense server. Examples:" << endl;
436  cout << " -host=:7777 (IP is optional)" << endl;
437  cout << " -host=192.168.1.43:7777" << endl;
438 
439  cout << boldOff; // Last line. Leave bold text off on exit.
440 }
441 
442 void cltool_outputHelp()
443 {
444  cout << endlbOff << "Run \"" << boldOn << "cltool -h" << boldOff << "\" to display the help menu." << endl;
445 }
446 
447 bool cltool_updateFlashConfig(InertialSense& inertialSenseInterface, string flashConfigString)
448 {
449  const nvm_flash_cfg_t& flashConfig = inertialSenseInterface.GetFlashConfig();
450  const map_lookup_name_t& globalMap = cISDataMappings::GetMap();
451  const map_name_to_info_t& flashMap = globalMap.at(DID_FLASH_CONFIG);
452 
453  if (flashConfigString.length() < 2)
454  {
455  // read flash config and display
456  data_mapping_string_t stringBuffer;
457  cout << "Current flash config" << endl;
458  for (map_name_to_info_t::const_iterator i = flashMap.begin(); i != flashMap.end(); i++)
459  {
460  if (cISDataMappings::DataToString(i->second, NULL, (const uint8_t*)&flashConfig, stringBuffer))
461  {
462  cout << i->second.name << " = " << stringBuffer << endl;
463  }
464  }
465  return false;
466  }
467  else
468  {
469  nvm_flash_cfg_t flashConfig = inertialSenseInterface.GetFlashConfig();
470  vector<string> keyValues;
471  splitString(flashConfigString, "|", keyValues);
472  for (size_t i = 0; i < keyValues.size(); i++)
473  {
474  vector<string> keyAndValue;
475  splitString(keyValues[i], "=", keyAndValue);
476  if (keyAndValue.size() == 2)
477  {
478  if (flashMap.find(keyAndValue[0]) == flashMap.end())
479  {
480  cout << "Unrecognized flash config key '" << keyAndValue[0] << "' specified, ignoring." << endl;
481  }
482  else
483  {
484  const data_info_t& info = flashMap.at(keyAndValue[0]);
485  int radix = (keyAndValue[1].compare(0, 2, "0x") == 0 ? 16 : 10);
486  int substrIndex = 2 * (radix == 16); // skip 0x for hex
487  const string& str = keyAndValue[1].substr(substrIndex);
488  cISDataMappings::StringToData(str.c_str(), (int)str.length(), NULL, (uint8_t*)&flashConfig, info, radix);
489  cout << "Updated flash config key '" << keyAndValue[0] << "' to '" << keyAndValue[1].c_str() << "'" << endl;
490  }
491  }
492  }
493  inertialSenseInterface.SetFlashConfig(flashConfig);
494  g_inertialSenseDisplay.Clear();
495  return true;
496  }
497 }
cmd_options_t::asciiMessages
string asciiMessages
Definition: cltool.h:56
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014-2018 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 #include "cltool.h"
14 #include "ISDataMappings.h"
15 
16 cmd_options_t g_commandLineOptions;
17 serial_port_t g_serialPort;
18 cInertialSenseDisplay g_inertialSenseDisplay;
19 
20 int cltool_serialPortSendComManager(CMHANDLE cmHandle, int pHandle, buffer_t* bufferToSend)
21 {
22  (void)cmHandle;
23  (void)pHandle;
24  return serialPortWrite(&g_serialPort, bufferToSend->buf, bufferToSend->size);
25 }
26 
27 bool cltool_setupLogger(InertialSense& inertialSenseInterface)
28 {
29  // Enable logging in continuous background mode
30  return inertialSenseInterface.SetLoggerEnabled
31  (
32  g_commandLineOptions.enableLogging, // enable logger
33  g_commandLineOptions.logPath, // path to log to, if empty defaults to DEFAULT_LOGS_DIRECTORY
34  cISLogger::ParseLogType(g_commandLineOptions.logType), // log type
35  g_commandLineOptions.rmcPreset, // Stream rmc preset
36  g_commandLineOptions.maxLogSpacePercent, // max space in percentage of free space to use, 0 for unlimited
37  g_commandLineOptions.maxLogFileSize, // each log file will be no larger than this in bytes
38  g_commandLineOptions.maxLogMemory, // logger will try and keep under this amount of memory
39  g_commandLineOptions.logSubFolder // log sub folder name
40  );
41 
42  // Call these elsewhere as needed
43 // inertialSenseInterface.EnableLogger(false); // Enable/disable during runtime
44 // inertialSenseInterface.CloseLogger(); // Stop logging and save remaining data to file
45 }
46 
47 static bool startsWith(const char* str, const char* pre)
48 {
49  size_t lenpre = strlen(pre), lenstr = strlen(str);
50  return lenstr < lenpre ? false : strncasecmp(pre, str, lenpre) == 0;
51 }
52 
53 #define CL_DEFAULT_BAUD_RATE IS_COM_BAUDRATE_DEFAULT
54 #define CL_DEFAULT_COM_PORT "*"
55 #define CL_DEFAULT_DISPLAY_MODE cInertialSenseDisplay::DMODE_PRETTY
56 #define CL_DEFAULT_LOG_TYPE "dat"
57 #define CL_DEFAULT_LOGS_DIRECTORY DEFAULT_LOGS_DIRECTORY
58 #define CL_DEFAULT_ENABLE_LOGGING false
59 #define CL_DEFAULT_MAX_LOG_FILE_SIZE 1024 * 1024 * 5
60 #define CL_DEFAULT_MAX_LOG_SPACE_PERCENT 0.5f
61 #define CL_DEFAULT_MAX_LOG_MEMORY 131072
62 #define CL_DEFAULT_REPLAY_SPEED 1.0
63 #define CL_DEFAULT_BOOTLOAD_VERIFY true
64 
65 bool cltool_parseCommandLine(int argc, char* argv[])
66 {
67  // set defaults
68  g_commandLineOptions.baudRate = CL_DEFAULT_BAUD_RATE;
69  g_commandLineOptions.comPort = CL_DEFAULT_COM_PORT;
70  g_commandLineOptions.displayMode = CL_DEFAULT_DISPLAY_MODE;
71  g_commandLineOptions.rmcPreset = 0;
72  g_commandLineOptions.enableLogging = CL_DEFAULT_ENABLE_LOGGING;
73  g_commandLineOptions.logType = CL_DEFAULT_LOG_TYPE;
74  g_commandLineOptions.logPath = CL_DEFAULT_LOGS_DIRECTORY;
75  g_commandLineOptions.maxLogFileSize = CL_DEFAULT_MAX_LOG_FILE_SIZE;
76  g_commandLineOptions.maxLogSpacePercent = CL_DEFAULT_MAX_LOG_SPACE_PERCENT;
77  g_commandLineOptions.maxLogMemory = CL_DEFAULT_MAX_LOG_MEMORY;
78  g_commandLineOptions.replaySpeed = CL_DEFAULT_REPLAY_SPEED;
79  g_commandLineOptions.bootloaderVerify = CL_DEFAULT_BOOTLOAD_VERIFY;
80  g_commandLineOptions.timeoutFlushLoggerSeconds = 3;
81  g_commandLineOptions.asciiMessages = "";
82 
83  g_commandLineOptions.surveyIn.state = 0;
84  g_commandLineOptions.surveyIn.maxDurationSec = 15 * 60; // default survey of 15 minutes
85  g_commandLineOptions.surveyIn.minAccuracy = 0;
86 
87  cltool_outputHelp();
88 
89  if(argc <= 1)
90  { // Display usage menu if no options are provided
91  cltool_outputUsage();
92  return false;
93  }
94 
95  // parse command line. Keep these options in alphabetic order!
96  for (int i = 1; i < argc; i++)
97  {
98  const char* a = argv[i];
99  if (startsWith(a, "-baud="))
100  {
101  g_commandLineOptions.baudRate = strtol(&a[6], NULL, 10);
102  }
103  else if (startsWith(a, "-b="))
104  {
105  g_commandLineOptions.bootloaderFileName = &a[3];
106  }
107  else if (startsWith(a, "-bv="))
108  {
109  g_commandLineOptions.bootloaderVerify = a[4] == '1';
110  }
111  else if (startsWith(a, "-c="))
112  {
113  g_commandLineOptions.comPort = &a[3];
114  }
115  else if (startsWith(a, "-dboc"))
116  {
117  g_commandLineOptions.disableBroadcastsOnClose = true;
118  }
119  else if (startsWith(a, "-flashConfig="))
120  {
121  g_commandLineOptions.flashConfig = &a[13];
122  }
123  else if (startsWith(a, "-flashConfig"))
124  {
125  g_commandLineOptions.flashConfig = ".";
126  }
127  else if (startsWith(a, "-host="))
128  {
129  g_commandLineOptions.host = &a[6];
130  }
131  else if (startsWith(a, "-h") || startsWith(a, "--h") || startsWith(a, "-help") || startsWith(a, "--help"))
132  {
133  cltool_outputUsage();
134  return false;
135  }
136  else if (startsWith(a, "-lms="))
137  {
138  g_commandLineOptions.maxLogSpacePercent = (float)atof(&a[5]);
139  }
140  else if (startsWith(a, "-lmf="))
141  {
142  g_commandLineOptions.maxLogFileSize = (uint32_t)strtoul(&a[5], NULL, 10);
143  }
144  else if (startsWith(a, "-lmm="))
145  {
146  g_commandLineOptions.maxLogMemory = (uint32_t)strtoul(&a[5], NULL, 10);
147  }
148  else if (startsWith(a, "-lts="))
149  {
150  const char* subFolder = &a[5];
151  if (*subFolder == '1' || startsWith(subFolder, "true"))
152  {
153  g_commandLineOptions.logSubFolder = cISLogger::CreateCurrentTimestamp();
154  }
155  else if (*subFolder == '\0' || *subFolder == '0' || startsWith(subFolder, "false"))
156  {
157  g_commandLineOptions.logSubFolder = cISLogger::g_emptyString;
158  }
159  else
160  {
161  g_commandLineOptions.logSubFolder = subFolder;
162  }
163  }
164  else if (startsWith(a, "-lp="))
165  {
166  g_commandLineOptions.logPath = &a[4];
167  }
168  else if (startsWith(a, "-lt="))
169  {
170  g_commandLineOptions.logType = &a[4];
171  }
172  else if (startsWith(a, "-lon"))
173  {
174  g_commandLineOptions.enableLogging = true;
175  }
176  else if (startsWith(a, "-magRecal"))
177  {
178  g_commandLineOptions.rmcPreset = 0;
179  g_commandLineOptions.magRecal = true;
180  g_commandLineOptions.magRecalMode = strtol(a + 9, NULL, 10);
181  }
182  else if (startsWith(a, "-survey="))
183  {
184  g_commandLineOptions.rmcPreset = 0;
185  g_commandLineOptions.surveyIn.state = strtol(a + 8, NULL, 10);
186  int maxDurationSec = strtol(a + 10, NULL, 10);
187  if (maxDurationSec > 5)
188  {
189  g_commandLineOptions.surveyIn.maxDurationSec = maxDurationSec;
190  }
191  }
192  else if (startsWith(a, "-msgBaro"))
193  {
194  g_commandLineOptions.streamBaro = true;
195  }
196  else if (startsWith(a, "-msgDualIMU"))
197  {
198  g_commandLineOptions.streamDualIMU = true;
199  }
200  else if (startsWith(a, "-msgGPS"))
201  {
202  g_commandLineOptions.streamGPS = true;
203  }
204  else if (startsWith(a, "-msgIMU1"))
205  {
206  g_commandLineOptions.streamIMU1 = true;
207  }
208  else if (startsWith(a, "-msgIMU2"))
209  {
210  g_commandLineOptions.streamIMU2 = true;
211  }
212  else if (startsWith(a, "-msgINS1"))
213  {
214  g_commandLineOptions.streamINS1 = true;
215  }
216  else if (startsWith(a, "-msgINS2"))
217  {
218  g_commandLineOptions.streamINS2 = true;
219  }
220  else if (startsWith(a, "-msgINS3"))
221  {
222  g_commandLineOptions.streamINS3 = true;
223  }
224  else if (startsWith(a, "-msgINS4"))
225  {
226  g_commandLineOptions.streamINS4 = true;
227  }
228  else if (startsWith(a, "-msgMag1"))
229  {
230  g_commandLineOptions.streamMag1 = true;
231  }
232  else if (startsWith(a, "-msgMag2"))
233  {
234  g_commandLineOptions.streamMag2 = true;
235  }
236  else if (startsWith(a, "-msgPIMU"))
237  {
238  g_commandLineOptions.streamDThetaVel = true;
239  }
240  else if (startsWith(a, "-msgPresetPPD"))
241  {
242  g_commandLineOptions.rmcPreset = RMC_PRESET_PPD_BITS;
243  }
244  else if (startsWith(a, "-msgPresetINS2"))
245  {
246  g_commandLineOptions.rmcPreset = RMC_PRESET_INS_BITS;
247  }
248  else if (startsWith(a, "-msgRtkPos"))
249  {
250  g_commandLineOptions.streamRtkPos = true;
251  }
252  else if (startsWith(a, "-msgRtkRel"))
253  {
254  g_commandLineOptions.streamRtkRel = true;
255  }
256  else if (startsWith(a, "-msgRTOS"))
257  {
258  g_commandLineOptions.streamRTOS = true;
259  }
260  else if (startsWith(a, "-msgSensorsADC"))
261  {
262  g_commandLineOptions.streamSensorsADC = true;
263  }
264  else if (startsWith(a, "-msgSensors"))
265  {
266  g_commandLineOptions.streamSysSensors = true;
267  }
268  else if (startsWith(a, "-persistent"))
269  {
270  g_commandLineOptions.persistentMessages = true;
271  }
272  else if (startsWith(a, "-q"))
273  {
274  g_commandLineOptions.displayMode = cInertialSenseDisplay::DMODE_QUIET;
275  }
276  else if (startsWith(a, "-rp="))
277  {
278  g_commandLineOptions.replayDataLog = true;
279  g_commandLineOptions.logPath = &a[4];
280  }
281  else if (startsWith(a, "-rs="))
282  {
283  g_commandLineOptions.replayDataLog = true;
284  g_commandLineOptions.replaySpeed = (float)atof(&a[4]);
285  }
286  else if (startsWith(a, "-r"))
287  {
288  g_commandLineOptions.replayDataLog = true;
289  }
290  else if (startsWith(a, "-stats"))
291  {
292  g_commandLineOptions.displayMode = cInertialSenseDisplay::DMODE_STATS;
293  }
294  else if (startsWith(a, "-svr="))
295  {
296  g_commandLineOptions.serverConnection = &a[5];
297  }
298  else if (startsWith(a, "-s"))
299  {
300  g_commandLineOptions.displayMode = cInertialSenseDisplay::DMODE_SCROLL;
301  }
302  else if (startsWith(a, "-log-flush-timeout="))
303  {
304  g_commandLineOptions.timeoutFlushLoggerSeconds = strtoul(&a[19], NULLPTR, 10);
305  }
306  else if (startsWith(a, "-asciiMessages="))
307  {
308  g_commandLineOptions.asciiMessages = &a[15];
309  }
310  else
311  {
312  cout << "Unrecognized command line option: " << a << endl;
313  cltool_outputUsage();
314  return false;
315  }
316  }
317 
318  // We are either using a serial port or replaying data
319  if ((g_commandLineOptions.comPort.length() == 0) && !g_commandLineOptions.replayDataLog)
320  {
321  cltool_outputUsage();
322  return false;
323  }
324  else if (g_commandLineOptions.bootloaderFileName.length() != 0 && g_commandLineOptions.comPort.length() == 0)
325  {
326  cout << "Use COM_PORT option \"-c=\" with bootloader" << endl;
327  return false;
328  }
329 
330  return true;
331 }
332 
333 bool cltool_replayDataLog()
334 {
335  if (g_commandLineOptions.logPath.length() == 0)
336  {
337  cout << "Please specify the replay log path!" << endl;
338  return false;
339  }
340 
341  cISLogger logger;
342  if (!logger.LoadFromDirectory(g_commandLineOptions.logPath, cISLogger::ParseLogType(g_commandLineOptions.logType), { "ALL" }))
343  {
344  cout << "Failed to load log files: " << g_commandLineOptions.logPath << endl;
345  return false;
346  }
347 
348  cout << "Replaying log files: " << g_commandLineOptions.logPath << endl;
349  p_data_t *data;
350  while ((data = logger.ReadData()) != NULL)
351  {
352  g_inertialSenseDisplay.ProcessData(data, g_commandLineOptions.replayDataLog, g_commandLineOptions.replaySpeed);
353 
354 // if (data->hdr.id == DID_GPS1_RAW)
355 // {
356 // // Insert your code for processing data here
357 // }
358  }
359 
360  cout << "Done replaying log files: " << g_commandLineOptions.logPath << endl;
361  g_inertialSenseDisplay.Goodbye();
362  return true;
363 }
364 
365 void cltool_outputUsage()
366 {
367  cout << boldOff;
368  cout << "-----------------------------------------------------------------" << endl;
369  cout << endlbOn;
370  cout << "DESCRIPTION" << endlbOff;
371  cout << " Command line utility for communicating, logging, and updating" << endl;
372  cout << " firmware with Inertial Sense product line." << endl;
373  cout << endlbOn;
374  cout << "EXAMPLES" << endlbOn;
375  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -msgPresetPPD " << EXAMPLE_SPACE_1 << boldOff << " # stream post processing data (PPD) with INS2" << endlbOn;
376  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -msgPresetPPD -lon " << EXAMPLE_SPACE_1 << boldOff << " # stream PPD + INS2 data, logging" << endlbOn;
377  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -msgPresetPPD -lon -lts=1" << EXAMPLE_SPACE_1 << boldOff << " # stream PPD + INS2 data, logging, dir timestamp" << endlbOn;
378  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -baud=115200 -msgINS2 -msgGPS -msgBaro" << boldOff << " # stream multiple at 115200 bps" << endlbOn;
379  cout << " " << APP_NAME << APP_EXT << " -rp=" << EXAMPLE_LOG_DIR << boldOff << " # replay log files from a folder" << endlbOn;
380  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -b= " << EXAMPLE_FIRMWARE_FILE << boldOff << " # bootload firmware" << endlbOn;
381  cout << " " << APP_NAME << APP_EXT << " -c=* -baud=921600 " << EXAMPLE_SPACE_2 << boldOff << " # 921600 bps baudrate on all serial ports" << endlbOn;
382  cout << endlbOn;
383  cout << "OPTIONS (General)" << endl;
384  cout << " -h --help" << boldOff << " display this help menu" << endlbOn;
385  cout << " -c=" << boldOff << "COM_PORT select the serial port. Set COM_PORT to \"*\" for all ports and \"*4\" to use" << endlbOn;
386  cout << " " << boldOff << " only the first four ports. " << endlbOn;
387  cout << " -baud=" << boldOff << "BAUDRATE set serial port baudrate. Options: " << IS_BAUDRATE_115200 << ", " << IS_BAUDRATE_230400 << ", " << IS_BAUDRATE_460800 << ", " << IS_BAUDRATE_921600 << " (default)" << endlbOn;
388  cout << " -b=" << boldOff << "FILEPATH bootload firmware using .hex file FILEPATH" << endlbOn;
389  cout << " -q" << boldOff << " quite mode, no display" << endlbOn;
390  cout << " -s" << boldOff << " scroll displayed messages to show history" << endlbOn;
391  cout << " -stats" << boldOff << " display statistics of data received" << endlbOn;
392  cout << " -magRecal[n]" << boldOff << " recalibrate magnetometers: 0=multi-axis, 1=single-axis" << endlbOn;
393  cout << " -survey=[s],[d]" << boldOff << " survey-in and store base position to refLla: s=[" << SURVEY_IN_STATE_START_3D << "=3D, " << SURVEY_IN_STATE_START_FLOAT << "=float, " << SURVEY_IN_STATE_START_FIX << "=fix], d=durationSec" << endlbOn;
394  cout << endlbOn;
395  cout << "OPTIONS (Message Streaming)" << endl;
396  cout << " -msgPresetPPD " << boldOff << " stream preset: post processing data sets" << endlbOn;
397  cout << " -msgPresetINS2" << boldOff << " stream preset: INS2 sets" << endlbOn;
398  cout << " -msgINS[n] " << boldOff << " stream DID_INS_[n], where [n] = 1, 2, 3 or 4 (without brackets)" << endlbOn;
399  cout << " -msgDualIMU " << boldOff << " stream DID_DUAL_IMU" << endlbOn;
400  cout << " -msgPIMU " << boldOff << " stream DID_PREINTEGRATED_IMU" << endlbOn;
401  cout << " -msgMag[n] " << boldOff << " stream DID_MAGNETOMETER_[n], where [n] = 1 or 2 (without brackets)" << endlbOn;
402  cout << " -msgBaro " << boldOff << " stream DID_BAROMETER" << endlbOn;
403  cout << " -msgGPS " << boldOff << " stream DID_GPS_NAV" << endlbOn;
404  cout << " -msgSensors " << boldOff << " stream DID_SYS_SENSORS" << endlbOn;
405  cout << " -msgRtkRel " << boldOff << " stream DID_GPS1_RTK_REL" << endlbOn;
406  cout << " -persistent " << boldOff << " save current streams as persistent messages enabled on startup" << endlbOn;
407  cout << endlbOn;
408  cout << "OPTIONS (Logging to file, disabled by default)" << endl;
409  cout << " -lon" << boldOff << " enable logging" << endlbOn;
410  cout << " -lt=" << boldOff << "TYPE log type dat (default), sdat, kml or csv" << endlbOn;
411  cout << " -lp=" << boldOff << "PATH log data to path (default: ./" << CL_DEFAULT_LOGS_DIRECTORY << ")" << endlbOn;
412  cout << " -lms=" << boldOff << "PERCENT log max space in percent of free space (default: " << CL_DEFAULT_MAX_LOG_SPACE_PERCENT << ")" << endlbOn;
413  cout << " -lmf=" << boldOff << "BYTES log max file size in bytes (default: " << CL_DEFAULT_MAX_LOG_FILE_SIZE << ")" << endlbOn;
414  cout << " -lmm=" << boldOff << "BYTES log max memory in bytes (default: "<< CL_DEFAULT_MAX_LOG_MEMORY << ")" << endlbOn;
415  cout << " -lts=" << boldOff << "0 log sub folder, 0 or blank for none, 1 for timestamp, else use as is" << endlbOn;
416  cout << " -r" << boldOff << " replay data log from default path" << endlbOn;
417  cout << " -rp=" << boldOff << "PATH replay data log from PATH" << endlbOn;
418  cout << " -rs=" << boldOff << "SPEED replay data log at x SPEED. SPEED=0 runs as fast as possible." << endlbOn;
419  cout << endlbOn;
420  cout << "OPTIONS (Read or write flash configuration)" << endl;
421  cout << " -flashConfig" << boldOff << " read and print to screen flash config \"keys\" and \"values\"" << endlbOn;
422  cout << " -flashConfig=key=value|key=value " << boldOff << endlbOn;
423  cout << " " << boldOff << " set key / value pairs in flash config. (Run -flashConfig to list all keys)" << endlbOn;
424  cout << "EXAMPLES" << endlbOn;
425  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -flashConfig " << boldOff << "# Read from device and print all keys and values" << endlbOn;
426  cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -flashConfig=insRotation[0]=1.5708|insOffset[1]=1.2 " << boldOff << "# Set multiple flashConfig values" << endlbOn;
427  cout << endlbOn;
428  cout << "OPTIONS (Client / Server)" << endl;
429  cout << " -svr=" << boldOff << "INFO used to retrieve external data and send to the uINS. Examples:" << endl;
430  cout << " - SERIAL: -svr=RTCM3:SERIAL:COM9:57600 (port, baud rate)" << endl;
431  cout << " - RTCM3: -svr=RTCM3:192.168.1.100:7777:URL:user:password" << endl;
432  cout << " (URL, user, password optional)" << endl;
433  cout << " - UBLOX data: -svr=UBLOX:192.168.1.100:7777 (no URL, user or password)" << endl;
434  cout << " - InertialSense: -svr=IS:192.168.1.100:7777 (no URL, user or password)" << endlbOn;
435  cout << " -host=" << boldOff << "IP:PORT used to host a TCP/IP InertialSense server. Examples:" << endl;
436  cout << " -host=:7777 (IP is optional)" << endl;
437  cout << " -host=192.168.1.43:7777" << endl;
438 
439  cout << boldOff; // Last line. Leave bold text off on exit.
440 }
441 
442 void cltool_outputHelp()
443 {
444  cout << endlbOff << "Run \"" << boldOn << "cltool -h" << boldOff << "\" to display the help menu." << endl;
445 }
446 
447 bool cltool_updateFlashConfig(InertialSense& inertialSenseInterface, string flashConfigString)
448 {
449  const nvm_flash_cfg_t& flashConfig = inertialSenseInterface.GetFlashConfig();
450  const map_lookup_name_t& globalMap = cISDataMappings::GetMap();
451  const map_name_to_info_t& flashMap = globalMap.at(DID_FLASH_CONFIG);
452 
453  if (flashConfigString.length() < 2)
454  {
455  // read flash config and display
456  data_mapping_string_t stringBuffer;
457  cout << "Current flash config" << endl;
458  for (map_name_to_info_t::const_iterator i = flashMap.begin(); i != flashMap.end(); i++)
459  {
460  if (cISDataMappings::DataToString(i->second, NULL, (const uint8_t*)&flashConfig, stringBuffer))
461  {
462  cout << i->second.name << " = " << stringBuffer << endl;
463  }
464  }
465  return false;
466  }
467  else
468  {
469  nvm_flash_cfg_t flashConfig = inertialSenseInterface.GetFlashConfig();
470  vector<string> keyValues;
471  splitString(flashConfigString, "|", keyValues);
472  for (size_t i = 0; i < keyValues.size(); i++)
473  {
474  vector<string> keyAndValue;
475  splitString(keyValues[i], "=", keyAndValue);
476  if (keyAndValue.size() == 2)
477  {
478  if (flashMap.find(keyAndValue[0]) == flashMap.end())
479  {
480  cout << "Unrecognized flash config key '" << keyAndValue[0] << "' specified, ignoring." << endl;
481  }
482  else
483  {
484  const data_info_t& info = flashMap.at(keyAndValue[0]);
485  int radix = (keyAndValue[1].compare(0, 2, "0x") == 0 ? 16 : 10);
486  int substrIndex = 2 * (radix == 16); // skip 0x for hex
487  const string& str = keyAndValue[1].substr(substrIndex);
488  cISDataMappings::StringToData(str.c_str(), (int)str.length(), NULL, (uint8_t*)&flashConfig, info, radix);
489  cout << "Updated flash config key '" << keyAndValue[0] << "' to '" << keyAndValue[1].c_str() << "'" << endl;
490  }
491  }
492  }
493  inertialSenseInterface.SetFlashConfig(flashConfig);
494  g_inertialSenseDisplay.Clear();
495  return true;
496  }
497 }
cmd_options_t::asciiMessages
string asciiMessages
Definition: cltool.h:56
CL_DEFAULT_DISPLAY_MODE
#define CL_DEFAULT_DISPLAY_MODE
Definition: cltool.cpp:55
IS_BAUDRATE_115200
Definition: ISComm.h:237
@@ -84,17 +84,17 @@
cmd_options_t::bootloaderVerify
bool bootloaderVerify
Definition: cltool.h:51
IS_BAUDRATE_921600
Definition: ISComm.h:240
cmd_options_t::logPath
string logPath
Definition: cltool.h:82
-
SURVEY_IN_STATE_START_FLOAT
Definition: data_sets.h:2262
+
SURVEY_IN_STATE_START_FLOAT
Definition: data_sets.h:2267
data_mapping_string_t
char data_mapping_string_t[IS_DATA_MAPPING_MAX_STRING_LENGTH]
Definition: ISDataMappings.h:69
ISDataMappings.h
EXAMPLE_PORT
#define EXAMPLE_PORT
Definition: cltool.h:39
boldOn
ostream & boldOn(ostream &os)
Definition: ISDisplay.cpp:1369
buffer_t::buf
uint8_t buf[PKT_BUF_SIZE]
Definition: ISComm.h:292
EXAMPLE_FIRMWARE_FILE
#define EXAMPLE_FIRMWARE_FILE
Definition: cltool.h:41
-
survey_in_t::maxDurationSec
uint32_t maxDurationSec
Definition: data_sets.h:2282
+
survey_in_t::maxDurationSec
uint32_t maxDurationSec
Definition: data_sets.h:2287
cmd_options_t::streamINS1
bool streamINS1
Definition: cltool.h:62
-
survey_in_t::state
uint32_t state
Definition: data_sets.h:2279
-
SURVEY_IN_STATE_START_3D
Definition: data_sets.h:2261
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survey_in_t::state
uint32_t state
Definition: data_sets.h:2284
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Definition: data_sets.h:2266
g_inertialSenseDisplay
cInertialSenseDisplay g_inertialSenseDisplay
Definition: cltool.cpp:18
EXAMPLE_LOG_DIR
#define EXAMPLE_LOG_DIR
Definition: cltool.h:40
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cmd_options_t::streamIMU2
bool streamIMU2
Definition: cltool.h:68
cmd_options_t::disableBroadcastsOnClose
bool disableBroadcastsOnClose
Definition: cltool.h:88
InertialSense::SetFlashConfig
void SetFlashConfig(const nvm_flash_cfg_t &flashConfig, int pHandle=0)
Definition: InertialSense.cpp:537
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float minAccuracy
Definition: data_sets.h:2285
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float minAccuracy
Definition: data_sets.h:2290
cmd_options_t::logSubFolder
string logSubFolder
Definition: cltool.h:86
endlbOn
ostream & endlbOn(ostream &os)
Definition: ISDisplay.cpp:1400
CMHANDLE
void * CMHANDLE
Definition: com_manager.h:71
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p_data_t
Definition: ISComm.h:479
cmd_options_t::maxLogFileSize
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Definition: cltool.h:84
CL_DEFAULT_LOG_TYPE
#define CL_DEFAULT_LOG_TYPE
Definition: cltool.cpp:56
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Definition: data_sets.h:2263
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Definition: data_sets.h:2268
CL_DEFAULT_BAUD_RATE
#define CL_DEFAULT_BAUD_RATE
Definition: cltool.cpp:53
CL_DEFAULT_MAX_LOG_SPACE_PERCENT
#define CL_DEFAULT_MAX_LOG_SPACE_PERCENT
Definition: cltool.cpp:60
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#define CL_DEFAULT_LOGS_DIRECTORY
Definition: cltool.cpp:57
diff --git a/docs/html/cltool_8h.html b/docs/html/cltool_8h.html index d7e0c80f8..ee511b3e0 100644 --- a/docs/html/cltool_8h.html +++ b/docs/html/cltool_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/cltool_8h_source.html b/docs/html/cltool_8h_source.html index 6e1517e8a..853a78719 100644 --- a/docs/html/cltool_8h_source.html +++ b/docs/html/cltool_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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Definition: cltool.h:54
cltool_main
int cltool_main(int argc, char *argv[])
Definition: cltool_main.cpp:445
cmd_options_t::maxLogFileSize
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Definition: cltool.h:84
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Definition: data_sets.h:2276
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Definition: cltool.h:95
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Definition: cltool.h:52
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Definition: cltool.h:85
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/cltool__main_8cpp_source.html b/docs/html/cltool__main_8cpp_source.html index eab83f585..4780e2219 100644 --- a/docs/html/cltool__main_8cpp_source.html +++ b/docs/html/cltool__main_8cpp_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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PACKED::invSystem
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Definition: data_sets.h:937
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Definition: ISComm.h:469
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PACKED::ins2
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Definition: data_sets.h:2570
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Definition: data_sets.h:2575
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#define DID_INS_1
Definition: data_sets.h:38
InertialSense::SetTimeoutFlushLoggerSeconds
void SetTimeoutFlushLoggerSeconds(time_t timeoutFlushLoggerSeconds)
Definition: InertialSense.h:275
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Definition: cltool.h:62
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Definition: data_sets.h:2279
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Definition: com_manager.h:55
PACKED::lla
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Definition: data_sets.h:464
g_inertialSenseDisplay
cInertialSenseDisplay g_inertialSenseDisplay
Definition: cltool.cpp:18
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PACKED::uvw
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Definition: data_sets.h:461
InertialSense::GetClientServerByteCount
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Definition: InertialSense.h:256
cmd_options_t::disableBroadcastsOnClose
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Definition: cltool.h:88
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PACKED::dualImu
dual_imu_t dualImu
Definition: data_sets.h:2574
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Definition: data_sets.h:2579
PACKED::mag
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Definition: data_sets.h:592
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int serialPortWriteAscii(serial_port_t *serialPort, const char *buffer, int bufferLength)
Definition: serialPort.c:219
cltool_main
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p_data_t::hdr
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Definition: ISComm.h:482
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Definition: data_sets.h:2577
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Definition: cltool.h:93
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Definition: InertialSense.cpp:378
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Definition: ISDisplay.h:43
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Definition: cltool.h:91
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Definition: cltool.cpp:442
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Definition: data_sets.h:2578
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Definition: data_sets.h:2583
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diff --git a/docs/html/com__manager_8c.html b/docs/html/com__manager_8c.html index c7112a508..0c144252c 100644 --- a/docs/html/com__manager_8c.html +++ b/docs/html/com__manager_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/com__manager_8c_source.html b/docs/html/com__manager_8c_source.html index 3e7b02028..a08703157 100644 --- a/docs/html/com__manager_8c_source.html +++ b/docs/html/com__manager_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/com__manager_8h.html b/docs/html/com__manager_8h.html index 97c856ec6..6c03de8a2 100644 --- a/docs/html/com__manager_8h.html +++ b/docs/html/com__manager_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/com__manager_8h_source.html b/docs/html/com__manager_8h_source.html index 4c2fc503e..3a9126972 100644 --- a/docs/html/com__manager_8h_source.html +++ b/docs/html/com__manager_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/data__sets_8c.html b/docs/html/data__sets_8c.html index ae0969dd3..2df163735 100644 --- a/docs/html/data__sets_8c.html +++ b/docs/html/data__sets_8c.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/data__sets_8c_source.html b/docs/html/data__sets_8c_source.html index aa96d5523..5f79428dc 100644 --- a/docs/html/data__sets_8c_source.html +++ b/docs/html/data__sets_8c_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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eDataIDs
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DID_PREINTEGRATED_IMU
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diag_msg_t
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diag_msg_t
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DID_GPS_BASE_RAW
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Definition: data_sets.h:94
flipDoubles
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Definition: data_sets.c:93
SWAP64
#define SWAP64(v)
Definition: ISConstants.h:258
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RMC_BITS_DUAL_IMU
#define RMC_BITS_DUAL_IMU
Definition: data_sets.h:1033
GPS_STATUS_FIX_MASK
Definition: data_sets.h:350
flipDouble
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Definition: data_sets.c:50
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Definition: data_sets.h:2494
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Definition: data_sets.h:2499
CURRENT_LEAP_SECONDS
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Definition: data_sets.h:141
DID_GPS1_POS
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Definition: data_sets.h:47
GPS_STATUS_FIX_RTK_FIX
Definition: data_sets.h:349
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RMC_BITS_GPS1_RTK_REL
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Definition: data_sets.h:1053
RMC_BITS_STROBE_IN_TIME
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Definition: data_sets.h:1046
julianToDate
void julianToDate(double julian, int32_t *year, int32_t *month, int32_t *day, int32_t *hours, int32_t *minutes, int32_t *seconds, int32_t *milliseconds)
Definition: data_sets.c:545
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survey_in_t
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survey_in_t
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DID_GPS1_RTK_POS
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DID_STROBE_IN_TIME
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RMC_BITS_PREINTEGRATED_IMU
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Definition: data_sets.h:1034
diff --git a/docs/html/data__sets_8h.html b/docs/html/data__sets_8h.html index 59d6dff9c..07d17c30e 100644 --- a/docs/html/data__sets_8h.html +++ b/docs/html/data__sets_8h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
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diff --git a/docs/html/data__sets_8h_source.html b/docs/html/data__sets_8h_source.html index 4324403da..cdb50115c 100644 --- a/docs/html/data__sets_8h_source.html +++ b/docs/html/data__sets_8h_source.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
@@ -72,18 +72,18 @@
data_sets.h
-Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014-2018 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_CRASH_INFO (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_CONFIG (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_REL (eDataIDs)21
56 #define DID_GPS1_RTK_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_VELOCITY_MEASUREMENT (eDataIDs)71
106 #define DID_DIAGNOSTIC_MESSAGE (eDataIDs)72
107 #define DID_SURVEY_IN (eDataIDs)73
108 #define DID_EVB2 (eDataIDs)74
109 #define DID_PORT_MONITOR (eDataIDs)75
111 // Adding a new data id?
112 // 1] Add it above and increment the previous number, include the matching data structure type in the comments
113 // 2] Add flip doubles and flip strings entries in data_sets.c
114 // 3] Add data id to ISDataMappings.cpp
115 // 4] Increment DID_COUNT
116 // 5] Test!
117 
119 #define DID_COUNT (eDataIDs)76
120 
122 #define DID_MAX_COUNT 256
123 
124 // END DATA IDENTIFIERS --------------------------------------------------------------------------
125 
127 #define MAX_NUM_SAT_CHANNELS 50
128 
130 #define DEVINFO_MANUFACTURER_STRLEN 24
131 #define DEVINFO_ADDINFO_STRLEN 24
132 
133 
135 // #define PROTOCOL_VERSION_CHAR0 1 // Major (in com_manager.h)
136 // #define PROTOCOL_VERSION_CHAR1 0
137 #define PROTOCOL_VERSION_CHAR2 (0x000000FF&DID_COUNT)
138 #define PROTOCOL_VERSION_CHAR3 7 // Minor (in data_sets.h)
139 
141 #define CURRENT_LEAP_SECONDS 18
142 
144 #define RECEIVER_INDEX_GPS1 1 // DO NOT CHANGE
145 #define RECEIVER_INDEX_EXTERNAL_BASE 2 // DO NOT CHANGE
146 #define RECEIVER_INDEX_GPS2 3 // DO NOT CHANGE
147 
148 #define NUM_MPU_DEVICES 2
149 
151 enum eInsStatusFlags
152 {
154  INS_STATUS_ATT_ALIGN_COARSE = (int)0x00000001,
156  INS_STATUS_VEL_ALIGN_COARSE = (int)0x00000002,
158  INS_STATUS_POS_ALIGN_COARSE = (int)0x00000004,
160  INS_STATUS_ALIGN_COARSE_MASK = (int)0x00000007,
161 
162  INS_STATUS_UNUSED_1 = (int)0x00000008,
163 
165  INS_STATUS_ATT_ALIGN_FINE = (int)0x00000010,
167  INS_STATUS_VEL_ALIGN_FINE = (int)0x00000020,
169  INS_STATUS_POS_ALIGN_FINE = (int)0x00000040,
171  INS_STATUS_ALIGN_FINE_MASK = (int)0x00000070,
172 
174  INS_STATUS_GPS_AIDING_HEADING = (int)0x00000080,
175 
177  INS_STATUS_GPS_AIDING_POS_VEL = (int)0x00000100,
179  INS_STATUS_GPS_UPDATE_IN_SOLUTION = (int)0x00000200,
181  INS_STATUS_RESERVED_1 = (int)0x00000400,
183  INS_STATUS_MAG_AIDING_HEADING = (int)0x00000800,
184 
186  INS_STATUS_NAV_MODE = (int)0x00001000,
187 
188  INS_STATUS_UNUSED_2 = (int)0x00002000,
189  INS_STATUS_UNUSED_3 = (int)0x00004000,
190  INS_STATUS_UNUSED_4 = (int)0x00008000,
191 
193  INS_STATUS_SOLUTION_MASK = (int)0x000F0000,
194  INS_STATUS_SOLUTION_OFFSET = 16,
195 #define INS_STATUS_SOLUTION(insStatus) ((insStatus&INS_STATUS_SOLUTION_MASK)>>INS_STATUS_SOLUTION_OFFSET)
196 
197  INS_STATUS_SOLUTION_OFF = 0, // System is off
198  INS_STATUS_SOLUTION_ALIGNING = 1, // System is in alignment mode
199  INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE = 2, // System is aligned but not enough dynamics have been experienced to be with specifications.
200  INS_STATUS_SOLUTION_NAV = 3, // System is in navigation mode and solution is good.
201  INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE = 4, // System is in navigation mode but the attitude uncertainty has exceeded the threshold.
202  INS_STATUS_SOLUTION_AHRS = 5, // System is in AHRS mode and solution is good.
203  INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE = 6, // System is in AHRS mode but the attitude uncertainty has exceeded the threshold.
204 
206  INS_STATUS_RTK_COMPASSING_ANT_POS_UNSET = (int)0x00100000,
208  INS_STATUS_RTK_COMPASSING_WRONG_BASELINE = (int)0x00200000,
209  INS_STATUS_RTK_COMPASSING_MASK = (INS_STATUS_RTK_COMPASSING_ANT_POS_UNSET|INS_STATUS_RTK_COMPASSING_WRONG_BASELINE),
210 
212  INS_STATUS_MAG_RECALIBRATING = (int)0x00400000,
214  INS_STATUS_MAG_INTERFERENCE_OR_BAD_CAL = (int)0x00800000,
215 
217  INS_STATUS_NAV_FIX_STATUS_MASK = (int)0x07000000,
218  INS_STATUS_NAV_FIX_STATUS_OFFSET = 24,
219 #define INS_STATUS_NAV_FIX_STATUS(insStatus) ((insStatus&INS_STATUS_NAV_FIX_STATUS_MASK)>>INS_STATUS_NAV_FIX_STATUS_OFFSET)
220 
222  INS_STATUS_RTK_BASE_ERR_NO_OBSERV = (int)0x08000000,
224  INS_STATUS_RTK_BASE_ERR_NO_POSITION = (int)0x10000000,
226  INS_STATUS_RTK_BASE_POSITION_MOVING = (int)0x20000000,
228  INS_STATUS_RTK_BASE_MASK = (INS_STATUS_RTK_BASE_ERR_NO_OBSERV|INS_STATUS_RTK_BASE_ERR_NO_POSITION|INS_STATUS_RTK_BASE_POSITION_MOVING),
229 
231  INS_STATUS_RTOS_TASK_PERIOD_OVERRUN = (int)0x40000000,
233  INS_STATUS_GENERAL_FAULT = (int)0x80000000,
234 };
235 
237 enum eNavFixStatus
238 {
239  NAV_FIX_STATUS_NONE = (int)0x00000000,
240  NAV_FIX_STATUS_STANDARD = (int)0x00000001,
241  NAV_FIX_STATUS_RTK_SINGLE = (int)0x00000002,
242  NAV_FIX_STATUS_RTK_FLOAT = (int)0x00000003,
243  NAV_FIX_STATUS_RTK_FIX = (int)0x00000004,
244  NAV_FIX_STATUS_STANDARD_W_GPS_COMPASSING = (int)0x00000005,
245 };
246 
248 enum eHdwStatusFlags
249 {
251  HDW_STATUS_MOTION_GYR_SIG = (int)0x00000001,
253  HDW_STATUS_MOTION_ACC_SIG = (int)0x00000002,
255  HDW_STATUS_MOTION_SIG_MASK = (int)0x00000003,
257  HDW_STATUS_MOTION_GYR_DEV = (int)0x00000004,
259  HDW_STATUS_MOTION_ACC_DEV = (int)0x00000008,
261  HDW_STATUS_MOTION_MASK = (int)0x0000000F,
262 
264  HDW_STATUS_GPS_SATELLITE_RX = (int)0x00000010,
266  HDW_STATUS_STROBE_IN_EVENT = (int)0x00000020,
268  HDW_STATUS_GPS_TIME_OF_WEEK_VALID = (int)0x00000040,
269 
270  HDW_STATUS_UNUSED_1 = (int)0x00000080,
271 
273  HDW_STATUS_SATURATION_GYR = (int)0x00000100,
275  HDW_STATUS_SATURATION_ACC = (int)0x00000200,
277  HDW_STATUS_SATURATION_MAG = (int)0x00000400,
279  HDW_STATUS_SATURATION_BARO = (int)0x00000800,
280 
282  HDW_STATUS_SATURATION_MASK = (int)0x00000F00,
284  HDW_STATUS_SATURATION_OFFSET = 8,
285 
287  HDW_STATUS_SATURATION_HISTORY = (int)0x00001000,
288 
289  HDW_STATUS_UNUSED_2 = (int)0x00002000,
290  HDW_STATUS_UNUSED_3 = (int)0x00004000,
291  HDW_STATUS_UNUSED_4 = (int)0x00008000,
292 
294  HDW_STATUS_ERR_COM_TX_LIMITED = (int)0x00010000,
296  HDW_STATUS_ERR_COM_RX_OVERRUN = (int)0x00020000,
298  HDW_STATUS_ERR_GPS_TX_LIMITED = (int)0x00040000,
300  HDW_STATUS_ERR_GPS_RX_OVERRUN = (int)0x00080000,
301 
303  HDW_STATUS_COM_PARSE_ERR_COUNT_MASK = (int)0x00F00000,
304  HDW_STATUS_COM_PARSE_ERR_COUNT_OFFSET = 20,
305 #define HDW_STATUS_COM_PARSE_ERROR_COUNT(hdwStatus) ((hdwStatus&HDW_STATUS_COM_PARSE_ERR_COUNT_MASK)>>HDW_STATUS_COM_PARSE_ERR_COUNT_OFFSET)
306 
308  HDW_STATUS_BIT_FAULT = (int)0x01000000,
310  HDW_STATUS_ERR_TEMPERATURE = (int)0x02000000,
312 // HDW_STATUS_ERR_VIBRATION = (int)0x04000000,
313 
314  HDW_STATUS_UNUSED_5 = (int)0x08000000,
315 
317  HDW_STATUS_FAULT_RESET_MASK = (int)0x70000000,
319  HDW_STATUS_FAULT_RESET_BACKUP_MODE = (int)0x10000000,
321  HDW_STATUS_FAULT_RESET_WATCHDOG = (int)0x20000000,
323  HDW_STATUS_FAULT_RESET_SOFT = (int)0x30000000,
325  HDW_STATUS_FAULT_RESET_HDW = (int)0x40000000,
326 
328  HDW_STATUS_FAULT_CPU_ERR = (int)0x80000000,
329 };
330 
332 enum eGpsStatus
333 {
334  GPS_STATUS_NUM_SATS_USED_MASK = (int)0x000000FF,
335 
337  GPS_STATUS_FIX_NONE = (int)0x00000000,
338  GPS_STATUS_FIX_DEAD_RECKONING_ONLY = (int)0x00000100,
339  GPS_STATUS_FIX_2D = (int)0x00000200,
340  GPS_STATUS_FIX_3D = (int)0x00000300,
341  GPS_STATUS_FIX_GPS_PLUS_DEAD_RECK = (int)0x00000400,
342  GPS_STATUS_FIX_TIME_ONLY = (int)0x00000500,
343  GPS_STATUS_FIX_UNUSED1 = (int)0x00000600,
344  GPS_STATUS_FIX_UNUSED2 = (int)0x00000700,
345  GPS_STATUS_FIX_DGPS = (int)0x00000800,
346  GPS_STATUS_FIX_SBAS = (int)0x00000900,
347  GPS_STATUS_FIX_RTK_SINGLE = (int)0x00000A00,
348  GPS_STATUS_FIX_RTK_FLOAT = (int)0x00000B00,
349  GPS_STATUS_FIX_RTK_FIX = (int)0x00000C00,
350  GPS_STATUS_FIX_MASK = (int)0x00001F00,
351  GPS_STATUS_FIX_BIT_OFFSET = (int)8,
352 
354  GPS_STATUS_FLAGS_FIX_OK = (int)0x00010000, // within limits (e.g. DOP & accuracy)
355  GPS_STATUS_FLAGS_DGPS_USED = (int)0x00020000, // Differential GPS (DGPS) used.
356  GPS_STATUS_FLAGS_WEEK_VALID = (int)0x00040000,
357  GPS_STATUS_FLAGS_TOW_VALID = (int)0x00080000,
358  GPS_STATUS_FLAGS_RTK_ENABLED = (int)0x00100000,
359  GPS_STATUS_FLAGS_STATIC_MODE = (int)0x00200000, // Static mode
360  GPS_STATUS_FLAGS_GPS_COMPASSING_ENABLED = (int)0x00400000,
361  GPS_STATUS_FLAGS_BASE_NO_OBSERV_EPHEM = (int)0x00800000, // GPS base observations and ephemeris received (i.e. RTK differential corrections)
362  GPS_STATUS_FLAGS_BASE_NO_POSITION = (int)0x01000000, // GPS base position received
363  GPS_STATUS_FLAGS_BASE_POSITION_MOVING = (int)0x02000000, // GPS Base position moving
364  GPS_STATUS_FLAGS_BASE_MASK = (GPS_STATUS_FLAGS_BASE_NO_OBSERV_EPHEM|
365  GPS_STATUS_FLAGS_BASE_NO_POSITION|
366  GPS_STATUS_FLAGS_BASE_POSITION_MOVING),
367  GPS_STATUS_FLAGS_HIGH_ACCURACY_POSITION = (int)0x04000000, // 1= using RTK position, 0= using ublox position
368  GPS_STATUS_FLAGS_GPS_COMPASSING_VALID = (int)0x08000000,
369  GPS_STATUS_FLAGS_GPS_COMPASS_BAD_BASELINE = (int)0x00002000,
370  GPS_STATUS_FLAGS_GPS_COMPASS_NO_BASELINE = (int)0x00004000,
371  GPS_STATUS_FLAGS_GPS_COMPASS_MASK = (GPS_STATUS_FLAGS_GPS_COMPASSING_VALID|
372  GPS_STATUS_FLAGS_GPS_COMPASS_BAD_BASELINE|
373  GPS_STATUS_FLAGS_GPS_COMPASS_BAD_BASELINE),
374  GPS_STATUS_FLAGS_UNUSED_3 = (int)0x00008000,
375  GPS_STATUS_FLAGS_MASK = (int)0x0FFFE000,
376  GPS_STATUS_FLAGS_BIT_OFFSET = (int)16,
377 
379  GPS_STATUS_INIT_STATUS_PROGRAM_OSC = (int)0x10000000,
380  GPS_STATUS_INIT_STATUS_REINIT = (int)0x20000000,
381  GPS_STATUS_INIT_STATUS_READING = (int)0x40000000,
382  GPS_STATUS_INIT_STATUS_MASK = (int)0xF0000000,
383  GPS_STATUS_INIT_STATUS_BIT_OFFSET = (int)28,
384 };
385 
386 PUSH_PACK_1
387 
389 typedef struct PACKED
390 {
392  uint32_t reserved;
393 
395  uint32_t serialNumber;
396 
398  uint8_t hardwareVer[4];
399 
401  uint8_t firmwareVer[4];
402 
404  uint32_t buildNumber;
405 
407  uint8_t protocolVer[4];
408 
410  uint32_t repoRevision;
411 
413  char manufacturer[DEVINFO_MANUFACTURER_STRLEN];
414 
416  uint8_t buildDate[4];
417 
419  uint8_t buildTime[4];
420 
422  char addInfo[DEVINFO_ADDINFO_STRLEN];
423 } dev_info_t;
424 
426 typedef struct PACKED
427 {
429  uint32_t serialNumber;
430 
432  uint32_t lotNumber;
433 
435  char date[16];
436 
438  uint32_t key;
439 } manufacturing_info_t;
440 
441 
443 typedef struct PACKED
444 {
446  uint32_t week;
447 
449  double timeOfWeek;
450 
452  uint32_t insStatus;
453 
455  uint32_t hdwStatus;
456 
458  float theta[3];
459 
461  float uvw[3];
462 
464  double lla[3];
465 
467  float ned[3];
468 } ins_1_t;
469 
470 
472 typedef struct PACKED
473 {
475  uint32_t week;
476 
478  double timeOfWeek;
479 
481  uint32_t insStatus;
482 
484  uint32_t hdwStatus;
485 
487  float qn2b[4];
488 
490  float uvw[3];
491 
493  double lla[3];
494 } ins_2_t;
495 
496 
498 typedef struct PACKED
499 {
501  uint32_t week;
502 
504  double timeOfWeek;
505 
507  uint32_t insStatus;
508 
510  uint32_t hdwStatus;
511 
513  float qn2b[4];
514 
516  float uvw[3];
517 
519  double lla[3];
520 
522  float msl;
523 } ins_3_t;
524 
525 
527 typedef struct PACKED
528 {
530  uint32_t week;
531 
533  double timeOfWeek;
534 
536  uint32_t insStatus;
537 
539  uint32_t hdwStatus;
540 
542  float qe2b[4];
543 
545  float ve[3];
546 
548  double ecef[3];
549 } ins_4_t;
550 
551 
553 typedef struct PACKED
554 {
556  float pqr[3];
557 
559  float acc[3];
560 } imus_t;
561 
562 
564 typedef struct PACKED
565 {
567  double time;
568 
570  imus_t I;
571 } imu_t;
572 
573 
575 typedef struct PACKED
576 {
578  double time;
579 
581  imus_t I[2];
582 } dual_imu_t;
583 
584 
586 typedef struct PACKED
587 {
589  double time;
590 
592  float mag[3];
593 } magnetometer_t;
594 
595 
597 typedef struct PACKED
598 {
600  double time;
601 
603  float bar;
604 
606  float mslBar;
607 
609  float barTemp;
610 
612  float humidity;
613 } barometer_t;
614 
615 
617 typedef struct PACKED
618 {
620  double time;
621 
623  float theta1[3];
624 
626  float theta2[3];
627 
629  float vel1[3];
630 
632  float vel2[3];
633 
635  float dt;
636 } preintegrated_imu_t;
637 
638 
640 typedef struct PACKED
641 {
643  uint32_t week;
644 
646  uint32_t timeOfWeekMs;
647 
649  uint32_t status;
650 
652  double ecef[3];
653 
655  double lla[3];
656 
658  float hMSL;
659 
661  float hAcc;
662 
664  float vAcc;
665 
667  float pDop;
668 
670  float cnoMean;
671 
673  double towOffset;
674 } gps_pos_t;
675 
676 
678 typedef struct PACKED
679 {
681  uint32_t timeOfWeekMs;
682 
684  float velEcef[3];
685 
687  float sAcc;
688 } gps_vel_t;
689 
690 
692 typedef struct PACKED
693 {
695  uint8_t gnssId;
696 
698  uint8_t svId;
699 
701  uint8_t cno;
702 
704  int8_t elev;
705 
707  int16_t azim;
708 
710  int16_t prRes;
711 
713  uint32_t flags;
714 } gps_sat_sv_t;
715 
716 
718 enum eSatSvFlags
719 {
720  SAT_SV_FLAGS_QUALITYIND_MASK = 0x00000007,
721  SAT_SV_FLAGS_SV_USED = 0x00000008,
722  SAT_SV_FLAGS_HEALTH_MASK = 0x00000030,
723  NAV_SAT_FLAGS_HEALTH_OFFSET = 4,
724  SAT_SV_FLAGS_DIFFCORR = 0x00000040,
725  SAT_SV_FLAGS_SMOOTHED = 0x00000080,
726  SAT_SV_FLAGS_ORBITSOURCE_MASK = 0x00000700,
727  SAT_SV_FLAGS_ORBITSOURCE_OFFSET = 8,
728  SAT_SV_FLAGS_EPHAVAIL = 0x00000800,
729  SAT_SV_FLAGS_ALMAVAIL = 0x00001000,
730  SAT_SV_FLAGS_ANOAVAIL = 0x00002000,
731  SAT_SV_FLAGS_AOPAVAIL = 0x00004000,
732 };
733 
735 typedef struct PACKED
736 {
738  uint32_t timeOfWeekMs;
740  uint32_t numSats;
742  gps_sat_sv_t sat[MAX_NUM_SAT_CHANNELS];
743 } gps_sat_t;
744 
745 
747 typedef struct PACKED
748 {
750  uint8_t swVersion[30];
752  uint8_t hwVersion[10];
754  uint8_t extension[30];
756  uint8_t reserved[2];
757 } gps_version_t;
758 
759 // (DID_INL2_STATES) INL2 - INS Extended Kalman Filter (EKF) states
760 typedef struct PACKED
761 {
763  double timeOfWeek;
764 
766  float qe2b[4];
767 
769  float ve[3];
770 
772  double ecef[3];
773 
775  float biasPqr[3];
776 
778  float biasAcc[3];
779 
781  float biasBaro;
782 
784  float magDec;
785 
787  float magInc;
788 } inl2_states_t;
789 
791 typedef struct PACKED
792 {
794  double time;
795 
797  float val;
798 } gen_1axis_sensor_t;
799 
801 typedef struct PACKED
802 {
804  double time;
805 
807  float val[3];
808 } gen_3axis_sensor_t;
809 
811 typedef struct PACKED
812 {
814  double time;
815 
817  float val1[3];
818 
820  float val2[3];
821 } gen_dual_3axis_sensor_t;
822 
824 typedef struct PACKED
825 {
827  double time;
828 
830  double val[3];
831 } gen_3axis_sensord_t;
832 
834 typedef struct PACKED
835 {
837  double time;
838 
840  float temp;
841 
843  float pqr[3];
844 
846  float acc[3];
847 
849  float mag[3];
850 
852  float bar;
853 
855  float barTemp;
856 
858  float mslBar;
859 
861  float humidity;
862 
864  float vin;
865 
867  float ana1;
868 
870  float ana3;
871 
873  float ana4;
874 } sys_sensors_t;
875 
877 typedef struct PACKED
878 {
880  uint32_t timeOfWeekMs;
881 
883  double lla[3];
884 
886  float uvw[3];
887 
889  float qn2b[4];
890 } ins_output_t;
891 
893 typedef struct PACKED
894 {
896  uint32_t timeOfWeekMs;
897 
899  uint32_t insStatus;
900 
902  uint32_t hdwStatus;
903 
905  float imuTemp;
906 
908  float baroTemp;
909 
911  float mcuTemp;
912 
914  float reserved1;
915 
917  uint32_t imuPeriodMs;
918 
920  uint32_t navPeriodMs;
921 
923  float reserved2[4];
924 
926  uint32_t genFaultCode;
927 } sys_params_t;
928 
929 
931 typedef struct PACKED
932 {
934  uint32_t system;
935 
937  uint32_t invSystem;
938 
939 } config_t;
940 
941 enum eConfigSystem {
942  CFG_SYS_CMD_SAVE_PERSISTENT_MESSAGES = 1,
943  CFG_SYS_CMD_ENABLE_BOOTLOADER_AND_RESET = 2,
944  CFG_SYS_CMD_ENABLE_SENSOR_STATS = 3,
945  CFG_SYS_CMD_ENABLE_RTOS_STATS = 4,
946  CFG_SYS_CMD_ENABLE_GPS_LOW_LEVEL_CONFIG = 10,
947  CFG_SYS_CMD_SAVE_GPS_ASSIST_TO_FLASH_RESET = 98,
948  CFG_SYS_CMD_SOFTWARE_RESET = 99,
949 };
950 
951 
952 
954 typedef struct PACKED
955 {
957  uint32_t options;
958 
960  uint32_t pimu;
961 
963  uint32_t ppimu;
964 
966  uint32_t pins1;
967 
969  uint32_t pins2;
970 
972  uint32_t pgpsp;
973 
975  uint32_t reserved;
976 
978  uint32_t gpgga;
979 
981  uint32_t gpgll;
982 
984  uint32_t gpgsa;
985 
987  uint32_t gprmc;
988 
989 } ascii_msgs_t;
990 
991 /* (DID_SENSORS_CAL1, DID_SENSORS_CAL2) */
992 typedef struct PACKED
993 { // Units only apply for calibrated data
994  f_t pqr[3]; // (rad/s) Angular rate
995  f_t acc[3]; // (m/s^2) Linear acceleration
996  f_t mag[3]; // (uT) Magnetometers
997  f_t temp; // (°C) Temperature of MPU
998 } sensors_mpu_w_temp_t;
999 
1000 #define NUM_ANA_CHANNELS 4
1001 typedef struct PACKED
1002 { // LSB units for all except temperature, which is Celsius.
1003  double time;
1004  sensors_mpu_w_temp_t mpu[NUM_MPU_DEVICES];
1005  f_t bar; // Barometric pressure
1006  f_t barTemp; // Temperature of barometric pressure sensor
1007  f_t humidity; // Relative humidity as a percent (%rH). Range is 0% - 100%
1008  f_t ana[NUM_ANA_CHANNELS]; // ADC analog input
1009 } sys_sensors_adc_t;
1010 
1011 #define RMC_NUM_PORTS 2 // COM0_PORT_NUM and COM1_PORT_NUM. No USB yet.
1012 
1019 #define RMC_OPTIONS_PORT_MASK 0x000000FF
1020 #define RMC_OPTIONS_PORT_ALL RMC_OPTIONS_PORT_MASK
1021 #define RMC_OPTIONS_PORT_CURRENT 0x00000000
1022 #define RMC_OPTIONS_PORT_SER0 0x00000001
1023 #define RMC_OPTIONS_PORT_SER1 0x00000002 // also SPI
1024 #define RMC_OPTIONS_PORT_USB 0x00000004
1025 #define RMC_OPTIONS_PRESERVE_CTRL 0x00000100 // Prevent any messages from getting turned off by bitwise OR'ing new message bits with current message bits.
1026 #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.
1027 
1028  // RMC message data rates:
1029 #define RMC_BITS_INS1 0x0000000000000001 // rmc.insPeriodMs (4ms default)
1030 #define RMC_BITS_INS2 0x0000000000000002 // "
1031 #define RMC_BITS_INS3 0x0000000000000004 // "
1032 #define RMC_BITS_INS4 0x0000000000000008 // "
1033 #define RMC_BITS_DUAL_IMU 0x0000000000000010 // DID_FLASH_CONFIG.startupNavDtMs (4ms default)
1034 #define RMC_BITS_PREINTEGRATED_IMU 0x0000000000000020 // "
1035 #define RMC_BITS_BAROMETER 0x0000000000000040 // ~8ms
1036 #define RMC_BITS_MAGNETOMETER1 0x0000000000000080 // ~10ms
1037 #define RMC_BITS_MAGNETOMETER2 0x0000000000000100 // "
1038 
1039 #define RMC_BITS_GPS1_POS 0x0000000000000400 // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
1040 #define RMC_BITS_GPS2_POS 0x0000000000000800 // "
1041 #define RMC_BITS_GPS1_RAW 0x0000000000001000 // "
1042 #define RMC_BITS_GPS2_RAW 0x0000000000002000 // "
1043 #define RMC_BITS_GPS1_SAT 0x0000000000004000 // 1s
1044 #define RMC_BITS_GPS2_SAT 0x0000000000008000 // "
1045 #define RMC_BITS_GPS_BASE_RAW 0x0000000000010000 //
1046 #define RMC_BITS_STROBE_IN_TIME 0x0000000000020000 // On strobe input event
1047 #define RMC_BITS_DIAGNOSTIC_MESSAGE 0x0000000000040000
1048 #define RMC_BITS_DUAL_IMU_RAW 0x0000000000080000 // DID_FLASH_CONFIG.startupImuDtMs (1ms default)
1049 #define RMC_BITS_GPS1_VEL 0x0000000000100000 // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
1050 #define RMC_BITS_GPS2_VEL 0x0000000000200000 // "
1051 #define RMC_BITS_GPS1_UBX_POS 0x0000000000400000 // "
1052 #define RMC_BITS_GPS1_RTK_POS 0x0000000000800000 // "
1053 #define RMC_BITS_GPS1_RTK_REL 0x0000000001000000 // "
1054 #define RMC_BITS_GPS1_RTK_MISC 0x0000000004000000 // "
1055 #define RMC_BITS_MASK 0x0FFFFFFFFFFFFFFF
1056 
1057 #define RMC_BITS_INTERNAL_PPD 0x4000000000000000 //
1058 #define RMC_BITS_PRESET 0x8000000000000000 // Indicate BITS is a preset
1059 
1060 // Preset: Post Processing Data
1061 #define RMC_PRESET_PPD_BITS_NO_IMU (RMC_BITS_PRESET | \
1062  RMC_BITS_INS2 | \
1063  RMC_BITS_BAROMETER | \
1064  RMC_BITS_MAGNETOMETER1 | \
1065  RMC_BITS_MAGNETOMETER2 | \
1066  RMC_BITS_GPS1_POS | \
1067  RMC_BITS_GPS2_POS | \
1068  RMC_BITS_GPS1_VEL | \
1069  RMC_BITS_GPS2_VEL | \
1070  RMC_BITS_GPS1_RAW | \
1071  RMC_BITS_GPS2_RAW | \
1072  RMC_BITS_GPS_BASE_RAW | \
1073  RMC_BITS_GPS1_RTK_REL | \
1074  RMC_BITS_INTERNAL_PPD | \
1075  RMC_BITS_DIAGNOSTIC_MESSAGE )
1076 #define RMC_PRESET_PPD_BITS (RMC_PRESET_PPD_BITS_NO_IMU | RMC_BITS_PREINTEGRATED_IMU )
1077 #define RMC_PRESET_PPD_BITS_RAW_IMU (RMC_PRESET_PPD_BITS_NO_IMU | RMC_BITS_DUAL_IMU_RAW )
1078 #define RMC_PRESET_PPD_NAV_PERIOD_MULT 25
1079 #define RMC_PRESET_INS_BITS (RMC_BITS_INS2 | \
1080  RMC_BITS_GPS1_POS | \
1081  RMC_BITS_PRESET )
1082 #define RMC_PRESET_INS_NAV_PERIOD_MULT 1 // fastest rate (nav filter update rate)
1083 
1085 typedef struct PACKED
1086 {
1088  uint64_t bits;
1089 
1091  uint32_t options;
1092 
1094 } rmc_t;
1095 
1096 
1098 typedef struct PACKED
1099 {
1101  uint32_t timeOfWeekMs;
1102 
1104  uint32_t gpioStatus;
1105 } io_t;
1106 
1107 enum eMagRecalMode
1108 {
1109  MAG_RECAL_MODE_MULTI_AXIS = (int)0, // Recalibrate magnetometers using multiple axis
1110  MAG_RECAL_MODE_SINGLE_AXIS = (int)1, // Recalibrate magnetometers using only one axis
1111  MAG_RECAL_MODE_COMPLETE = (int)100, // Recalibration is finished
1112  MAG_RECAL_MODE_ABORT = (int)101, // Recalibration is finished
1113 };
1114 
1116 typedef struct PACKED
1117 {
1119  uint32_t enMagRecal;
1120 
1122  float progress;
1123 
1125  float declination;
1126 } mag_cal_t;
1127 
1128 
1130 enum eBitState
1131 {
1132  BIT_STATE_OFF = (int)0,
1133  BIT_STATE_DONE = (int)1,
1134  BIT_STATE_CMD_FULL_STATIONARY = (int)2, // (FULL) More comprehensive test. Requires system be completely stationary without vibrations.
1135  BIT_STATE_CMD_BASIC_MOVING = (int)3, // (BASIC) Ignores sensor output. Can be run while moving. This mode is automatically run after bootup.
1136  BIT_STATE_RESERVED_1 = (int)4,
1137  BIT_STATE_RESERVED_2 = (int)5,
1138  BIT_STATE_RUNNING = (int)6,
1139  BIT_STATE_FINISH = (int)7,
1140  BIT_STATE_COMMAND_OFF = (int)8
1141 };
1142 
1144 enum eHdwBitStatusFlags
1145 {
1146  HDW_BIT_PASSED_MASK = (int)0x0000000F,
1147  HDW_BIT_PASSED_ALL = (int)0x00000001,
1148  HDW_BIT_PASSED_NO_GPS = (int)0x00000002, // Passed w/o valid GPS signal
1149  HDW_BIT_MODE_MASK = (int)0x000000F0, // BIT mode run
1150  HDW_BIT_MODE_OFFSET = (int)4,
1151 #define HDW_BIT_MODE(hdwBitStatus) ((hdwBitStatus&HDW_BIT_MODE_MASK)>>HDW_BIT_MODE_OFFSET)
1152  HDW_BIT_FAILED_MASK = (int)0xFFFFFF00,
1153  HDW_BIT_FAILED_AHRS_MASK = (int)0xFFFF0F00,
1154  HDW_BIT_FAULT_NOISE_PQR = (int)0x00000100,
1155  HDW_BIT_FAULT_NOISE_ACC = (int)0x00000200,
1156  HDW_BIT_FAULT_GPS_NO_COM = (int)0x00001000, // No GPS serial communications
1157  HDW_BIT_FAULT_GPS_POOR_CNO = (int)0x00002000, // Poor GPS signal strength. Check antenna
1158  HDW_BIT_FAULT_GPS_POOR_ACCURACY = (int)0x00002000, // Low number of satellites, or bad accuracy
1159  HDW_BIT_FAULT_GPS_NOISE = (int)0x00004000, // (Not implemented)
1160 };
1161 
1163 enum eCalBitStatusFlags
1164 {
1165  CAL_BIT_PASSED_MASK = (int)0x0000000F,
1166  CAL_BIT_PASSED_ALL = (int)0x00000001,
1167  CAL_BIT_MODE_MASK = (int)0x000000F0, // BIT mode run
1168  CAL_BIT_MODE_OFFSET = (int)4,
1169 #define CAL_BIT_MODE(calBitStatus) ((calBitStatus&CAL_BIT_MODE_MASK)>>CAL_BIT_MODE_OFFSET)
1170  CAL_BIT_FAILED_MASK = (int)0xFFFFFF00,
1171  CAL_BIT_FAULT_TCAL_EMPTY = (int)0x00000100, // Temperature calibration not present
1172  CAL_BIT_FAULT_TCAL_TSPAN = (int)0x00000200, // Temperature calibration temperature range is inadequate
1173  CAL_BIT_FAULT_TCAL_INCONSISTENT = (int)0x00000400, // Temperature calibration number of points or slopes are not consistent
1174  CAL_BIT_FAULT_TCAL_CORRUPT = (int)0x00000800, // Temperature calibration memory corruption
1175  CAL_BIT_FAULT_TCAL_PQR_BIAS = (int)0x00001000, // Temperature calibration gyro bias
1176  CAL_BIT_FAULT_TCAL_PQR_SLOPE = (int)0x00002000, // Temperature calibration gyro slope
1177  CAL_BIT_FAULT_TCAL_PQR_LIN = (int)0x00004000, // Temperature calibration gyro linearity
1178  CAL_BIT_FAULT_TCAL_ACC_BIAS = (int)0x00008000, // Temperature calibration accelerometer bias
1179  CAL_BIT_FAULT_TCAL_ACC_SLOPE = (int)0x00010000, // Temperature calibration accelerometer slope
1180  CAL_BIT_FAULT_TCAL_ACC_LIN = (int)0x00020000, // Temperature calibration accelerometer linearity
1181  CAL_BIT_FAULT_ORTO_EMPTY = (int)0x00100000, // Cross-axis alignment is not calibrated
1182  CAL_BIT_FAULT_ORTO_INVALID = (int)0x00200000, // Cross-axis alignment is poorly formed
1183  CAL_BIT_FAULT_MOTION_PQR = (int)0x00400000, // Motion on gyros
1184  CAL_BIT_FAULT_MOTION_ACC = (int)0x00800000, // Motion on accelerometers
1185 };
1186 
1187 
1189 typedef struct PACKED
1190 {
1192  uint32_t state;
1193 
1195  uint32_t hdwBitStatus;
1196 
1198  uint32_t calBitStatus;
1199 
1201  float tcPqrBias;
1202  float tcAccBias;
1203 
1205  float tcPqrSlope;
1206  float tcAccSlope;
1207 
1209  float tcPqrLinearity;
1210  float tcAccLinearity;
1211 
1213  float pqr;
1214 
1216  float acc;
1217 
1219  float pqrSigma;
1220 
1222  float accSigma;
1223 
1224 } bit_t;
1225 
1226 
1228 enum eSysConfigBits
1229 {
1231  SYS_CFG_BITS_DISABLE_AUTOBAUD_SER0 = (int)0x00000001,
1232  SYS_CFG_BITS_DISABLE_AUTOBAUD_SER1 = (int)0x00000002,
1234  SYS_CFG_BITS_AUTO_MAG_RECAL = (int)0x00000004,
1236  SYS_CFG_BITS_DISABLE_MAG_DECL_ESTIMATION = (int)0x00000008,
1237 
1239  SYS_CFG_BITS_DISABLE_LEDS = (int)0x00000010,
1240 
1242  SYS_CFG_BITS_MAG_RECAL_MODE_MASK = (int)0x00000700,
1243  SYS_CFG_BITS_MAG_RECAL_MODE_OFFSET = 8,
1244 #define SYS_CFG_BITS_MAG_RECAL_MODE(sysCfgBits) ((sysCfgBits&SYS_CFG_BITS_MAG_RECAL_MODE_MASK)>>SYS_CFG_BITS_MAG_RECAL_MODE_OFFSET)
1245 
1247  SYS_CFG_BITS_DISABLE_MAGNETOMETER_FUSION = (int)0x00001000,
1249  SYS_CFG_BITS_DISABLE_BAROMETER_FUSION = (int)0x00002000,
1251  SYS_CFG_BITS_DISABLE_GPS_FUSION = (int)0x00004000,
1252 
1254  SYS_CFG_BITS_ENABLED_ZERO_VELOCITY_UPDATES = (int)0x00010000,
1255 
1257  SYS_CFG_BITS_ENABLE_NAV_STROBE_OUT_GPIO_9 = (int)0x00100000
1258 };
1259 
1261 enum eRTKConfigBits
1262 {
1264  RTK_CFG_BITS_GPS1_RTK_ROVER = (int)0x00000001,
1265 
1267  RTK_CFG_BITS_GPS2_RTK_ROVER = (int)0x00000002,
1268 
1270  RTK_CFG_BITS_COMPASSING = (int)0x00000008,
1271 
1273  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 = (int)0x00000010,
1274 
1276  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 = (int)0x00000020,
1277 
1279  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 = (int)0x00000040,
1280 
1282  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1 = (int)0x00000080,
1283 
1285  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 = (int)0x00000100,
1286 
1288  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 = (int)0x00000200,
1289 
1291  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0 = (int)0x00000400,
1292 
1294  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1 = (int)0x00000800,
1295 
1297  RTK_CFG_BITS_BASE_POS_MOVING = (int)0x00001000,
1298 
1300  RTK_CFG_BITS_RESERVED1 = (int)0x00002000,
1301 
1303  RTK_CFG_BITS_RTK_BASE_IS_IDENTICAL_TO_ROVER = (int)0x00004000,
1304 
1306  RTK_CFG_BITS_RTK_BASE = (
1307  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 |
1308  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1 |
1309  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0 |
1310  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1),
1311 
1313  RTK_CFG_BITS_RTK_BASE_SER0 = (RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 |
1314  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0),
1315 
1317  RTK_CFG_BITS_RTK_BASE_SER1 = (RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1
1318  | RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1),
1319 
1321  RTK_CFG_BITS_RTK_ROVER = (RTK_CFG_BITS_GPS1_RTK_ROVER | RTK_CFG_BITS_GPS2_RTK_ROVER),
1322 
1324  RTK_CFG_BITS_RTK_MODE_MASK = (RTK_CFG_BITS_RTK_ROVER | RTK_CFG_BITS_COMPASSING),
1325 
1327  RTK_CFG_BITS_RTK = (RTK_CFG_BITS_RTK_ROVER | RTK_CFG_BITS_RTK_BASE)
1328 
1329 };
1330 
1331 
1333 enum eSensorConfig
1334 {
1336  SENSOR_CFG_GYR_FS_250 = (int)0x00000000,
1337  SENSOR_CFG_GYR_FS_500 = (int)0x00000001,
1338  SENSOR_CFG_GYR_FS_1000 = (int)0x00000002,
1339  SENSOR_CFG_GYR_FS_2000 = (int)0x00000003,
1340  SENSOR_CFG_GYR_FS_MASK = (int)0x00000003,
1341  SENSOR_CFG_GYR_FS_OFFSET = (int)0,
1342 
1344  SENSOR_CFG_ACC_FS_2G = (int)0x00000000,
1345  SENSOR_CFG_ACC_FS_4G = (int)0x00000004,
1346  SENSOR_CFG_ACC_FS_8G = (int)0x00000008,
1347  SENSOR_CFG_ACC_FS_16G = (int)0x0000000C,
1348  SENSOR_CFG_ACC_FS_MASK = (int)0x0000000C,
1349  SENSOR_CFG_ACC_FS_OFFSET = (int)2,
1350 
1353  SENSOR_CFG_GYR_DLPF_250HZ = (int)0x00000000,
1354  SENSOR_CFG_GYR_DLPF_184HZ = (int)0x00000100,
1355  SENSOR_CFG_GYR_DLPF_92HZ = (int)0x00000200,
1356  SENSOR_CFG_GYR_DLPF_41HZ = (int)0x00000300,
1357  SENSOR_CFG_GYR_DLPF_20HZ = (int)0x00000400,
1358  SENSOR_CFG_GYR_DLPF_10HZ = (int)0x00000500,
1359  SENSOR_CFG_GYR_DLPF_5HZ = (int)0x00000600,
1360  SENSOR_CFG_GYR_DLPF_MASK = (int)0x00000F00,
1361  SENSOR_CFG_GYR_DLPF_OFFSET = (int)8,
1362 
1365  SENSOR_CFG_ACC_DLPF_218HZ = (int)0x00000000,
1366  SENSOR_CFG_ACC_DLPF_218HZb = (int)0x00001000,
1367  SENSOR_CFG_ACC_DLPF_99HZ = (int)0x00002000,
1368  SENSOR_CFG_ACC_DLPF_45HZ = (int)0x00003000,
1369  SENSOR_CFG_ACC_DLPF_21HZ = (int)0x00004000,
1370  SENSOR_CFG_ACC_DLPF_10HZ = (int)0x00005000,
1371  SENSOR_CFG_ACC_DLPF_5HZ = (int)0x00006000,
1372  SENSOR_CFG_ACC_DLPF_MASK = (int)0x0000F000,
1373  SENSOR_CFG_ACC_DLPF_OFFSET = (int)12,
1374 
1375 };
1376 
1377 
1379 enum eIoConfig
1380 {
1381  IO_CFG_INPUT_STROBE_TRIGGER_HIGH = (int)0x00000001,
1382 };
1383 
1384 
1389 typedef struct PACKED
1390 {
1392  uint32_t size;
1393 
1395  uint32_t checksum;
1396 
1398  uint32_t key;
1399 
1401  uint32_t startupImuDtMs;
1402 
1404  uint32_t startupNavDtMs;
1405 
1407  uint32_t ser0BaudRate;
1408 
1410  uint32_t ser1BaudRate;
1411 
1413  float insRotation[3];
1414 
1416  float insOffset[3];
1417 
1419  float gps1AntOffset[3];
1420 
1422  uint32_t insDynModel;
1423 
1425  uint32_t sysCfgBits;
1426 
1428  double refLla[3];
1429 
1431  double lastLla[3];
1432 
1434  uint32_t lastLlaTimeOfWeekMs;
1435 
1437  uint32_t lastLlaWeek;
1438 
1440  float lastLlaUpdateDistance;
1441 
1443  uint32_t ioConfig;
1444 
1446  uint32_t cBrdConfig;
1447 
1449  float gps2AntOffset[3];
1450 
1452  float zeroVelRotation[3];
1453 
1455  float zeroVelOffset[3];
1456 
1458  float magInclination;
1459 
1461  float magDeclination;
1462 
1464  uint32_t gpsTimeSyncPeriodMs;
1465 
1467  uint32_t startupGPSDtMs;
1468 
1470  uint32_t RTKCfgBits;
1471 
1473  uint32_t sensorConfig;
1474 
1475 } nvm_flash_cfg_t;
1476 
1478 typedef struct PACKED
1479 {
1481  unsigned int timeOfWeekMs;
1483  float PxyzNED[3];
1485  float PvelNED[3];
1487  float PattNED[3];
1489  float PABias[3];
1491  float PWBias[3];
1493  float PBaroBias;
1495  float PDeclination;
1496 } inl2_ned_sigma_t;
1497 
1499 typedef struct PACKED
1500 {
1502  uint32_t week;
1503 
1505  uint32_t timeOfWeekMs;
1506 
1508  uint32_t pin;
1509 
1511  uint32_t count;
1512 } strobe_in_time_t;
1513 
1514 POP_PACK
1515 
1516 PUSH_PACK_8
1517 
1519 typedef struct
1520 {
1522  int64_t time;
1523 
1525  double sec;
1526 } gtime_t;
1527 
1528 POP_PACK
1529 
1530 PUSH_PACK_1
1531 
1533 typedef struct
1534 {
1536  int32_t mode;
1537 
1539  int32_t soltype;
1540 
1542  int32_t nf;
1543 
1545  int32_t navsys;
1546 
1548  double elmin;
1549 
1551  int32_t snrmin;
1552 
1554  int32_t modear;
1555 
1557  int32_t glomodear;
1558 
1560  int32_t gpsmodear;
1561 
1563  int32_t bdsmodear;
1564 
1566  int32_t arfilter;
1567 
1569  int32_t maxout;
1570 
1572  int32_t minlock;
1573 
1575  int32_t minfixsats;
1576 
1578  int32_t minholdsats;
1579 
1581  int32_t mindropsats;
1582 
1584  int32_t rcvstds;
1585 
1587  int32_t minfix;
1588 
1590  int32_t armaxiter;
1591 
1593  int32_t dynamics;
1594 
1596  int32_t niter;
1597 
1599  int32_t intpref;
1600 
1602  int32_t rovpos;
1603 
1605  int32_t refpos;
1606 
1608  double eratio[1];
1609 
1611  double err[5];
1612 
1614  double std[3];
1615 
1617  double prn[6];
1618 
1620  double sclkstab;
1621 
1623  double thresar[8];
1624 
1626  double elmaskar;
1627 
1629  double elmaskhold;
1630 
1632  double thresslip;
1633 
1635  double varholdamb;
1636 
1638  double gainholdamb;
1639 
1641  double maxtdiff;
1642 
1644  double maxinno;
1645 
1647  double maxrejc;
1648 
1650  double maxgdop;
1651 
1653  double baseline[2];
1654 
1656  double ru[3];
1657 
1659  double rb[3];
1660 
1662  int32_t maxaveep;
1663 
1665  int32_t outsingle;
1666 } prcopt_t;
1667 typedef prcopt_t gps_rtk_opt_t;
1668 
1670 typedef struct PACKED
1671 {
1673  gtime_t time;
1674 
1676  uint8_t sat;
1677 
1679  uint8_t rcv;
1680 
1682  uint8_t SNR[1];
1683 
1685  uint8_t LLI[1];
1686 
1688  uint8_t code[1];
1689 
1691  uint8_t qualL[1];
1692 
1694  uint8_t qualP[1];
1695 
1697  uint8_t reserved;
1698 
1700  double L[1];
1701 
1703  double P[1];
1704 
1706  float D[1];
1707 } obsd_t;
1708 
1709 #define GPS_RAW_MESSAGE_BUF_SIZE 1000
1710 #define MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE (GPS_RAW_MESSAGE_BUF_SIZE / sizeof(obsd_t))
1711 
1713 typedef struct
1714 {
1716  int32_t n;
1717 
1719  int32_t nmax;
1720 
1722  obsd_t* data;
1723 } obs_t;
1724 
1726 typedef struct
1727 {
1729  int32_t sat;
1730 
1732  int32_t iode;
1733 
1735  int32_t iodc;
1736 
1738  int32_t sva;
1739 
1741  int32_t svh;
1742 
1744  int32_t week;
1745 
1749  int32_t code;
1750 
1754  int32_t flag;
1755 
1757  gtime_t toe;
1758 
1760  gtime_t toc;
1761 
1763  gtime_t ttr;
1764 
1766  double A;
1767 
1769  double e;
1770 
1772  double i0;
1773 
1775  double OMG0;
1776 
1778  double omg;
1779 
1781  double M0;
1782 
1784  double deln;
1785 
1787  double OMGd;
1788 
1790  double idot;
1791 
1793  double crc;
1794 
1796  double crs;
1797 
1799  double cuc;
1800 
1802  double cus;
1803 
1805  double cic;
1806 
1808  double cis;
1809 
1811  double toes;
1812 
1814  double fit;
1815 
1817  double f0;
1818 
1820  double f1;
1821 
1823  double f2;
1824 
1830  double tgd[4];
1831 
1833  double Adot;
1834 
1836  double ndot;
1837 } eph_t;
1838 
1840 typedef struct
1841 {
1843  int32_t sat;
1844 
1846  int32_t iode;
1847 
1849  int32_t frq;
1850 
1852  int32_t svh;
1853 
1855  int32_t sva;
1856 
1858  int32_t age;
1859 
1861  gtime_t toe;
1862 
1864  gtime_t tof;
1865 
1867  double pos[3];
1868 
1870  double vel[3];
1871 
1873  double acc[3];
1874 
1876  double taun;
1877 
1879  double gamn;
1880 
1882  double dtaun;
1883 } geph_t;
1884 
1886 typedef struct
1887 {
1889  int32_t week;
1890 
1892  int32_t tow;
1893 
1895  int32_t prn;
1896 
1898  uint8_t msg[29];
1899 
1901  uint8_t reserved[3];
1902 } sbsmsg_t;
1903 
1905 typedef struct
1906 {
1908  int32_t deltype;
1909 
1911  double pos[3];
1912 
1914  double del[3];
1915 
1917  double hgt;
1918 
1920  int32_t stationId;
1921 } sta_t;
1922 
1924 typedef struct
1925 {
1927  int32_t sat;
1928 
1930  int32_t svh;
1931 
1933  int32_t svconf;
1934 
1935  /* GPS/QZS: gps week, GAL: galileo week */
1936  int32_t week;
1937 
1938  /* Toa */
1939  gtime_t toa;
1940 
1942  double A;
1943 
1945  double e;
1946 
1948  double i0;
1949 
1951  double OMG0;
1952 
1954  double omg;
1955 
1957  double M0;
1958 
1960  double OMGd;
1961 
1963  double toas;
1964 
1966  double f0;
1967 
1969  double f1;
1970 } alm_t;
1971 
1973 typedef struct
1974 {
1975  double ion_gps[8]; /* GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
1976  double ion_gal[4]; /* Galileo iono model parameters {ai0,ai1,ai2,0} */
1977  double ion_qzs[8]; /* QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
1978  double ion_cmp[8]; /* BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
1979  double ion_irn[8]; /* IRNSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
1980 
1981  double utc_gps[4]; /* GPS delta-UTC parameters {A0,A1,T,W} */
1982  double utc_glo[4]; /* GLONASS UTC GPS time parameters */
1983  double utc_gal[4]; /* Galileo UTC GPS time parameters */
1984  double utc_qzs[4]; /* QZS UTC GPS time parameters */
1985  double utc_cmp[4]; /* BeiDou UTC parameters */
1986  double utc_irn[4]; /* IRNSS UTC parameters */
1987  double utc_sbs[4]; /* SBAS UTC parameters */
1988 
1989  int32_t leaps; /* leap seconds (s) */
1990 
1991  alm_t alm; /* almanac */
1992 } ion_model_utc_alm_t;
1993 
1995 typedef enum
1996 {
1998  rtk_solution_status_none = 0,
1999 
2001  rtk_solution_status_fix = 1,
2002 
2004  rtk_solution_status_float = 2,
2005 
2007  rtk_solution_status_sbas = 3,
2008 
2010  rtk_solution_status_dgps = 4,
2011 
2013  rtk_solution_status_single = 5
2014 } eRtkSolStatus;
2015 
2017 typedef struct PACKED
2018 {
2020  uint32_t timeOfWeekMs;
2021 
2023  float differentialAge;
2024 
2026  float arRatio;
2027 
2029  float vectorToBase[3];
2030 
2032  float distanceToBase;
2033 
2035  float headingToBase;
2036 } gps_rtk_rel_t;
2037 
2039 typedef struct PACKED
2040 {
2042  uint32_t timeOfWeekMs;
2043 
2046  float accuracyPos[3];
2047 
2050  float accuracyCov[3];
2051 
2053  float arThreshold;
2054 
2056  float gDop;
2057 
2059  float hDop;
2060 
2062  float vDop;
2063 
2065  double baseLla[3];
2066 
2068  uint32_t cycleSlipCount;
2069 
2071  uint32_t roverGpsObservationCount;
2072 
2074  uint32_t baseGpsObservationCount;
2075 
2077  uint32_t roverGlonassObservationCount;
2078 
2080  uint32_t baseGlonassObservationCount;
2081 
2083  uint32_t roverGalileoObservationCount;
2084 
2086  uint32_t baseGalileoObservationCount;
2087 
2089  uint32_t roverBeidouObservationCount;
2090 
2092  uint32_t baseBeidouObservationCount;
2093 
2095  uint32_t roverQzsObservationCount;
2096 
2098  uint32_t baseQzsObservationCount;
2099 
2101  uint32_t roverGpsEphemerisCount;
2102 
2104  uint32_t baseGpsEphemerisCount;
2105 
2107  uint32_t roverGlonassEphemerisCount;
2108 
2110  uint32_t baseGlonassEphemerisCount;
2111 
2113  uint32_t roverGalileoEphemerisCount;
2114 
2116  uint32_t baseGalileoEphemerisCount;
2117 
2119  uint32_t roverBeidouEphemerisCount;
2120 
2122  uint32_t baseBeidouEphemerisCount;
2123 
2125  uint32_t roverQzsEphemerisCount;
2126 
2128  uint32_t baseQzsEphemerisCount;
2129 
2131  uint32_t roverSbasCount;
2132 
2134  uint32_t baseSbasCount;
2135 
2137  uint32_t baseAntennaCount;
2138 
2140  uint32_t ionUtcAlmCount;
2141 } gps_rtk_misc_t;
2142 
2144 typedef enum
2145 {
2147  raw_data_type_observation = 1,
2148 
2150  raw_data_type_ephemeris = 2,
2151 
2153  raw_data_type_glonass_ephemeris = 3,
2154 
2156  raw_data_type_sbas = 4,
2157 
2159  raw_data_type_base_station_antenna_position = 5,
2160 
2162  raw_data_type_ionosphere_model_utc_alm = 6,
2163 
2165  raw_data_type_rtk_solution = 123
2166 } eRawDataType;
2167 
2168 typedef union PACKED
2169 {
2171  obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE];
2172 
2174  eph_t eph;
2175 
2177  geph_t gloEph;
2178 
2180  sbsmsg_t sbas;
2181 
2183  sta_t sta;
2184 
2186  ion_model_utc_alm_t ion;
2187 
2189  uint8_t buf[GPS_RAW_MESSAGE_BUF_SIZE];
2190 } uGpsRawData;
2191 
2193 typedef struct PACKED
2194 {
2196  uint8_t receiverIndex;
2197 
2199  uint8_t dataType;
2200 
2202  uint8_t obsCount;
2203 
2205  uint8_t reserved;
2206 
2208  uGpsRawData data;
2209 } gps_raw_t;
2210 
2211 typedef struct PACKED
2212 {
2214  uint32_t time_ms;
2215 
2217  uint32_t id;
2218 
2220  float vel[3];
2221 
2223  float cov[3];
2224 
2226  float q[4];
2227 
2229  float p[3];
2230 
2232  uint8_t valid[3];
2233 
2235  uint8_t reserved;
2236 
2237 } velocity_sensor_t;
2238 
2242 typedef struct
2243 {
2245  uint32_t timeOfWeekMs;
2246 
2248  uint32_t messageLength;
2249 
2251  char message[256];
2252 } diag_msg_t;
2253 
2254 typedef enum
2255 {
2256  // default state
2257  SURVEY_IN_STATE_OFF = 0,
2258 
2259  // commands
2260  SURVEY_IN_STATE_CANCEL = 1,
2261  SURVEY_IN_STATE_START_3D = 2,
2262  SURVEY_IN_STATE_START_FLOAT = 3,
2263  SURVEY_IN_STATE_START_FIX = 4,
2264 
2265  // status
2266  SURVEY_IN_STATE_RUNNING_3D = 8,
2267  SURVEY_IN_STATE_RUNNING_FLOAT = 9,
2268  SURVEY_IN_STATE_RUNNING_FIX = 10,
2269  SURVEY_IN_STATE_SAVE_POS = 19,
2270  SURVEY_IN_STATE_DONE = 20
2271 } eSurveyInStatus;
2272 
2276 typedef struct
2277 {
2279  uint32_t state;
2280 
2282  uint32_t maxDurationSec;
2283 
2285  float minAccuracy;
2286 
2288  uint32_t elapsedTimeSec;
2289 
2291  float hAccuracy;
2292 
2294  double lla[3];
2295 } survey_in_t;
2296 
2300 typedef struct
2301 {
2303  uint8_t firmwareVer[4];
2304 
2306  uint32_t comBridgeCfg;
2307 
2309  uint32_t loggerState;
2310 
2312  uint32_t loggerElapsedTimeMs;
2313 
2315  uint8_t ipAddr[4];
2316 
2317 } evb2_t;
2318 
2319 
2321 typedef enum
2322 {
2324  EVB2_CBC_NA = 0,
2325 
2327  EVB2_CBD_USBxSER0 = 1,
2328 
2330  EVB2_CBC_USBxSPI = 2,
2331 
2332 } eEvb2ComBridgeCfg;
2333 
2334 
2336 typedef enum
2337 {
2339  EVB2_LOG_STATE_NA = 0,
2340 
2342  EVB2_LOG_STATE_CMD_START = 1,
2343 
2345  EVB2_LOG_STATE_RUNNING = 2,
2346 
2348  EVB2_LOG_STATE_CMD_PAUSE = 3,
2349 
2351  EVB2_LOG_STATE_CMD_STOP = 4,
2352 
2354  EVB2_LOG_STATE_CMD_PURGE = 1002,
2355 
2356 } eEvb2LoggerState;
2357 
2358 
2362 typedef struct
2363 {
2365  uint32_t portNumber;
2366 
2367 // /** Tx time ms */
2368 // uint32_t txTimeMs;
2369 
2371  uint32_t txBytesPerS;
2372 
2373 // /** Rx time ms */
2374 // uint32_t rxTimeMs;
2375 
2377  uint32_t rxBytesPerS;
2378 
2380  uint32_t status;
2381 
2382 } port_monitor_t;
2383 
2384 
2385 #define CRASH_INFO_NONE 0x00000000
2386 #define CRASH_INFO_USER_RESET 0xFFFFFFFA
2387 #define CRASH_INFO_ENABLE_BOOTLOADER 0xFFFFFFFB
2388 #define CRASH_INFO_INVALID_CODE_OPERATION 0xFFFFFFFC
2389 #define CRASH_INFO_MALLOC_FAILED 0xFFFFFFD
2390 #define CRASH_INFO_SOFT_RESET 0xFFFFFFE
2391 #define CRASH_INFO_STACK_OVERFLOW 0xFFFFFFFF
2392 
2404 typedef struct
2405 {
2407  uint32_t r0;
2408 
2410  uint32_t r1;
2411 
2413  uint32_t r2;
2414 
2416  uint32_t r3;
2417 
2419  uint32_t r12;
2420 
2422  uint32_t lr;
2423 
2425  uint32_t pc;
2426 
2428  uint32_t psr;
2429 } crash_info_t;
2430 
2432 typedef struct
2433 {
2435  uint32_t gapCountSerialDriver[5];
2436 
2438  uint32_t gapCountSerialParser[5];
2439 
2441  uint32_t rxOverflowCount[5];
2442 
2444  uint32_t txOverflowCount[5];
2445 
2447  uint32_t checksumFailCount[5];
2448 } internal_diagnostic_t;
2449 
2453 typedef enum
2454 {
2458  TASK_SAMPLE = 0,
2459 
2463  TASK_NAV,
2464 
2468  TASK_COMMUNICATIONS,
2469 
2473  TASK_MAINTENANCE,
2474 
2478  TASK_IDLE,
2479 
2483  TASK_TIMER,
2484 
2488  RTOS_NUM_TASKS // Keep last
2489 } eRtosTask;
2490 
2494 #define MAX_TASK_NAME_LEN 12
2495 
2499 typedef struct PACKED
2500 {
2504  char name[MAX_TASK_NAME_LEN];
2505 
2509  uint32_t priority;
2510 
2514  uint32_t stackUnused;
2515 
2519  uint32_t periodMs;
2520 
2524  uint32_t runTimeUs;
2525 
2529  uint32_t maxRunTimeUs;
2530 
2534  float averageRunTimeUs;
2535 
2539  uint32_t gapCount;
2540 
2544  float cpuUsage;
2545 
2549  uint32_t handle;
2550 } rtos_task_t;
2551 
2553 typedef struct PACKED
2554 {
2556  rtos_task_t task[RTOS_NUM_TASKS];
2557 
2559  uint32_t freeHeapSize;
2560 
2562  uint32_t mallocMinusFree;
2563 } rtos_info_t;
2564 
2566 typedef union PACKED
2567 {
2568  dev_info_t devInfo;
2569  ins_1_t ins1;
2570  ins_2_t ins2;
2571  ins_3_t ins3;
2572  ins_4_t ins4;
2573  imu_t imu;
2574  dual_imu_t dualImu;
2575  magnetometer_t mag;
2576  mag_cal_t magCal;
2577  barometer_t baro;
2578  preintegrated_imu_t pImu;
2579  gps_pos_t gpsPos;
2580  gps_vel_t gpsVel;
2581  gps_sat_t gpsSat;
2582  gps_rtk_rel_t gpsRtkRel;
2583  gps_rtk_misc_t gpsRtkMisc;
2584  inl2_states_t inl2States;
2585  inl2_ned_sigma_t inl2NedSigma;
2586  nvm_flash_cfg_t flashCfg;
2587  survey_in_t surveyIn;
2588  sys_params_t sysParams;
2589  sys_sensors_t sysSensors;
2590  rtos_info_t rtosInfo;
2591  gps_raw_t gpsRaw;
2592  sys_sensors_adc_t sensorsAdc;
2593 } uDatasets;
2594 
2596 typedef union PACKED
2597 {
2598  ins_1_t ins1;
2599  ins_2_t ins2;
2600  ins_3_t ins3;
2601  ins_4_t ins4;
2602 } uInsOutDatasets;
2603 
2604 POP_PACK
2605 
2614 uint32_t serialNumChecksum32(const void* data, int size);
2615 uint32_t flashChecksum32(const void* data, int size);
2616 
2623 void flipEndianess32(uint8_t* data, int dataLength);
2624 
2630 void flipFloat(uint8_t* ptr);
2631 
2638 float flipFloatCopy(float val);
2639 
2646 void flipDouble(uint8_t* ptr);
2647 
2655 double flipDoubleCopy(double val);
2656 
2666 void flipDoubles(uint8_t* data, int dataLength, int offset, uint16_t* offsets, uint16_t offsetsLength);
2667 
2677 void flipStrings(uint8_t* data, int dataLength, int offset, uint16_t* offsets, uint16_t offsetsLength);
2678 
2679 // BE_SWAP: if big endian then swap, else no-op
2680 // LE_SWAP: if little endian then swap, else no-op
2681 #if CPU_IS_BIG_ENDIAN
2682 #define BE_SWAP64F(_i) flipDoubleCopy(_i)
2683 #define BE_SWAP32F(_i) flipFloatCopy(_i)
2684 #define BE_SWAP32(_i) (SWAP32(_i))
2685 #define BE_SWAP16(_i) (SWAP16(_i))
2686 #define LE_SWAP64F(_i) (_i)
2687 #define LE_SWAP32F(_i) (_i)
2688 #define LE_SWAP32(_i) (_i)
2689 #define LE_SWAP16(_i) (_i)
2690 #else // little endian
2691 #define BE_SWAP64F(_i) (_i)
2692 #define BE_SWAP32F(_i) (_i)
2693 #define BE_SWAP32(_i) (_i)
2694 #define BE_SWAP16(_i) (_i)
2695 #define LE_SWAP64F(_i) flipDoubleCopy(_i)
2696 #define LE_SWAP32F(_i) flipFloatCopy(_i)
2697 #define LE_SWAP32(_i) (SWAP32(_i))
2698 #define LE_SWAP16(_i) (SWAP16(_i))
2699 #endif
2700 
2709 uint16_t* getDoubleOffsets(eDataIDs dataId, uint16_t* offsetsLength);
2710 
2719 uint16_t* getStringOffsetsLengths(eDataIDs dataId, uint16_t* offsetsLength);
2720 
2722 uint64_t didToRmcBit(uint32_t dataId, uint64_t defaultRmcBits);
2723 
2725 void julianToDate(double julian, int32_t* year, int32_t* month, int32_t* day, int32_t* hours, int32_t* minutes, int32_t* seconds, int32_t* milliseconds);
2726 
2728 double gpsToJulian(int32_t gpsWeek, int32_t gpsMilliseconds);
2729 
2730 /*
2731 Convert gps pos to nmea gga
2732 
2733 @param gps gps position
2734 @param buffer buffer to fill with nmea gga
2735 @param bufferLength number of chars available in buffer, should be at least 128
2736 @return number of chars written to buffer, not including the null terminator
2737 */
2738 int gpsToNmeaGGA(const gps_pos_t* gps, char* buffer, int bufferLength);
2739 
2740 #ifdef __cplusplus
2741 }
2742 #endif
2743 
2744 #endif // DATA_SETS_H
GPS_STATUS_FIX_RTK_SINGLE
Definition: data_sets.h:347
+Go to the documentation of this file.
1 /*
2 MIT LICENSE
3 
4 Copyright 2014-2018 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_CRASH_INFO (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_CONFIG (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_REL (eDataIDs)21
56 #define DID_GPS1_RTK_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_VELOCITY_MEASUREMENT (eDataIDs)71
106 #define DID_DIAGNOSTIC_MESSAGE (eDataIDs)72
107 #define DID_SURVEY_IN (eDataIDs)73
108 #define DID_EVB2 (eDataIDs)74
109 #define DID_PORT_MONITOR (eDataIDs)75
111 // Adding a new data id?
112 // 1] Add it above and increment the previous number, include the matching data structure type in the comments
113 // 2] Add flip doubles and flip strings entries in data_sets.c
114 // 3] Add data id to ISDataMappings.cpp
115 // 4] Increment DID_COUNT
116 // 5] Test!
117 
119 #define DID_COUNT (eDataIDs)76
120 
122 #define DID_MAX_COUNT 256
123 
124 // END DATA IDENTIFIERS --------------------------------------------------------------------------
125 
127 #define MAX_NUM_SAT_CHANNELS 50
128 
130 #define DEVINFO_MANUFACTURER_STRLEN 24
131 #define DEVINFO_ADDINFO_STRLEN 24
132 
133 
135 // #define PROTOCOL_VERSION_CHAR0 1 // Major (in com_manager.h)
136 // #define PROTOCOL_VERSION_CHAR1 0
137 #define PROTOCOL_VERSION_CHAR2 (0x000000FF&DID_COUNT)
138 #define PROTOCOL_VERSION_CHAR3 7 // Minor (in data_sets.h)
139 
141 #define CURRENT_LEAP_SECONDS 18
142 
144 #define RECEIVER_INDEX_GPS1 1 // DO NOT CHANGE
145 #define RECEIVER_INDEX_EXTERNAL_BASE 2 // DO NOT CHANGE
146 #define RECEIVER_INDEX_GPS2 3 // DO NOT CHANGE
147 
148 #define NUM_MPU_DEVICES 2
149 
151 enum eInsStatusFlags
152 {
154  INS_STATUS_ATT_ALIGN_COARSE = (int)0x00000001,
156  INS_STATUS_VEL_ALIGN_COARSE = (int)0x00000002,
158  INS_STATUS_POS_ALIGN_COARSE = (int)0x00000004,
160  INS_STATUS_ALIGN_COARSE_MASK = (int)0x00000007,
161 
162  INS_STATUS_UNUSED_1 = (int)0x00000008,
163 
165  INS_STATUS_ATT_ALIGN_FINE = (int)0x00000010,
167  INS_STATUS_VEL_ALIGN_FINE = (int)0x00000020,
169  INS_STATUS_POS_ALIGN_FINE = (int)0x00000040,
171  INS_STATUS_ALIGN_FINE_MASK = (int)0x00000070,
172 
174  INS_STATUS_GPS_AIDING_HEADING = (int)0x00000080,
175 
177  INS_STATUS_GPS_AIDING_POS_VEL = (int)0x00000100,
179  INS_STATUS_GPS_UPDATE_IN_SOLUTION = (int)0x00000200,
181  INS_STATUS_RESERVED_1 = (int)0x00000400,
183  INS_STATUS_MAG_AIDING_HEADING = (int)0x00000800,
184 
186  INS_STATUS_NAV_MODE = (int)0x00001000,
187 
188  INS_STATUS_UNUSED_2 = (int)0x00002000,
189  INS_STATUS_UNUSED_3 = (int)0x00004000,
190  INS_STATUS_UNUSED_4 = (int)0x00008000,
191 
193  INS_STATUS_SOLUTION_MASK = (int)0x000F0000,
194  INS_STATUS_SOLUTION_OFFSET = 16,
195 #define INS_STATUS_SOLUTION(insStatus) ((insStatus&INS_STATUS_SOLUTION_MASK)>>INS_STATUS_SOLUTION_OFFSET)
196 
197  INS_STATUS_SOLUTION_OFF = 0, // System is off
198  INS_STATUS_SOLUTION_ALIGNING = 1, // System is in alignment mode
199  INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE = 2, // System is aligned but not enough dynamics have been experienced to be with specifications.
200  INS_STATUS_SOLUTION_NAV = 3, // System is in navigation mode and solution is good.
201  INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE = 4, // System is in navigation mode but the attitude uncertainty has exceeded the threshold.
202  INS_STATUS_SOLUTION_AHRS = 5, // System is in AHRS mode and solution is good.
203  INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE = 6, // System is in AHRS mode but the attitude uncertainty has exceeded the threshold.
204 
206  INS_STATUS_RTK_COMPASSING_ANT_POS_UNSET = (int)0x00100000,
208  INS_STATUS_RTK_COMPASSING_WRONG_BASELINE = (int)0x00200000,
209  INS_STATUS_RTK_COMPASSING_MASK = (INS_STATUS_RTK_COMPASSING_ANT_POS_UNSET|INS_STATUS_RTK_COMPASSING_WRONG_BASELINE),
210 
212  INS_STATUS_MAG_RECALIBRATING = (int)0x00400000,
214  INS_STATUS_MAG_INTERFERENCE_OR_BAD_CAL = (int)0x00800000,
215 
217  INS_STATUS_NAV_FIX_STATUS_MASK = (int)0x07000000,
218  INS_STATUS_NAV_FIX_STATUS_OFFSET = 24,
219 #define INS_STATUS_NAV_FIX_STATUS(insStatus) ((insStatus&INS_STATUS_NAV_FIX_STATUS_MASK)>>INS_STATUS_NAV_FIX_STATUS_OFFSET)
220 
222  INS_STATUS_RTK_BASE_ERR_NO_OBSERV = (int)0x08000000,
224  INS_STATUS_RTK_BASE_ERR_NO_POSITION = (int)0x10000000,
226  INS_STATUS_RTK_BASE_POSITION_MOVING = (int)0x20000000,
228  INS_STATUS_RTK_BASE_MASK = (INS_STATUS_RTK_BASE_ERR_NO_OBSERV|INS_STATUS_RTK_BASE_ERR_NO_POSITION|INS_STATUS_RTK_BASE_POSITION_MOVING),
229 
231  INS_STATUS_RTOS_TASK_PERIOD_OVERRUN = (int)0x40000000,
233  INS_STATUS_GENERAL_FAULT = (int)0x80000000,
234 };
235 
237 enum eNavFixStatus
238 {
239  NAV_FIX_STATUS_NONE = (int)0x00000000,
240  NAV_FIX_STATUS_STANDARD = (int)0x00000001,
241  NAV_FIX_STATUS_RTK_SINGLE = (int)0x00000002,
242  NAV_FIX_STATUS_RTK_FLOAT = (int)0x00000003,
243  NAV_FIX_STATUS_RTK_FIX = (int)0x00000004,
244  NAV_FIX_STATUS_STANDARD_W_GPS_COMPASSING = (int)0x00000005,
245 };
246 
248 enum eHdwStatusFlags
249 {
251  HDW_STATUS_MOTION_GYR_SIG = (int)0x00000001,
253  HDW_STATUS_MOTION_ACC_SIG = (int)0x00000002,
255  HDW_STATUS_MOTION_SIG_MASK = (int)0x00000003,
257  HDW_STATUS_MOTION_GYR_DEV = (int)0x00000004,
259  HDW_STATUS_MOTION_ACC_DEV = (int)0x00000008,
261  HDW_STATUS_MOTION_MASK = (int)0x0000000F,
262 
264  HDW_STATUS_GPS_SATELLITE_RX = (int)0x00000010,
266  HDW_STATUS_STROBE_IN_EVENT = (int)0x00000020,
268  HDW_STATUS_GPS_TIME_OF_WEEK_VALID = (int)0x00000040,
269 
270  HDW_STATUS_UNUSED_1 = (int)0x00000080,
271 
273  HDW_STATUS_SATURATION_GYR = (int)0x00000100,
275  HDW_STATUS_SATURATION_ACC = (int)0x00000200,
277  HDW_STATUS_SATURATION_MAG = (int)0x00000400,
279  HDW_STATUS_SATURATION_BARO = (int)0x00000800,
280 
282  HDW_STATUS_SATURATION_MASK = (int)0x00000F00,
284  HDW_STATUS_SATURATION_OFFSET = 8,
285 
287  HDW_STATUS_SATURATION_HISTORY = (int)0x00001000,
288 
289  HDW_STATUS_UNUSED_2 = (int)0x00002000,
290  HDW_STATUS_UNUSED_3 = (int)0x00004000,
291  HDW_STATUS_UNUSED_4 = (int)0x00008000,
292 
294  HDW_STATUS_ERR_COM_TX_LIMITED = (int)0x00010000,
296  HDW_STATUS_ERR_COM_RX_OVERRUN = (int)0x00020000,
298  HDW_STATUS_ERR_GPS_TX_LIMITED = (int)0x00040000,
300  HDW_STATUS_ERR_GPS_RX_OVERRUN = (int)0x00080000,
301 
303  HDW_STATUS_COM_PARSE_ERR_COUNT_MASK = (int)0x00F00000,
304  HDW_STATUS_COM_PARSE_ERR_COUNT_OFFSET = 20,
305 #define HDW_STATUS_COM_PARSE_ERROR_COUNT(hdwStatus) ((hdwStatus&HDW_STATUS_COM_PARSE_ERR_COUNT_MASK)>>HDW_STATUS_COM_PARSE_ERR_COUNT_OFFSET)
306 
308  HDW_STATUS_BIT_FAULT = (int)0x01000000,
310  HDW_STATUS_ERR_TEMPERATURE = (int)0x02000000,
312 // HDW_STATUS_ERR_VIBRATION = (int)0x04000000,
313 
314  HDW_STATUS_UNUSED_5 = (int)0x08000000,
315 
317  HDW_STATUS_FAULT_RESET_MASK = (int)0x70000000,
319  HDW_STATUS_FAULT_RESET_BACKUP_MODE = (int)0x10000000,
321  HDW_STATUS_FAULT_RESET_WATCHDOG = (int)0x20000000,
323  HDW_STATUS_FAULT_RESET_SOFT = (int)0x30000000,
325  HDW_STATUS_FAULT_RESET_HDW = (int)0x40000000,
326 
328  HDW_STATUS_FAULT_CPU_ERR = (int)0x80000000,
329 };
330 
332 enum eGpsStatus
333 {
334  GPS_STATUS_NUM_SATS_USED_MASK = (int)0x000000FF,
335 
337  GPS_STATUS_FIX_NONE = (int)0x00000000,
338  GPS_STATUS_FIX_DEAD_RECKONING_ONLY = (int)0x00000100,
339  GPS_STATUS_FIX_2D = (int)0x00000200,
340  GPS_STATUS_FIX_3D = (int)0x00000300,
341  GPS_STATUS_FIX_GPS_PLUS_DEAD_RECK = (int)0x00000400,
342  GPS_STATUS_FIX_TIME_ONLY = (int)0x00000500,
343  GPS_STATUS_FIX_UNUSED1 = (int)0x00000600,
344  GPS_STATUS_FIX_UNUSED2 = (int)0x00000700,
345  GPS_STATUS_FIX_DGPS = (int)0x00000800,
346  GPS_STATUS_FIX_SBAS = (int)0x00000900,
347  GPS_STATUS_FIX_RTK_SINGLE = (int)0x00000A00,
348  GPS_STATUS_FIX_RTK_FLOAT = (int)0x00000B00,
349  GPS_STATUS_FIX_RTK_FIX = (int)0x00000C00,
350  GPS_STATUS_FIX_MASK = (int)0x00001F00,
351  GPS_STATUS_FIX_BIT_OFFSET = (int)8,
352 
354  GPS_STATUS_FLAGS_FIX_OK = (int)0x00010000, // within limits (e.g. DOP & accuracy)
355  GPS_STATUS_FLAGS_DGPS_USED = (int)0x00020000, // Differential GPS (DGPS) used.
356  GPS_STATUS_FLAGS_WEEK_VALID = (int)0x00040000,
357  GPS_STATUS_FLAGS_TOW_VALID = (int)0x00080000,
358  GPS_STATUS_FLAGS_RTK_ENABLED = (int)0x00100000,
359  GPS_STATUS_FLAGS_STATIC_MODE = (int)0x00200000, // Static mode
360  GPS_STATUS_FLAGS_GPS_COMPASSING_ENABLED = (int)0x00400000,
361  GPS_STATUS_FLAGS_BASE_NO_OBSERV_EPHEM = (int)0x00800000, // GPS base observations and ephemeris received (i.e. RTK differential corrections)
362  GPS_STATUS_FLAGS_BASE_NO_POSITION = (int)0x01000000, // GPS base position received
363  GPS_STATUS_FLAGS_BASE_POSITION_MOVING = (int)0x02000000, // GPS Base position moving
364  GPS_STATUS_FLAGS_BASE_MASK = (GPS_STATUS_FLAGS_BASE_NO_OBSERV_EPHEM|
365  GPS_STATUS_FLAGS_BASE_NO_POSITION|
366  GPS_STATUS_FLAGS_BASE_POSITION_MOVING),
367  GPS_STATUS_FLAGS_HIGH_ACCURACY_POSITION = (int)0x04000000, // 1= using RTK position, 0= using ublox position
368  GPS_STATUS_FLAGS_GPS_COMPASSING_VALID = (int)0x08000000,
369  GPS_STATUS_FLAGS_GPS_COMPASS_BAD_BASELINE = (int)0x00002000,
370  GPS_STATUS_FLAGS_GPS_COMPASS_NO_BASELINE = (int)0x00004000,
371  GPS_STATUS_FLAGS_GPS_COMPASS_MASK = (GPS_STATUS_FLAGS_GPS_COMPASSING_VALID|
372  GPS_STATUS_FLAGS_GPS_COMPASS_BAD_BASELINE|
373  GPS_STATUS_FLAGS_GPS_COMPASS_BAD_BASELINE),
374  GPS_STATUS_FLAGS_UNUSED_3 = (int)0x00008000,
375  GPS_STATUS_FLAGS_MASK = (int)0x0FFFE000,
376  GPS_STATUS_FLAGS_BIT_OFFSET = (int)16,
377 
379  GPS_STATUS_INIT_STATUS_PROGRAM_OSC = (int)0x10000000,
380  GPS_STATUS_INIT_STATUS_REINIT = (int)0x20000000,
381  GPS_STATUS_INIT_STATUS_READING = (int)0x40000000,
382  GPS_STATUS_INIT_STATUS_MASK = (int)0xF0000000,
383  GPS_STATUS_INIT_STATUS_BIT_OFFSET = (int)28,
384 };
385 
386 PUSH_PACK_1
387 
389 typedef struct PACKED
390 {
392  uint32_t reserved;
393 
395  uint32_t serialNumber;
396 
398  uint8_t hardwareVer[4];
399 
401  uint8_t firmwareVer[4];
402 
404  uint32_t buildNumber;
405 
407  uint8_t protocolVer[4];
408 
410  uint32_t repoRevision;
411 
413  char manufacturer[DEVINFO_MANUFACTURER_STRLEN];
414 
416  uint8_t buildDate[4];
417 
419  uint8_t buildTime[4];
420 
422  char addInfo[DEVINFO_ADDINFO_STRLEN];
423 } dev_info_t;
424 
426 typedef struct PACKED
427 {
429  uint32_t serialNumber;
430 
432  uint32_t lotNumber;
433 
435  char date[16];
436 
438  uint32_t key;
439 } manufacturing_info_t;
440 
441 
443 typedef struct PACKED
444 {
446  uint32_t week;
447 
449  double timeOfWeek;
450 
452  uint32_t insStatus;
453 
455  uint32_t hdwStatus;
456 
458  float theta[3];
459 
461  float uvw[3];
462 
464  double lla[3];
465 
467  float ned[3];
468 } ins_1_t;
469 
470 
472 typedef struct PACKED
473 {
475  uint32_t week;
476 
478  double timeOfWeek;
479 
481  uint32_t insStatus;
482 
484  uint32_t hdwStatus;
485 
487  float qn2b[4];
488 
490  float uvw[3];
491 
493  double lla[3];
494 } ins_2_t;
495 
496 
498 typedef struct PACKED
499 {
501  uint32_t week;
502 
504  double timeOfWeek;
505 
507  uint32_t insStatus;
508 
510  uint32_t hdwStatus;
511 
513  float qn2b[4];
514 
516  float uvw[3];
517 
519  double lla[3];
520 
522  float msl;
523 } ins_3_t;
524 
525 
527 typedef struct PACKED
528 {
530  uint32_t week;
531 
533  double timeOfWeek;
534 
536  uint32_t insStatus;
537 
539  uint32_t hdwStatus;
540 
542  float qe2b[4];
543 
545  float ve[3];
546 
548  double ecef[3];
549 } ins_4_t;
550 
551 
553 typedef struct PACKED
554 {
556  float pqr[3];
557 
559  float acc[3];
560 } imus_t;
561 
562 
564 typedef struct PACKED
565 {
567  double time;
568 
570  imus_t I;
571 } imu_t;
572 
573 
575 typedef struct PACKED
576 {
578  double time;
579 
581  imus_t I[2];
582 } dual_imu_t;
583 
584 
586 typedef struct PACKED
587 {
589  double time;
590 
592  float mag[3];
593 } magnetometer_t;
594 
595 
597 typedef struct PACKED
598 {
600  double time;
601 
603  float bar;
604 
606  float mslBar;
607 
609  float barTemp;
610 
612  float humidity;
613 } barometer_t;
614 
615 
617 typedef struct PACKED
618 {
620  double time;
621 
623  float theta1[3];
624 
626  float theta2[3];
627 
629  float vel1[3];
630 
632  float vel2[3];
633 
635  float dt;
636 } preintegrated_imu_t;
637 
638 
640 typedef struct PACKED
641 {
643  uint32_t week;
644 
646  uint32_t timeOfWeekMs;
647 
649  uint32_t status;
650 
652  double ecef[3];
653 
655  double lla[3];
656 
658  float hMSL;
659 
661  float hAcc;
662 
664  float vAcc;
665 
667  float pDop;
668 
670  float cnoMean;
671 
673  double towOffset;
674 } gps_pos_t;
675 
676 
678 typedef struct PACKED
679 {
681  uint32_t timeOfWeekMs;
682 
684  float velEcef[3];
685 
687  float sAcc;
688 } gps_vel_t;
689 
690 
692 typedef struct PACKED
693 {
695  uint8_t gnssId;
696 
698  uint8_t svId;
699 
701  uint8_t cno;
702 
704  int8_t elev;
705 
707  int16_t azim;
708 
710  int16_t prRes;
711 
713  uint32_t flags;
714 } gps_sat_sv_t;
715 
716 
718 enum eSatSvFlags
719 {
720  SAT_SV_FLAGS_QUALITYIND_MASK = 0x00000007,
721  SAT_SV_FLAGS_SV_USED = 0x00000008,
722  SAT_SV_FLAGS_HEALTH_MASK = 0x00000030,
723  NAV_SAT_FLAGS_HEALTH_OFFSET = 4,
724  SAT_SV_FLAGS_DIFFCORR = 0x00000040,
725  SAT_SV_FLAGS_SMOOTHED = 0x00000080,
726  SAT_SV_FLAGS_ORBITSOURCE_MASK = 0x00000700,
727  SAT_SV_FLAGS_ORBITSOURCE_OFFSET = 8,
728  SAT_SV_FLAGS_EPHAVAIL = 0x00000800,
729  SAT_SV_FLAGS_ALMAVAIL = 0x00001000,
730  SAT_SV_FLAGS_ANOAVAIL = 0x00002000,
731  SAT_SV_FLAGS_AOPAVAIL = 0x00004000,
732 };
733 
735 typedef struct PACKED
736 {
738  uint32_t timeOfWeekMs;
740  uint32_t numSats;
742  gps_sat_sv_t sat[MAX_NUM_SAT_CHANNELS];
743 } gps_sat_t;
744 
745 
747 typedef struct PACKED
748 {
750  uint8_t swVersion[30];
752  uint8_t hwVersion[10];
754  uint8_t extension[30];
756  uint8_t reserved[2];
757 } gps_version_t;
758 
759 // (DID_INL2_STATES) INL2 - INS Extended Kalman Filter (EKF) states
760 typedef struct PACKED
761 {
763  double timeOfWeek;
764 
766  float qe2b[4];
767 
769  float ve[3];
770 
772  double ecef[3];
773 
775  float biasPqr[3];
776 
778  float biasAcc[3];
779 
781  float biasBaro;
782 
784  float magDec;
785 
787  float magInc;
788 } inl2_states_t;
789 
791 typedef struct PACKED
792 {
794  double time;
795 
797  float val;
798 } gen_1axis_sensor_t;
799 
801 typedef struct PACKED
802 {
804  double time;
805 
807  float val[3];
808 } gen_3axis_sensor_t;
809 
811 typedef struct PACKED
812 {
814  double time;
815 
817  float val1[3];
818 
820  float val2[3];
821 } gen_dual_3axis_sensor_t;
822 
824 typedef struct PACKED
825 {
827  double time;
828 
830  double val[3];
831 } gen_3axis_sensord_t;
832 
834 typedef struct PACKED
835 {
837  double time;
838 
840  float temp;
841 
843  float pqr[3];
844 
846  float acc[3];
847 
849  float mag[3];
850 
852  float bar;
853 
855  float barTemp;
856 
858  float mslBar;
859 
861  float humidity;
862 
864  float vin;
865 
867  float ana1;
868 
870  float ana3;
871 
873  float ana4;
874 } sys_sensors_t;
875 
877 typedef struct PACKED
878 {
880  uint32_t timeOfWeekMs;
881 
883  double lla[3];
884 
886  float uvw[3];
887 
889  float qn2b[4];
890 } ins_output_t;
891 
893 typedef struct PACKED
894 {
896  uint32_t timeOfWeekMs;
897 
899  uint32_t insStatus;
900 
902  uint32_t hdwStatus;
903 
905  float imuTemp;
906 
908  float baroTemp;
909 
911  float mcuTemp;
912 
914  float reserved1;
915 
917  uint32_t imuPeriodMs;
918 
920  uint32_t navPeriodMs;
921 
923  float reserved2[4];
924 
926  uint32_t genFaultCode;
927 } sys_params_t;
928 
929 
931 typedef struct PACKED
932 {
934  uint32_t system;
935 
937  uint32_t invSystem;
938 
939 } config_t;
940 
941 enum eConfigSystem {
942  CFG_SYS_CMD_SAVE_PERSISTENT_MESSAGES = 1,
943  CFG_SYS_CMD_ENABLE_BOOTLOADER_AND_RESET = 2,
944  CFG_SYS_CMD_ENABLE_SENSOR_STATS = 3,
945  CFG_SYS_CMD_ENABLE_RTOS_STATS = 4,
946  CFG_SYS_CMD_ENABLE_GPS_LOW_LEVEL_CONFIG = 10,
947  CFG_SYS_CMD_SAVE_GPS_ASSIST_TO_FLASH_RESET = 98,
948  CFG_SYS_CMD_SOFTWARE_RESET = 99,
949 };
950 
951 
952 
954 typedef struct PACKED
955 {
957  uint32_t options;
958 
960  uint32_t pimu;
961 
963  uint32_t ppimu;
964 
966  uint32_t pins1;
967 
969  uint32_t pins2;
970 
972  uint32_t pgpsp;
973 
975  uint32_t reserved;
976 
978  uint32_t gpgga;
979 
981  uint32_t gpgll;
982 
984  uint32_t gpgsa;
985 
987  uint32_t gprmc;
988 
989 } ascii_msgs_t;
990 
991 /* (DID_SENSORS_CAL1, DID_SENSORS_CAL2) */
992 typedef struct PACKED
993 { // Units only apply for calibrated data
994  f_t pqr[3]; // (rad/s) Angular rate
995  f_t acc[3]; // (m/s^2) Linear acceleration
996  f_t mag[3]; // (uT) Magnetometers
997  f_t temp; // (°C) Temperature of MPU
998 } sensors_mpu_w_temp_t;
999 
1000 #define NUM_ANA_CHANNELS 4
1001 typedef struct PACKED
1002 { // LSB units for all except temperature, which is Celsius.
1003  double time;
1004  sensors_mpu_w_temp_t mpu[NUM_MPU_DEVICES];
1005  f_t bar; // Barometric pressure
1006  f_t barTemp; // Temperature of barometric pressure sensor
1007  f_t humidity; // Relative humidity as a percent (%rH). Range is 0% - 100%
1008  f_t ana[NUM_ANA_CHANNELS]; // ADC analog input
1009 } sys_sensors_adc_t;
1010 
1011 #define RMC_NUM_PORTS 2 // COM0_PORT_NUM and COM1_PORT_NUM. No USB yet.
1012 
1019 #define RMC_OPTIONS_PORT_MASK 0x000000FF
1020 #define RMC_OPTIONS_PORT_ALL RMC_OPTIONS_PORT_MASK
1021 #define RMC_OPTIONS_PORT_CURRENT 0x00000000
1022 #define RMC_OPTIONS_PORT_SER0 0x00000001
1023 #define RMC_OPTIONS_PORT_SER1 0x00000002 // also SPI
1024 #define RMC_OPTIONS_PORT_USB 0x00000004
1025 #define RMC_OPTIONS_PRESERVE_CTRL 0x00000100 // Prevent any messages from getting turned off by bitwise OR'ing new message bits with current message bits.
1026 #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.
1027 
1028  // RMC message data rates:
1029 #define RMC_BITS_INS1 0x0000000000000001 // rmc.insPeriodMs (4ms default)
1030 #define RMC_BITS_INS2 0x0000000000000002 // "
1031 #define RMC_BITS_INS3 0x0000000000000004 // "
1032 #define RMC_BITS_INS4 0x0000000000000008 // "
1033 #define RMC_BITS_DUAL_IMU 0x0000000000000010 // DID_FLASH_CONFIG.startupNavDtMs (4ms default)
1034 #define RMC_BITS_PREINTEGRATED_IMU 0x0000000000000020 // "
1035 #define RMC_BITS_BAROMETER 0x0000000000000040 // ~8ms
1036 #define RMC_BITS_MAGNETOMETER1 0x0000000000000080 // ~10ms
1037 #define RMC_BITS_MAGNETOMETER2 0x0000000000000100 // "
1038 
1039 #define RMC_BITS_GPS1_POS 0x0000000000000400 // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
1040 #define RMC_BITS_GPS2_POS 0x0000000000000800 // "
1041 #define RMC_BITS_GPS1_RAW 0x0000000000001000 // "
1042 #define RMC_BITS_GPS2_RAW 0x0000000000002000 // "
1043 #define RMC_BITS_GPS1_SAT 0x0000000000004000 // 1s
1044 #define RMC_BITS_GPS2_SAT 0x0000000000008000 // "
1045 #define RMC_BITS_GPS_BASE_RAW 0x0000000000010000 //
1046 #define RMC_BITS_STROBE_IN_TIME 0x0000000000020000 // On strobe input event
1047 #define RMC_BITS_DIAGNOSTIC_MESSAGE 0x0000000000040000
1048 #define RMC_BITS_DUAL_IMU_RAW 0x0000000000080000 // DID_FLASH_CONFIG.startupImuDtMs (1ms default)
1049 #define RMC_BITS_GPS1_VEL 0x0000000000100000 // DID_FLASH_CONFIG.startupGpsDtMs (200ms default)
1050 #define RMC_BITS_GPS2_VEL 0x0000000000200000 // "
1051 #define RMC_BITS_GPS1_UBX_POS 0x0000000000400000 // "
1052 #define RMC_BITS_GPS1_RTK_POS 0x0000000000800000 // "
1053 #define RMC_BITS_GPS1_RTK_REL 0x0000000001000000 // "
1054 #define RMC_BITS_GPS1_RTK_MISC 0x0000000004000000 // "
1055 #define RMC_BITS_MASK 0x0FFFFFFFFFFFFFFF
1056 
1057 #define RMC_BITS_INTERNAL_PPD 0x4000000000000000 //
1058 #define RMC_BITS_PRESET 0x8000000000000000 // Indicate BITS is a preset
1059 
1060 // Preset: Post Processing Data
1061 #define RMC_PRESET_PPD_BITS_NO_IMU (RMC_BITS_PRESET | \
1062  RMC_BITS_INS2 | \
1063  RMC_BITS_BAROMETER | \
1064  RMC_BITS_MAGNETOMETER1 | \
1065  RMC_BITS_MAGNETOMETER2 | \
1066  RMC_BITS_GPS1_POS | \
1067  RMC_BITS_GPS2_POS | \
1068  RMC_BITS_GPS1_VEL | \
1069  RMC_BITS_GPS2_VEL | \
1070  RMC_BITS_GPS1_RAW | \
1071  RMC_BITS_GPS2_RAW | \
1072  RMC_BITS_GPS_BASE_RAW | \
1073  RMC_BITS_GPS1_RTK_REL | \
1074  RMC_BITS_INTERNAL_PPD | \
1075  RMC_BITS_DIAGNOSTIC_MESSAGE )
1076 #define RMC_PRESET_PPD_BITS (RMC_PRESET_PPD_BITS_NO_IMU | RMC_BITS_PREINTEGRATED_IMU )
1077 #define RMC_PRESET_PPD_BITS_RAW_IMU (RMC_PRESET_PPD_BITS_NO_IMU | RMC_BITS_DUAL_IMU_RAW )
1078 #define RMC_PRESET_PPD_NAV_PERIOD_MULT 25
1079 #define RMC_PRESET_INS_BITS (RMC_BITS_INS2 | \
1080  RMC_BITS_GPS1_POS | \
1081  RMC_BITS_PRESET )
1082 #define RMC_PRESET_INS_NAV_PERIOD_MULT 1 // fastest rate (nav filter update rate)
1083 
1085 typedef struct PACKED
1086 {
1088  uint64_t bits;
1089 
1091  uint32_t options;
1092 
1094 } rmc_t;
1095 
1096 
1098 typedef struct PACKED
1099 {
1101  uint32_t timeOfWeekMs;
1102 
1104  uint32_t gpioStatus;
1105 } io_t;
1106 
1107 enum eMagRecalMode
1108 {
1109  MAG_RECAL_MODE_MULTI_AXIS = (int)0, // Recalibrate magnetometers using multiple axis
1110  MAG_RECAL_MODE_SINGLE_AXIS = (int)1, // Recalibrate magnetometers using only one axis
1111  MAG_RECAL_MODE_COMPLETE = (int)100, // Recalibration is finished
1112  MAG_RECAL_MODE_ABORT = (int)101, // Recalibration is finished
1113 };
1114 
1116 typedef struct PACKED
1117 {
1119  uint32_t enMagRecal;
1120 
1122  float progress;
1123 
1125  float declination;
1126 } mag_cal_t;
1127 
1128 
1130 enum eBitState
1131 {
1132  BIT_STATE_OFF = (int)0,
1133  BIT_STATE_DONE = (int)1,
1134  BIT_STATE_CMD_FULL_STATIONARY = (int)2, // (FULL) More comprehensive test. Requires system be completely stationary without vibrations.
1135  BIT_STATE_CMD_BASIC_MOVING = (int)3, // (BASIC) Ignores sensor output. Can be run while moving. This mode is automatically run after bootup.
1136  BIT_STATE_RESERVED_1 = (int)4,
1137  BIT_STATE_RESERVED_2 = (int)5,
1138  BIT_STATE_RUNNING = (int)6,
1139  BIT_STATE_FINISH = (int)7,
1140  BIT_STATE_COMMAND_OFF = (int)8
1141 };
1142 
1144 enum eHdwBitStatusFlags
1145 {
1146  HDW_BIT_PASSED_MASK = (int)0x0000000F,
1147  HDW_BIT_PASSED_ALL = (int)0x00000001,
1148  HDW_BIT_PASSED_NO_GPS = (int)0x00000002, // Passed w/o valid GPS signal
1149  HDW_BIT_MODE_MASK = (int)0x000000F0, // BIT mode run
1150  HDW_BIT_MODE_OFFSET = (int)4,
1151 #define HDW_BIT_MODE(hdwBitStatus) ((hdwBitStatus&HDW_BIT_MODE_MASK)>>HDW_BIT_MODE_OFFSET)
1152  HDW_BIT_FAILED_MASK = (int)0xFFFFFF00,
1153  HDW_BIT_FAILED_AHRS_MASK = (int)0xFFFF0F00,
1154  HDW_BIT_FAULT_NOISE_PQR = (int)0x00000100,
1155  HDW_BIT_FAULT_NOISE_ACC = (int)0x00000200,
1156  HDW_BIT_FAULT_GPS_NO_COM = (int)0x00001000, // No GPS serial communications
1157  HDW_BIT_FAULT_GPS_POOR_CNO = (int)0x00002000, // Poor GPS signal strength. Check antenna
1158  HDW_BIT_FAULT_GPS_POOR_ACCURACY = (int)0x00002000, // Low number of satellites, or bad accuracy
1159  HDW_BIT_FAULT_GPS_NOISE = (int)0x00004000, // (Not implemented)
1160 };
1161 
1163 enum eCalBitStatusFlags
1164 {
1165  CAL_BIT_PASSED_MASK = (int)0x0000000F,
1166  CAL_BIT_PASSED_ALL = (int)0x00000001,
1167  CAL_BIT_MODE_MASK = (int)0x000000F0, // BIT mode run
1168  CAL_BIT_MODE_OFFSET = (int)4,
1169 #define CAL_BIT_MODE(calBitStatus) ((calBitStatus&CAL_BIT_MODE_MASK)>>CAL_BIT_MODE_OFFSET)
1170  CAL_BIT_FAILED_MASK = (int)0xFFFFFF00,
1171  CAL_BIT_FAULT_TCAL_EMPTY = (int)0x00000100, // Temperature calibration not present
1172  CAL_BIT_FAULT_TCAL_TSPAN = (int)0x00000200, // Temperature calibration temperature range is inadequate
1173  CAL_BIT_FAULT_TCAL_INCONSISTENT = (int)0x00000400, // Temperature calibration number of points or slopes are not consistent
1174  CAL_BIT_FAULT_TCAL_CORRUPT = (int)0x00000800, // Temperature calibration memory corruption
1175  CAL_BIT_FAULT_TCAL_PQR_BIAS = (int)0x00001000, // Temperature calibration gyro bias
1176  CAL_BIT_FAULT_TCAL_PQR_SLOPE = (int)0x00002000, // Temperature calibration gyro slope
1177  CAL_BIT_FAULT_TCAL_PQR_LIN = (int)0x00004000, // Temperature calibration gyro linearity
1178  CAL_BIT_FAULT_TCAL_ACC_BIAS = (int)0x00008000, // Temperature calibration accelerometer bias
1179  CAL_BIT_FAULT_TCAL_ACC_SLOPE = (int)0x00010000, // Temperature calibration accelerometer slope
1180  CAL_BIT_FAULT_TCAL_ACC_LIN = (int)0x00020000, // Temperature calibration accelerometer linearity
1181  CAL_BIT_FAULT_ORTO_EMPTY = (int)0x00100000, // Cross-axis alignment is not calibrated
1182  CAL_BIT_FAULT_ORTO_INVALID = (int)0x00200000, // Cross-axis alignment is poorly formed
1183  CAL_BIT_FAULT_MOTION_PQR = (int)0x00400000, // Motion on gyros
1184  CAL_BIT_FAULT_MOTION_ACC = (int)0x00800000, // Motion on accelerometers
1185 };
1186 
1187 
1189 typedef struct PACKED
1190 {
1192  uint32_t state;
1193 
1195  uint32_t hdwBitStatus;
1196 
1198  uint32_t calBitStatus;
1199 
1201  float tcPqrBias;
1202  float tcAccBias;
1203 
1205  float tcPqrSlope;
1206  float tcAccSlope;
1207 
1209  float tcPqrLinearity;
1210  float tcAccLinearity;
1211 
1213  float pqr;
1214 
1216  float acc;
1217 
1219  float pqrSigma;
1220 
1222  float accSigma;
1223 
1224 } bit_t;
1225 
1226 
1228 enum eSysConfigBits
1229 {
1231  SYS_CFG_BITS_DISABLE_AUTOBAUD_SER0 = (int)0x00000001,
1232  SYS_CFG_BITS_DISABLE_AUTOBAUD_SER1 = (int)0x00000002,
1234  SYS_CFG_BITS_AUTO_MAG_RECAL = (int)0x00000004,
1236  SYS_CFG_BITS_DISABLE_MAG_DECL_ESTIMATION = (int)0x00000008,
1237 
1239  SYS_CFG_BITS_DISABLE_LEDS = (int)0x00000010,
1240 
1242  SYS_CFG_BITS_MAG_RECAL_MODE_MASK = (int)0x00000700,
1243  SYS_CFG_BITS_MAG_RECAL_MODE_OFFSET = 8,
1244 #define SYS_CFG_BITS_MAG_RECAL_MODE(sysCfgBits) ((sysCfgBits&SYS_CFG_BITS_MAG_RECAL_MODE_MASK)>>SYS_CFG_BITS_MAG_RECAL_MODE_OFFSET)
1245 
1247  SYS_CFG_BITS_DISABLE_MAGNETOMETER_FUSION = (int)0x00001000,
1249  SYS_CFG_BITS_DISABLE_BAROMETER_FUSION = (int)0x00002000,
1251  SYS_CFG_BITS_DISABLE_GPS_FUSION = (int)0x00004000,
1252 
1254  SYS_CFG_BITS_ENABLED_ZERO_VELOCITY_UPDATES = (int)0x00010000,
1255 
1257  SYS_CFG_BITS_ENABLE_NAV_STROBE_OUT_GPIO_9 = (int)0x00100000
1258 };
1259 
1261 enum eRTKConfigBits
1262 {
1264  RTK_CFG_BITS_GPS1_RTK_ROVER = (int)0x00000001,
1265 
1267  RTK_CFG_BITS_GPS2_RTK_ROVER = (int)0x00000002,
1268 
1270  RTK_CFG_BITS_COMPASSING = (int)0x00000008,
1271 
1273  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 = (int)0x00000010,
1274 
1276  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 = (int)0x00000020,
1277 
1279  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 = (int)0x00000040,
1280 
1282  RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1 = (int)0x00000080,
1283 
1285  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 = (int)0x00000100,
1286 
1288  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 = (int)0x00000200,
1289 
1291  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0 = (int)0x00000400,
1292 
1294  RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1 = (int)0x00000800,
1295 
1297  RTK_CFG_BITS_BASE_POS_MOVING = (int)0x00001000,
1298 
1300  RTK_CFG_BITS_RESERVED1 = (int)0x00002000,
1301 
1303  RTK_CFG_BITS_RTK_BASE_IS_IDENTICAL_TO_ROVER = (int)0x00004000,
1304 
1306  RTK_CFG_BITS_RTK_BASE = (
1307  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 |
1308  RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1 |
1309  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0 |
1310  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1),
1311 
1313  RTK_CFG_BITS_RTK_BASE_SER0 = (RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0 |
1314  RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0),
1315 
1317  RTK_CFG_BITS_RTK_BASE_SER1 = (RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER1
1318  | RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1 | RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1),
1319 
1321  RTK_CFG_BITS_RTK_ROVER = (RTK_CFG_BITS_GPS1_RTK_ROVER | RTK_CFG_BITS_GPS2_RTK_ROVER),
1322 
1324  RTK_CFG_BITS_RTK_MODE_MASK = (RTK_CFG_BITS_RTK_ROVER | RTK_CFG_BITS_COMPASSING),
1325 
1327  RTK_CFG_BITS_RTK = (RTK_CFG_BITS_RTK_ROVER | RTK_CFG_BITS_RTK_BASE)
1328 
1329 };
1330 
1331 
1333 enum eSensorConfig
1334 {
1336  SENSOR_CFG_GYR_FS_250 = (int)0x00000000,
1337  SENSOR_CFG_GYR_FS_500 = (int)0x00000001,
1338  SENSOR_CFG_GYR_FS_1000 = (int)0x00000002,
1339  SENSOR_CFG_GYR_FS_2000 = (int)0x00000003,
1340  SENSOR_CFG_GYR_FS_MASK = (int)0x00000003,
1341  SENSOR_CFG_GYR_FS_OFFSET = (int)0,
1342 
1344  SENSOR_CFG_ACC_FS_2G = (int)0x00000000,
1345  SENSOR_CFG_ACC_FS_4G = (int)0x00000004,
1346  SENSOR_CFG_ACC_FS_8G = (int)0x00000008,
1347  SENSOR_CFG_ACC_FS_16G = (int)0x0000000C,
1348  SENSOR_CFG_ACC_FS_MASK = (int)0x0000000C,
1349  SENSOR_CFG_ACC_FS_OFFSET = (int)2,
1350 
1353  SENSOR_CFG_GYR_DLPF_250HZ = (int)0x00000000,
1354  SENSOR_CFG_GYR_DLPF_184HZ = (int)0x00000100,
1355  SENSOR_CFG_GYR_DLPF_92HZ = (int)0x00000200,
1356  SENSOR_CFG_GYR_DLPF_41HZ = (int)0x00000300,
1357  SENSOR_CFG_GYR_DLPF_20HZ = (int)0x00000400,
1358  SENSOR_CFG_GYR_DLPF_10HZ = (int)0x00000500,
1359  SENSOR_CFG_GYR_DLPF_5HZ = (int)0x00000600,
1360  SENSOR_CFG_GYR_DLPF_MASK = (int)0x00000F00,
1361  SENSOR_CFG_GYR_DLPF_OFFSET = (int)8,
1362 
1365  SENSOR_CFG_ACC_DLPF_218HZ = (int)0x00000000,
1366  SENSOR_CFG_ACC_DLPF_218HZb = (int)0x00001000,
1367  SENSOR_CFG_ACC_DLPF_99HZ = (int)0x00002000,
1368  SENSOR_CFG_ACC_DLPF_45HZ = (int)0x00003000,
1369  SENSOR_CFG_ACC_DLPF_21HZ = (int)0x00004000,
1370  SENSOR_CFG_ACC_DLPF_10HZ = (int)0x00005000,
1371  SENSOR_CFG_ACC_DLPF_5HZ = (int)0x00006000,
1372  SENSOR_CFG_ACC_DLPF_MASK = (int)0x0000F000,
1373  SENSOR_CFG_ACC_DLPF_OFFSET = (int)12,
1374 
1375 };
1376 
1377 
1379 enum eIoConfig
1380 {
1381  IO_CFG_INPUT_STROBE_TRIGGER_HIGH = (int)0x00000001,
1382 };
1383 
1384 
1389 typedef struct PACKED
1390 {
1392  uint32_t size;
1393 
1395  uint32_t checksum;
1396 
1398  uint32_t key;
1399 
1401  uint32_t startupImuDtMs;
1402 
1404  uint32_t startupNavDtMs;
1405 
1407  uint32_t ser0BaudRate;
1408 
1410  uint32_t ser1BaudRate;
1411 
1413  float insRotation[3];
1414 
1416  float insOffset[3];
1417 
1419  float gps1AntOffset[3];
1420 
1422  uint32_t insDynModel;
1423 
1425  uint32_t sysCfgBits;
1426 
1428  double refLla[3];
1429 
1431  double lastLla[3];
1432 
1434  uint32_t lastLlaTimeOfWeekMs;
1435 
1437  uint32_t lastLlaWeek;
1438 
1440  float lastLlaUpdateDistance;
1441 
1443  uint32_t ioConfig;
1444 
1446  uint32_t cBrdConfig;
1447 
1449  float gps2AntOffset[3];
1450 
1452  float zeroVelRotation[3];
1453 
1455  float zeroVelOffset[3];
1456 
1458  float magInclination;
1459 
1461  float magDeclination;
1462 
1464  uint32_t gpsTimeSyncPeriodMs;
1465 
1467  uint32_t startupGPSDtMs;
1468 
1470  uint32_t RTKCfgBits;
1471 
1473  uint32_t sensorConfig;
1474 
1475 } nvm_flash_cfg_t;
1476 
1478 typedef struct PACKED
1479 {
1481  unsigned int timeOfWeekMs;
1483  float PxyzNED[3];
1485  float PvelNED[3];
1487  float PattNED[3];
1489  float PABias[3];
1491  float PWBias[3];
1493  float PBaroBias;
1495  float PDeclination;
1496 } inl2_ned_sigma_t;
1497 
1499 typedef struct PACKED
1500 {
1502  uint32_t week;
1503 
1505  uint32_t timeOfWeekMs;
1506 
1508  uint32_t pin;
1509 
1511  uint32_t count;
1512 } strobe_in_time_t;
1513 
1514 POP_PACK
1515 
1516 PUSH_PACK_8
1517 
1519 typedef struct
1520 {
1522  int64_t time;
1523 
1525  double sec;
1526 } gtime_t;
1527 
1528 POP_PACK
1529 
1530 PUSH_PACK_1
1531 
1533 typedef struct
1534 {
1536  int32_t mode;
1537 
1539  int32_t soltype;
1540 
1542  int32_t nf;
1543 
1545  int32_t navsys;
1546 
1548  double elmin;
1549 
1551  int32_t snrmin;
1552 
1554  int32_t modear;
1555 
1557  int32_t glomodear;
1558 
1560  int32_t gpsmodear;
1561 
1563  int32_t bdsmodear;
1564 
1566  int32_t arfilter;
1567 
1569  int32_t maxout;
1570 
1572  int32_t maxrej;
1573 
1575  int32_t minlock;
1576 
1578  int32_t minfixsats;
1579 
1581  int32_t minholdsats;
1582 
1584  int32_t mindropsats;
1585 
1587  int32_t rcvstds;
1588 
1590  int32_t minfix;
1591 
1593  int32_t armaxiter;
1594 
1596  int32_t dynamics;
1597 
1599  int32_t niter;
1600 
1602  int32_t intpref;
1603 
1605  int32_t rovpos;
1606 
1608  int32_t refpos;
1609 
1611  double eratio[1];
1612 
1614  double err[5];
1615 
1617  double std[3];
1618 
1620  double prn[6];
1621 
1623  double sclkstab;
1624 
1626  double thresar[8];
1627 
1629  double elmaskar;
1630 
1632  double elmaskhold;
1633 
1635  double thresslip;
1636 
1638  double varholdamb;
1639 
1641  double gainholdamb;
1642 
1644  double maxtdiff;
1645 
1647  double maxinnocode;
1648  double maxinnophase;
1649 
1651  double maxrejc;
1652 
1654  double maxgdop;
1655 
1657  double baseline[2];
1658  double max_baseline_error;
1659 
1661  double ru[3];
1662 
1664  double rb[3];
1665 
1667  int32_t maxaveep;
1668 
1670  int32_t outsingle;
1671 } prcopt_t;
1672 typedef prcopt_t gps_rtk_opt_t;
1673 
1675 typedef struct PACKED
1676 {
1678  gtime_t time;
1679 
1681  uint8_t sat;
1682 
1684  uint8_t rcv;
1685 
1687  uint8_t SNR[1];
1688 
1690  uint8_t LLI[1];
1691 
1693  uint8_t code[1];
1694 
1696  uint8_t qualL[1];
1697 
1699  uint8_t qualP[1];
1700 
1702  uint8_t reserved;
1703 
1705  double L[1];
1706 
1708  double P[1];
1709 
1711  float D[1];
1712 } obsd_t;
1713 
1714 #define GPS_RAW_MESSAGE_BUF_SIZE 1000
1715 #define MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE (GPS_RAW_MESSAGE_BUF_SIZE / sizeof(obsd_t))
1716 
1718 typedef struct
1719 {
1721  int32_t n;
1722 
1724  int32_t nmax;
1725 
1727  obsd_t* data;
1728 } obs_t;
1729 
1731 typedef struct
1732 {
1734  int32_t sat;
1735 
1737  int32_t iode;
1738 
1740  int32_t iodc;
1741 
1743  int32_t sva;
1744 
1746  int32_t svh;
1747 
1749  int32_t week;
1750 
1754  int32_t code;
1755 
1759  int32_t flag;
1760 
1762  gtime_t toe;
1763 
1765  gtime_t toc;
1766 
1768  gtime_t ttr;
1769 
1771  double A;
1772 
1774  double e;
1775 
1777  double i0;
1778 
1780  double OMG0;
1781 
1783  double omg;
1784 
1786  double M0;
1787 
1789  double deln;
1790 
1792  double OMGd;
1793 
1795  double idot;
1796 
1798  double crc;
1799 
1801  double crs;
1802 
1804  double cuc;
1805 
1807  double cus;
1808 
1810  double cic;
1811 
1813  double cis;
1814 
1816  double toes;
1817 
1819  double fit;
1820 
1822  double f0;
1823 
1825  double f1;
1826 
1828  double f2;
1829 
1835  double tgd[4];
1836 
1838  double Adot;
1839 
1841  double ndot;
1842 } eph_t;
1843 
1845 typedef struct
1846 {
1848  int32_t sat;
1849 
1851  int32_t iode;
1852 
1854  int32_t frq;
1855 
1857  int32_t svh;
1858 
1860  int32_t sva;
1861 
1863  int32_t age;
1864 
1866  gtime_t toe;
1867 
1869  gtime_t tof;
1870 
1872  double pos[3];
1873 
1875  double vel[3];
1876 
1878  double acc[3];
1879 
1881  double taun;
1882 
1884  double gamn;
1885 
1887  double dtaun;
1888 } geph_t;
1889 
1891 typedef struct
1892 {
1894  int32_t week;
1895 
1897  int32_t tow;
1898 
1900  int32_t prn;
1901 
1903  uint8_t msg[29];
1904 
1906  uint8_t reserved[3];
1907 } sbsmsg_t;
1908 
1910 typedef struct
1911 {
1913  int32_t deltype;
1914 
1916  double pos[3];
1917 
1919  double del[3];
1920 
1922  double hgt;
1923 
1925  int32_t stationId;
1926 } sta_t;
1927 
1929 typedef struct
1930 {
1932  int32_t sat;
1933 
1935  int32_t svh;
1936 
1938  int32_t svconf;
1939 
1940  /* GPS/QZS: gps week, GAL: galileo week */
1941  int32_t week;
1942 
1943  /* Toa */
1944  gtime_t toa;
1945 
1947  double A;
1948 
1950  double e;
1951 
1953  double i0;
1954 
1956  double OMG0;
1957 
1959  double omg;
1960 
1962  double M0;
1963 
1965  double OMGd;
1966 
1968  double toas;
1969 
1971  double f0;
1972 
1974  double f1;
1975 } alm_t;
1976 
1978 typedef struct
1979 {
1980  double ion_gps[8]; /* GPS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
1981  double ion_gal[4]; /* Galileo iono model parameters {ai0,ai1,ai2,0} */
1982  double ion_qzs[8]; /* QZSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
1983  double ion_cmp[8]; /* BeiDou iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
1984  double ion_irn[8]; /* IRNSS iono model parameters {a0,a1,a2,a3,b0,b1,b2,b3} */
1985 
1986  double utc_gps[4]; /* GPS delta-UTC parameters {A0,A1,T,W} */
1987  double utc_glo[4]; /* GLONASS UTC GPS time parameters */
1988  double utc_gal[4]; /* Galileo UTC GPS time parameters */
1989  double utc_qzs[4]; /* QZS UTC GPS time parameters */
1990  double utc_cmp[4]; /* BeiDou UTC parameters */
1991  double utc_irn[4]; /* IRNSS UTC parameters */
1992  double utc_sbs[4]; /* SBAS UTC parameters */
1993 
1994  int32_t leaps; /* leap seconds (s) */
1995 
1996  alm_t alm; /* almanac */
1997 } ion_model_utc_alm_t;
1998 
2000 typedef enum
2001 {
2003  rtk_solution_status_none = 0,
2004 
2006  rtk_solution_status_fix = 1,
2007 
2009  rtk_solution_status_float = 2,
2010 
2012  rtk_solution_status_sbas = 3,
2013 
2015  rtk_solution_status_dgps = 4,
2016 
2018  rtk_solution_status_single = 5
2019 } eRtkSolStatus;
2020 
2022 typedef struct PACKED
2023 {
2025  uint32_t timeOfWeekMs;
2026 
2028  float differentialAge;
2029 
2031  float arRatio;
2032 
2034  float vectorToBase[3];
2035 
2037  float distanceToBase;
2038 
2040  float headingToBase;
2041 } gps_rtk_rel_t;
2042 
2044 typedef struct PACKED
2045 {
2047  uint32_t timeOfWeekMs;
2048 
2051  float accuracyPos[3];
2052 
2055  float accuracyCov[3];
2056 
2058  float arThreshold;
2059 
2061  float gDop;
2062 
2064  float hDop;
2065 
2067  float vDop;
2068 
2070  double baseLla[3];
2071 
2073  uint32_t cycleSlipCount;
2074 
2076  uint32_t roverGpsObservationCount;
2077 
2079  uint32_t baseGpsObservationCount;
2080 
2082  uint32_t roverGlonassObservationCount;
2083 
2085  uint32_t baseGlonassObservationCount;
2086 
2088  uint32_t roverGalileoObservationCount;
2089 
2091  uint32_t baseGalileoObservationCount;
2092 
2094  uint32_t roverBeidouObservationCount;
2095 
2097  uint32_t baseBeidouObservationCount;
2098 
2100  uint32_t roverQzsObservationCount;
2101 
2103  uint32_t baseQzsObservationCount;
2104 
2106  uint32_t roverGpsEphemerisCount;
2107 
2109  uint32_t baseGpsEphemerisCount;
2110 
2112  uint32_t roverGlonassEphemerisCount;
2113 
2115  uint32_t baseGlonassEphemerisCount;
2116 
2118  uint32_t roverGalileoEphemerisCount;
2119 
2121  uint32_t baseGalileoEphemerisCount;
2122 
2124  uint32_t roverBeidouEphemerisCount;
2125 
2127  uint32_t baseBeidouEphemerisCount;
2128 
2130  uint32_t roverQzsEphemerisCount;
2131 
2133  uint32_t baseQzsEphemerisCount;
2134 
2136  uint32_t roverSbasCount;
2137 
2139  uint32_t baseSbasCount;
2140 
2142  uint32_t baseAntennaCount;
2143 
2145  uint32_t ionUtcAlmCount;
2146 } gps_rtk_misc_t;
2147 
2149 typedef enum
2150 {
2152  raw_data_type_observation = 1,
2153 
2155  raw_data_type_ephemeris = 2,
2156 
2158  raw_data_type_glonass_ephemeris = 3,
2159 
2161  raw_data_type_sbas = 4,
2162 
2164  raw_data_type_base_station_antenna_position = 5,
2165 
2167  raw_data_type_ionosphere_model_utc_alm = 6,
2168 
2170  raw_data_type_rtk_solution = 123
2171 } eRawDataType;
2172 
2173 typedef union PACKED
2174 {
2176  obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE];
2177 
2179  eph_t eph;
2180 
2182  geph_t gloEph;
2183 
2185  sbsmsg_t sbas;
2186 
2188  sta_t sta;
2189 
2191  ion_model_utc_alm_t ion;
2192 
2194  uint8_t buf[GPS_RAW_MESSAGE_BUF_SIZE];
2195 } uGpsRawData;
2196 
2198 typedef struct PACKED
2199 {
2201  uint8_t receiverIndex;
2202 
2204  uint8_t dataType;
2205 
2207  uint8_t obsCount;
2208 
2210  uint8_t reserved;
2211 
2213  uGpsRawData data;
2214 } gps_raw_t;
2215 
2216 typedef struct PACKED
2217 {
2219  uint32_t time_ms;
2220 
2222  uint32_t id;
2223 
2225  float vel[3];
2226 
2228  float cov[3];
2229 
2231  float q[4];
2232 
2234  float p[3];
2235 
2237  uint8_t valid[3];
2238 
2240  uint8_t reserved;
2241 
2242 } velocity_sensor_t;
2243 
2247 typedef struct
2248 {
2250  uint32_t timeOfWeekMs;
2251 
2253  uint32_t messageLength;
2254 
2256  char message[256];
2257 } diag_msg_t;
2258 
2259 typedef enum
2260 {
2261  // default state
2262  SURVEY_IN_STATE_OFF = 0,
2263 
2264  // commands
2265  SURVEY_IN_STATE_CANCEL = 1,
2266  SURVEY_IN_STATE_START_3D = 2,
2267  SURVEY_IN_STATE_START_FLOAT = 3,
2268  SURVEY_IN_STATE_START_FIX = 4,
2269 
2270  // status
2271  SURVEY_IN_STATE_RUNNING_3D = 8,
2272  SURVEY_IN_STATE_RUNNING_FLOAT = 9,
2273  SURVEY_IN_STATE_RUNNING_FIX = 10,
2274  SURVEY_IN_STATE_SAVE_POS = 19,
2275  SURVEY_IN_STATE_DONE = 20
2276 } eSurveyInStatus;
2277 
2281 typedef struct
2282 {
2284  uint32_t state;
2285 
2287  uint32_t maxDurationSec;
2288 
2290  float minAccuracy;
2291 
2293  uint32_t elapsedTimeSec;
2294 
2296  float hAccuracy;
2297 
2299  double lla[3];
2300 } survey_in_t;
2301 
2305 typedef struct
2306 {
2308  uint8_t firmwareVer[4];
2309 
2311  uint32_t comBridgeCfg;
2312 
2314  uint32_t loggerState;
2315 
2317  uint32_t loggerElapsedTimeMs;
2318 
2320  uint8_t ipAddr[4];
2321 
2322 } evb2_t;
2323 
2324 
2326 typedef enum
2327 {
2329  EVB2_CBC_NA = 0,
2330 
2332  EVB2_CBD_USBxSER0 = 1,
2333 
2335  EVB2_CBC_USBxSPI = 2,
2336 
2337 } eEvb2ComBridgeCfg;
2338 
2339 
2341 typedef enum
2342 {
2344  EVB2_LOG_STATE_NA = 0,
2345 
2347  EVB2_LOG_STATE_CMD_START = 1,
2348 
2350  EVB2_LOG_STATE_RUNNING = 2,
2351 
2353  EVB2_LOG_STATE_CMD_PAUSE = 3,
2354 
2356  EVB2_LOG_STATE_CMD_STOP = 4,
2357 
2359  EVB2_LOG_STATE_CMD_PURGE = 1002,
2360 
2361 } eEvb2LoggerState;
2362 
2363 
2367 typedef struct
2368 {
2370  uint32_t portNumber;
2371 
2372 // /** Tx time ms */
2373 // uint32_t txTimeMs;
2374 
2376  uint32_t txBytesPerS;
2377 
2378 // /** Rx time ms */
2379 // uint32_t rxTimeMs;
2380 
2382  uint32_t rxBytesPerS;
2383 
2385  uint32_t status;
2386 
2387 } port_monitor_t;
2388 
2389 
2390 #define CRASH_INFO_NONE 0x00000000
2391 #define CRASH_INFO_USER_RESET 0xFFFFFFFA
2392 #define CRASH_INFO_ENABLE_BOOTLOADER 0xFFFFFFFB
2393 #define CRASH_INFO_INVALID_CODE_OPERATION 0xFFFFFFFC
2394 #define CRASH_INFO_MALLOC_FAILED 0xFFFFFFD
2395 #define CRASH_INFO_SOFT_RESET 0xFFFFFFE
2396 #define CRASH_INFO_STACK_OVERFLOW 0xFFFFFFFF
2397 
2409 typedef struct
2410 {
2412  uint32_t r0;
2413 
2415  uint32_t r1;
2416 
2418  uint32_t r2;
2419 
2421  uint32_t r3;
2422 
2424  uint32_t r12;
2425 
2427  uint32_t lr;
2428 
2430  uint32_t pc;
2431 
2433  uint32_t psr;
2434 } crash_info_t;
2435 
2437 typedef struct
2438 {
2440  uint32_t gapCountSerialDriver[5];
2441 
2443  uint32_t gapCountSerialParser[5];
2444 
2446  uint32_t rxOverflowCount[5];
2447 
2449  uint32_t txOverflowCount[5];
2450 
2452  uint32_t checksumFailCount[5];
2453 } internal_diagnostic_t;
2454 
2458 typedef enum
2459 {
2463  TASK_SAMPLE = 0,
2464 
2468  TASK_NAV,
2469 
2473  TASK_COMMUNICATIONS,
2474 
2478  TASK_MAINTENANCE,
2479 
2483  TASK_IDLE,
2484 
2488  TASK_TIMER,
2489 
2493  RTOS_NUM_TASKS // Keep last
2494 } eRtosTask;
2495 
2499 #define MAX_TASK_NAME_LEN 12
2500 
2504 typedef struct PACKED
2505 {
2509  char name[MAX_TASK_NAME_LEN];
2510 
2514  uint32_t priority;
2515 
2519  uint32_t stackUnused;
2520 
2524  uint32_t periodMs;
2525 
2529  uint32_t runTimeUs;
2530 
2534  uint32_t maxRunTimeUs;
2535 
2539  float averageRunTimeUs;
2540 
2544  uint32_t gapCount;
2545 
2549  float cpuUsage;
2550 
2554  uint32_t handle;
2555 } rtos_task_t;
2556 
2558 typedef struct PACKED
2559 {
2561  rtos_task_t task[RTOS_NUM_TASKS];
2562 
2564  uint32_t freeHeapSize;
2565 
2567  uint32_t mallocMinusFree;
2568 } rtos_info_t;
2569 
2571 typedef union PACKED
2572 {
2573  dev_info_t devInfo;
2574  ins_1_t ins1;
2575  ins_2_t ins2;
2576  ins_3_t ins3;
2577  ins_4_t ins4;
2578  imu_t imu;
2579  dual_imu_t dualImu;
2580  magnetometer_t mag;
2581  mag_cal_t magCal;
2582  barometer_t baro;
2583  preintegrated_imu_t pImu;
2584  gps_pos_t gpsPos;
2585  gps_vel_t gpsVel;
2586  gps_sat_t gpsSat;
2587  gps_rtk_rel_t gpsRtkRel;
2588  gps_rtk_misc_t gpsRtkMisc;
2589  inl2_states_t inl2States;
2590  inl2_ned_sigma_t inl2NedSigma;
2591  nvm_flash_cfg_t flashCfg;
2592  survey_in_t surveyIn;
2593  sys_params_t sysParams;
2594  sys_sensors_t sysSensors;
2595  rtos_info_t rtosInfo;
2596  gps_raw_t gpsRaw;
2597  sys_sensors_adc_t sensorsAdc;
2598 } uDatasets;
2599 
2601 typedef union PACKED
2602 {
2603  ins_1_t ins1;
2604  ins_2_t ins2;
2605  ins_3_t ins3;
2606  ins_4_t ins4;
2607 } uInsOutDatasets;
2608 
2609 POP_PACK
2610 
2619 uint32_t serialNumChecksum32(const void* data, int size);
2620 uint32_t flashChecksum32(const void* data, int size);
2621 
2628 void flipEndianess32(uint8_t* data, int dataLength);
2629 
2635 void flipFloat(uint8_t* ptr);
2636 
2643 float flipFloatCopy(float val);
2644 
2651 void flipDouble(uint8_t* ptr);
2652 
2660 double flipDoubleCopy(double val);
2661 
2671 void flipDoubles(uint8_t* data, int dataLength, int offset, uint16_t* offsets, uint16_t offsetsLength);
2672 
2682 void flipStrings(uint8_t* data, int dataLength, int offset, uint16_t* offsets, uint16_t offsetsLength);
2683 
2684 // BE_SWAP: if big endian then swap, else no-op
2685 // LE_SWAP: if little endian then swap, else no-op
2686 #if CPU_IS_BIG_ENDIAN
2687 #define BE_SWAP64F(_i) flipDoubleCopy(_i)
2688 #define BE_SWAP32F(_i) flipFloatCopy(_i)
2689 #define BE_SWAP32(_i) (SWAP32(_i))
2690 #define BE_SWAP16(_i) (SWAP16(_i))
2691 #define LE_SWAP64F(_i) (_i)
2692 #define LE_SWAP32F(_i) (_i)
2693 #define LE_SWAP32(_i) (_i)
2694 #define LE_SWAP16(_i) (_i)
2695 #else // little endian
2696 #define BE_SWAP64F(_i) (_i)
2697 #define BE_SWAP32F(_i) (_i)
2698 #define BE_SWAP32(_i) (_i)
2699 #define BE_SWAP16(_i) (_i)
2700 #define LE_SWAP64F(_i) flipDoubleCopy(_i)
2701 #define LE_SWAP32F(_i) flipFloatCopy(_i)
2702 #define LE_SWAP32(_i) (SWAP32(_i))
2703 #define LE_SWAP16(_i) (SWAP16(_i))
2704 #endif
2705 
2714 uint16_t* getDoubleOffsets(eDataIDs dataId, uint16_t* offsetsLength);
2715 
2724 uint16_t* getStringOffsetsLengths(eDataIDs dataId, uint16_t* offsetsLength);
2725 
2727 uint64_t didToRmcBit(uint32_t dataId, uint64_t defaultRmcBits);
2728 
2730 void julianToDate(double julian, int32_t* year, int32_t* month, int32_t* day, int32_t* hours, int32_t* minutes, int32_t* seconds, int32_t* milliseconds);
2731 
2733 double gpsToJulian(int32_t gpsWeek, int32_t gpsMilliseconds);
2734 
2735 /*
2736 Convert gps pos to nmea gga
2737 
2738 @param gps gps position
2739 @param buffer buffer to fill with nmea gga
2740 @param bufferLength number of chars available in buffer, should be at least 128
2741 @return number of chars written to buffer, not including the null terminator
2742 */
2743 int gpsToNmeaGGA(const gps_pos_t* gps, char* buffer, int bufferLength);
2744 
2745 #ifdef __cplusplus
2746 }
2747 #endif
2748 
2749 #endif // DATA_SETS_H
GPS_STATUS_FIX_RTK_SINGLE
Definition: data_sets.h:347
flipFloat
void flipFloat(uint8_t *ptr)
Definition: data_sets.c:22
julianToDate
void julianToDate(double julian, int32_t *year, int32_t *month, int32_t *day, int32_t *hours, int32_t *minutes, int32_t *seconds, int32_t *milliseconds)
Definition: data_sets.c:545
INS_STATUS_RTOS_TASK_PERIOD_OVERRUN
Definition: data_sets.h:231
-
PACKED::baseLla
double baseLla[3]
Definition: data_sets.h:2065
+
PACKED::baseLla
double baseLla[3]
Definition: data_sets.h:2070
PACKED::ser1BaudRate
uint32_t ser1BaudRate
Definition: data_sets.h:1410
-
sta_t::hgt
double hgt
Definition: data_sets.h:1917
+
sta_t::hgt
double hgt
Definition: data_sets.h:1922
SENSOR_CFG_ACC_DLPF_99HZ
Definition: data_sets.h:1367
HDW_STATUS_ERR_TEMPERATURE
Definition: data_sets.h:310
eInsStatusFlags
eInsStatusFlags
Definition: data_sets.h:151
HDW_STATUS_ERR_GPS_TX_LIMITED
Definition: data_sets.h:298
-
eph_t::f0
double f0
Definition: data_sets.h:1817
+
eph_t::f0
double f0
Definition: data_sets.h:1822
PACKED::navPeriodMs
uint32_t navPeriodMs
Definition: data_sets.h:920
GPS_STATUS_FIX_RTK_FLOAT
Definition: data_sets.h:348
PACKED::week
uint32_t week
Definition: data_sets.h:446
@@ -91,21 +91,21 @@
INS_STATUS_GPS_AIDING_POS_VEL
Definition: data_sets.h:177
GPS_STATUS_FLAGS_HIGH_ACCURACY_POSITION
Definition: data_sets.h:367
GPS_STATUS_FIX_UNUSED1
Definition: data_sets.h:343
-
rtk_solution_status_sbas
Definition: data_sets.h:2007
+
rtk_solution_status_sbas
Definition: data_sets.h:2012
PACKED::PWBias
float PWBias[3]
Definition: data_sets.h:1491
CAL_BIT_MODE_OFFSET
Definition: data_sets.h:1168
INS_STATUS_VEL_ALIGN_FINE
Definition: data_sets.h:167
RTK_CFG_BITS_GPS2_RTK_ROVER
Definition: data_sets.h:1267
HDW_BIT_MODE_OFFSET
Definition: data_sets.h:1150
-
PACKED::stackUnused
uint32_t stackUnused
Definition: data_sets.h:2514
+
PACKED::stackUnused
uint32_t stackUnused
Definition: data_sets.h:2519
flipStrings
void flipStrings(uint8_t *data, int dataLength, int offset, uint16_t *offsets, uint16_t offsetsLength)
Definition: data_sets.c:119
RTK_CFG_BITS_RTK
Definition: data_sets.h:1327
-
eph_t::week
int32_t week
Definition: data_sets.h:1744
-
raw_data_type_observation
Definition: data_sets.h:2147
+
eph_t::week
int32_t week
Definition: data_sets.h:1749
+
raw_data_type_observation
Definition: data_sets.h:2152
PACKED::barTemp
f_t barTemp
Definition: data_sets.h:1006
PACKED::genFaultCode
uint32_t genFaultCode
Definition: data_sets.h:926
BIT_STATE_RESERVED_1
Definition: data_sets.h:1136
-
geph_t::taun
double taun
Definition: data_sets.h:1876
+
geph_t::taun
double taun
Definition: data_sets.h:1881
PACKED::size
uint32_t size
Definition: data_sets.h:1392
RTK_CFG_BITS_RTK_BASE_IS_IDENTICAL_TO_ROVER
Definition: data_sets.h:1303
PACKED::reserved1
float reserved1
Definition: data_sets.h:914
@@ -114,31 +114,31 @@
PACKED::prRes
int16_t prRes
Definition: data_sets.h:710
PACKED::PBaroBias
float PBaroBias
Definition: data_sets.h:1493
PACKED::cnoMean
float cnoMean
Definition: data_sets.h:670
-
PACKED::baseSbasCount
uint32_t baseSbasCount
Definition: data_sets.h:2134
-
raw_data_type_ionosphere_model_utc_alm
Definition: data_sets.h:2162
-
alm_t::i0
double i0
Definition: data_sets.h:1948
+
PACKED::baseSbasCount
uint32_t baseSbasCount
Definition: data_sets.h:2139
+
raw_data_type_ionosphere_model_utc_alm
Definition: data_sets.h:2167
+
alm_t::i0
double i0
Definition: data_sets.h:1953
CAL_BIT_FAULT_TCAL_PQR_LIN
Definition: data_sets.h:1177
INS_STATUS_RTK_BASE_ERR_NO_OBSERV
Definition: data_sets.h:222
PACKED::mpu
sensors_mpu_w_temp_t mpu[NUM_MPU_DEVICES]
Definition: data_sets.h:1004
-
PACKED::averageRunTimeUs
float averageRunTimeUs
Definition: data_sets.h:2534
+
PACKED::averageRunTimeUs
float averageRunTimeUs
Definition: data_sets.h:2539
f_t
float f_t
Definition: ISConstants.h:728
CFG_SYS_CMD_ENABLE_BOOTLOADER_AND_RESET
Definition: data_sets.h:943
-
eph_t::iode
int32_t iode
Definition: data_sets.h:1732
+
eph_t::iode
int32_t iode
Definition: data_sets.h:1737
prcopt_t::navsys
int32_t navsys
Definition: data_sets.h:1545
-
prcopt_t::elmaskar
double elmaskar
Definition: data_sets.h:1626
+
prcopt_t::elmaskar
double elmaskar
Definition: data_sets.h:1629
PACKED::gpgga
uint32_t gpgga
Definition: data_sets.h:978
config_t
struct PACKED config_t
BIT_STATE_FINISH
Definition: data_sets.h:1139
PACKED::hwVersion
uint8_t hwVersion[10]
Definition: data_sets.h:752
HDW_BIT_FAULT_GPS_POOR_ACCURACY
Definition: data_sets.h:1158
HDW_STATUS_SATURATION_MASK
Definition: data_sets.h:282
-
diag_msg_t::messageLength
uint32_t messageLength
Definition: data_sets.h:2248
+
diag_msg_t::messageLength
uint32_t messageLength
Definition: data_sets.h:2253
NAV_FIX_STATUS_RTK_FLOAT
Definition: data_sets.h:242
SENSOR_CFG_GYR_DLPF_5HZ
Definition: data_sets.h:1359
PACKED::ana4
float ana4
Definition: data_sets.h:873
-
prcopt_t::sclkstab
double sclkstab
Definition: data_sets.h:1620
+
prcopt_t::sclkstab
double sclkstab
Definition: data_sets.h:1623
PACKED::ana
f_t ana[NUM_ANA_CHANNELS]
Definition: data_sets.h:1008
-
PACKED::gapCount
uint32_t gapCount
Definition: data_sets.h:2539
+
PACKED::gapCount
uint32_t gapCount
Definition: data_sets.h:2544
HDW_STATUS_MOTION_ACC_DEV
Definition: data_sets.h:259
PACKED::gpioStatus
uint32_t gpioStatus
Definition: data_sets.h:1104
PACKED::hdwBitStatus
uint32_t hdwBitStatus
Definition: data_sets.h:1195
@@ -149,99 +149,100 @@
PACKED::tcPqrBias
float tcPqrBias
Definition: data_sets.h:1201
SENSOR_CFG_GYR_FS_MASK
Definition: data_sets.h:1340
SENSOR_CFG_GYR_DLPF_MASK
Definition: data_sets.h:1360
-
PACKED::vectorToBase
float vectorToBase[3]
Definition: data_sets.h:2029
-
port_monitor_t::rxBytesPerS
uint32_t rxBytesPerS
Definition: data_sets.h:2377
-
prcopt_t::rcvstds
int32_t rcvstds
Definition: data_sets.h:1584
+
PACKED::vectorToBase
float vectorToBase[3]
Definition: data_sets.h:2034
+
port_monitor_t::rxBytesPerS
uint32_t rxBytesPerS
Definition: data_sets.h:2382
+
prcopt_t::rcvstds
int32_t rcvstds
Definition: data_sets.h:1587
gps_sat_t
struct PACKED gps_sat_t
BIT_STATE_RESERVED_2
Definition: data_sets.h:1137
-
prcopt_t::armaxiter
int32_t armaxiter
Definition: data_sets.h:1590
-
PACKED::gpsSat
gps_sat_t gpsSat
Definition: data_sets.h:2581
+
prcopt_t::armaxiter
int32_t armaxiter
Definition: data_sets.h:1593
+
prcopt_t::maxinnocode
double maxinnocode
Definition: data_sets.h:1647
+
PACKED::gpsSat
gps_sat_t gpsSat
Definition: data_sets.h:2586
SYS_CFG_BITS_ENABLED_ZERO_VELOCITY_UPDATES
Definition: data_sets.h:1254
-
PACKED::gpsRtkRel
gps_rtk_rel_t gpsRtkRel
Definition: data_sets.h:2582
+
PACKED::gpsRtkRel
gps_rtk_rel_t gpsRtkRel
Definition: data_sets.h:2587
imu_t
struct PACKED imu_t
INS_STATUS_ALIGN_FINE_MASK
Definition: data_sets.h:171
-
PACKED::sta
sta_t sta
Definition: data_sets.h:2183
-
eph_t::toes
double toes
Definition: data_sets.h:1811
-
PACKED::code
uint8_t code[1]
Definition: data_sets.h:1688
+
PACKED::sta
sta_t sta
Definition: data_sets.h:2188
+
eph_t::toes
double toes
Definition: data_sets.h:1816
+
PACKED::code
uint8_t code[1]
Definition: data_sets.h:1693
GPS_STATUS_FIX_UNUSED2
Definition: data_sets.h:344
flipDouble
void flipDouble(uint8_t *ptr)
Definition: data_sets.c:50
GPS_STATUS_FLAGS_UNUSED_3
Definition: data_sets.h:374
-
survey_in_t::hAccuracy
float hAccuracy
Definition: data_sets.h:2291
+
survey_in_t::hAccuracy
float hAccuracy
Definition: data_sets.h:2296
velocity_sensor_t
struct PACKED velocity_sensor_t
GPS_STATUS_FIX_NONE
Definition: data_sets.h:337
-
geph_t::gamn
double gamn
Definition: data_sets.h:1879
-
PACKED::mallocMinusFree
uint32_t mallocMinusFree
Definition: data_sets.h:2562
-
PACKED::qualP
uint8_t qualP[1]
Definition: data_sets.h:1694
+
geph_t::gamn
double gamn
Definition: data_sets.h:1884
+
PACKED::mallocMinusFree
uint32_t mallocMinusFree
Definition: data_sets.h:2567
+
PACKED::qualP
uint8_t qualP[1]
Definition: data_sets.h:1699
PACKED::invSystem
uint32_t invSystem
Definition: data_sets.h:937
-
sta_t::deltype
int32_t deltype
Definition: data_sets.h:1908
+
sta_t::deltype
int32_t deltype
Definition: data_sets.h:1913
gpsToJulian
double gpsToJulian(int32_t gpsWeek, int32_t gpsMilliseconds)
Definition: data_sets.c:637
HDW_STATUS_COM_PARSE_ERR_COUNT_OFFSET
Definition: data_sets.h:304
-
PACKED::ion
ion_model_utc_alm_t ion
Definition: data_sets.h:2186
+
PACKED::ion
ion_model_utc_alm_t ion
Definition: data_sets.h:2191
GPS_STATUS_INIT_STATUS_MASK
Definition: data_sets.h:382
-
prcopt_t::rovpos
int32_t rovpos
Definition: data_sets.h:1602
+
prcopt_t::rovpos
int32_t rovpos
Definition: data_sets.h:1605
CAL_BIT_PASSED_MASK
Definition: data_sets.h:1165
-
SURVEY_IN_STATE_START_FLOAT
Definition: data_sets.h:2262
+
SURVEY_IN_STATE_START_FLOAT
Definition: data_sets.h:2267
PACKED::startupImuDtMs
uint32_t startupImuDtMs
Definition: data_sets.h:1401
-
evb2_t
Definition: data_sets.h:2300
+
evb2_t
Definition: data_sets.h:2305
BIT_STATE_DONE
Definition: data_sets.h:1133
-
eph_t::toc
gtime_t toc
Definition: data_sets.h:1760
+
eph_t::toc
gtime_t toc
Definition: data_sets.h:1765
PACKED::magDec
float magDec
Definition: data_sets.h:784
-
PACKED::arRatio
float arRatio
Definition: data_sets.h:2026
+
PACKED::arRatio
float arRatio
Definition: data_sets.h:2031
GPS_STATUS_FLAGS_GPS_COMPASSING_ENABLED
Definition: data_sets.h:360
uDatasets
union PACKED uDatasets
GPS_STATUS_FIX_BIT_OFFSET
Definition: data_sets.h:351
-
PACKED::gpsVel
gps_vel_t gpsVel
Definition: data_sets.h:2580
+
PACKED::gpsVel
gps_vel_t gpsVel
Definition: data_sets.h:2585
PACKED::val2
float val2[3]
Definition: data_sets.h:820
DEVINFO_MANUFACTURER_STRLEN
#define DEVINFO_MANUFACTURER_STRLEN
Definition: data_sets.h:130
HDW_STATUS_SATURATION_OFFSET
Definition: data_sets.h:284
dev_info_t
PUSH_PACK_1 struct PACKED dev_info_t
PACKED::pgpsp
uint32_t pgpsp
Definition: data_sets.h:972
-
eRtosTask
eRtosTask
Definition: data_sets.h:2453
-
PACKED::distanceToBase
float distanceToBase
Definition: data_sets.h:2032
+
eRtosTask
eRtosTask
Definition: data_sets.h:2458
+
PACKED::distanceToBase
float distanceToBase
Definition: data_sets.h:2037
PACKED::velEcef
float velEcef[3]
Definition: data_sets.h:684
-
rtk_solution_status_single
Definition: data_sets.h:2013
-
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2571
-
EVB2_CBD_USBxSER0
Definition: data_sets.h:2327
+
rtk_solution_status_single
Definition: data_sets.h:2018
+
PACKED::ins3
ins_3_t ins3
Definition: data_sets.h:2576
+
EVB2_CBD_USBxSER0
Definition: data_sets.h:2332
imus_t
struct PACKED imus_t
-
raw_data_type_base_station_antenna_position
Definition: data_sets.h:2159
+
raw_data_type_base_station_antenna_position
Definition: data_sets.h:2164
PACKED::timeOfWeek
double timeOfWeek
Definition: data_sets.h:449
-
survey_in_t::elapsedTimeSec
uint32_t elapsedTimeSec
Definition: data_sets.h:2288
-
prcopt_t::niter
int32_t niter
Definition: data_sets.h:1596
+
survey_in_t::elapsedTimeSec
uint32_t elapsedTimeSec
Definition: data_sets.h:2293
+
prcopt_t::niter
int32_t niter
Definition: data_sets.h:1599
prcopt_t::mode
int32_t mode
Definition: data_sets.h:1536
HDW_STATUS_UNUSED_4
Definition: data_sets.h:291
-
port_monitor_t::txBytesPerS
uint32_t txBytesPerS
Definition: data_sets.h:2371
-
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2570
-
crash_info_t::psr
uint32_t psr
Definition: data_sets.h:2428
+
port_monitor_t::txBytesPerS
uint32_t txBytesPerS
Definition: data_sets.h:2376
+
PACKED::ins2
ins_2_t ins2
Definition: data_sets.h:2575
+
crash_info_t::psr
uint32_t psr
Definition: data_sets.h:2433
CAL_BIT_MODE_MASK
Definition: data_sets.h:1167
PACKED::imuPeriodMs
uint32_t imuPeriodMs
Definition: data_sets.h:917
SYS_CFG_BITS_DISABLE_AUTOBAUD_SER0
Definition: data_sets.h:1231
PACKED::pins1
uint32_t pins1
Definition: data_sets.h:966
rmc_t
struct PACKED rmc_t
-
survey_in_t::maxDurationSec
uint32_t maxDurationSec
Definition: data_sets.h:2282
+
survey_in_t::maxDurationSec
uint32_t maxDurationSec
Definition: data_sets.h:2287
CAL_BIT_FAULT_TCAL_ACC_LIN
Definition: data_sets.h:1180
DEVINFO_ADDINFO_STRLEN
#define DEVINFO_ADDINFO_STRLEN
Definition: data_sets.h:131
-
eph_t::cis
double cis
Definition: data_sets.h:1808
-
sta_t::stationId
int32_t stationId
Definition: data_sets.h:1920
+
eph_t::cis
double cis
Definition: data_sets.h:1813
+
sta_t::stationId
int32_t stationId
Definition: data_sets.h:1925
CAL_BIT_FAULT_TCAL_EMPTY
Definition: data_sets.h:1171
-
survey_in_t::state
uint32_t state
Definition: data_sets.h:2279
-
eEvb2ComBridgeCfg
eEvb2ComBridgeCfg
Definition: data_sets.h:2321
-
eph_t::flag
int32_t flag
Definition: data_sets.h:1754
+
survey_in_t::state
uint32_t state
Definition: data_sets.h:2284
+
eEvb2ComBridgeCfg
eEvb2ComBridgeCfg
Definition: data_sets.h:2326
+
eph_t::flag
int32_t flag
Definition: data_sets.h:1759
INS_STATUS_RTK_BASE_POSITION_MOVING
Definition: data_sets.h:226
-
PACKED::baseGlonassObservationCount
uint32_t baseGlonassObservationCount
Definition: data_sets.h:2080
-
rtk_solution_status_float
Definition: data_sets.h:2004
-
geph_t::age
int32_t age
Definition: data_sets.h:1858
-
EVB2_LOG_STATE_CMD_START
Definition: data_sets.h:2342
+
PACKED::baseGlonassObservationCount
uint32_t baseGlonassObservationCount
Definition: data_sets.h:2085
+
rtk_solution_status_float
Definition: data_sets.h:2009
+
geph_t::age
int32_t age
Definition: data_sets.h:1863
+
EVB2_LOG_STATE_CMD_START
Definition: data_sets.h:2347
HDW_STATUS_ERR_COM_RX_OVERRUN
Definition: data_sets.h:296
PACKED::lla
double lla[3]
Definition: data_sets.h:464
-
SURVEY_IN_STATE_START_3D
Definition: data_sets.h:2261
-
prcopt_t::maxtdiff
double maxtdiff
Definition: data_sets.h:1641
+
SURVEY_IN_STATE_START_3D
Definition: data_sets.h:2266
+
prcopt_t::maxtdiff
double maxtdiff
Definition: data_sets.h:1644
POP_PACK
#define POP_PACK
Definition: ISConstants.h:221
prcopt_t::arfilter
int32_t arfilter
Definition: data_sets.h:1566
-
PACKED::baseGalileoEphemerisCount
uint32_t baseGalileoEphemerisCount
Definition: data_sets.h:2116
+
PACKED::baseGalileoEphemerisCount
uint32_t baseGalileoEphemerisCount
Definition: data_sets.h:2121
INS_STATUS_NAV_MODE
Definition: data_sets.h:186
-
alm_t::sat
int32_t sat
Definition: data_sets.h:1927
-
eSurveyInStatus
eSurveyInStatus
Definition: data_sets.h:2254
-
raw_data_type_rtk_solution
Definition: data_sets.h:2165
+
alm_t::sat
int32_t sat
Definition: data_sets.h:1932
+
eSurveyInStatus
eSurveyInStatus
Definition: data_sets.h:2259
+
raw_data_type_rtk_solution
Definition: data_sets.h:2170
PACKED::mslBar
float mslBar
Definition: data_sets.h:606
NAV_FIX_STATUS_STANDARD_W_GPS_COMPASSING
Definition: data_sets.h:244
INS_STATUS_GPS_AIDING_HEADING
Definition: data_sets.h:174
@@ -249,20 +250,20 @@
PACKED::sysCfgBits
uint32_t sysCfgBits
Definition: data_sets.h:1425
PACKED::magInclination
float magInclination
Definition: data_sets.h:1458
PACKED::extension
uint8_t extension[30]
Definition: data_sets.h:754
-
alm_t::e
double e
Definition: data_sets.h:1945
+
alm_t::e
double e
Definition: data_sets.h:1950
PACKED::timeOfWeekMs
unsigned int timeOfWeekMs
Definition: data_sets.h:1481
-
PACKED::vel
float vel[3]
Definition: data_sets.h:2220
+
PACKED::vel
float vel[3]
Definition: data_sets.h:2225
PACKED::svId
uint8_t svId
Definition: data_sets.h:698
CFG_SYS_CMD_SAVE_GPS_ASSIST_TO_FLASH_RESET
Definition: data_sets.h:947
HDW_STATUS_MOTION_MASK
Definition: data_sets.h:261
-
MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE
#define MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE
Definition: data_sets.h:1710
+
MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE
#define MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE
Definition: data_sets.h:1715
HDW_BIT_MODE_MASK
Definition: data_sets.h:1149
-
PACKED::roverGlonassObservationCount
uint32_t roverGlonassObservationCount
Definition: data_sets.h:2077
-
GPS_RAW_MESSAGE_BUF_SIZE
#define GPS_RAW_MESSAGE_BUF_SIZE
Definition: data_sets.h:1709
-
TASK_TIMER
Definition: data_sets.h:2483
+
PACKED::roverGlonassObservationCount
uint32_t roverGlonassObservationCount
Definition: data_sets.h:2082
+
GPS_RAW_MESSAGE_BUF_SIZE
#define GPS_RAW_MESSAGE_BUF_SIZE
Definition: data_sets.h:1714
+
TASK_TIMER
Definition: data_sets.h:2488
serialNumChecksum32
POP_PACK uint32_t serialNumChecksum32(const void *data, int size)
Definition: data_sets.c:500
SENSOR_CFG_GYR_DLPF_10HZ
Definition: data_sets.h:1358
-
geph_t::dtaun
double dtaun
Definition: data_sets.h:1882
+
geph_t::dtaun
double dtaun
Definition: data_sets.h:1887
SENSOR_CFG_GYR_DLPF_OFFSET
Definition: data_sets.h:1361
CAL_BIT_FAULT_TCAL_INCONSISTENT
Definition: data_sets.h:1173
SYS_CFG_BITS_AUTO_MAG_RECAL
Definition: data_sets.h:1234
@@ -272,55 +273,56 @@
PACKED::pqrSigma
float pqrSigma
Definition: data_sets.h:1219
sys_params_t
struct PACKED sys_params_t
PACKED::bar
float bar
Definition: data_sets.h:603
-
EVB2_LOG_STATE_CMD_PAUSE
Definition: data_sets.h:2348
+
EVB2_LOG_STATE_CMD_PAUSE
Definition: data_sets.h:2353
SYS_CFG_BITS_DISABLE_MAGNETOMETER_FUSION
Definition: data_sets.h:1247
-
crash_info_t::r3
uint32_t r3
Definition: data_sets.h:2416
-
SURVEY_IN_STATE_SAVE_POS
Definition: data_sets.h:2269
-
PACKED::flashCfg
nvm_flash_cfg_t flashCfg
Definition: data_sets.h:2586
+
crash_info_t::r3
uint32_t r3
Definition: data_sets.h:2421
+
SURVEY_IN_STATE_SAVE_POS
Definition: data_sets.h:2274
+
PACKED::flashCfg
nvm_flash_cfg_t flashCfg
Definition: data_sets.h:2591
INS_STATUS_RTK_BASE_MASK
Definition: data_sets.h:228
PACKED::hMSL
float hMSL
Definition: data_sets.h:658
eSatSvFlags
eSatSvFlags
Definition: data_sets.h:718
RTK_CFG_BITS_COMPASSING
Definition: data_sets.h:1270
-
PACKED::ionUtcAlmCount
uint32_t ionUtcAlmCount
Definition: data_sets.h:2140
-
PACKED::sensorsAdc
sys_sensors_adc_t sensorsAdc
Definition: data_sets.h:2592
+
PACKED::ionUtcAlmCount
uint32_t ionUtcAlmCount
Definition: data_sets.h:2145
+
PACKED::sensorsAdc
sys_sensors_adc_t sensorsAdc
Definition: data_sets.h:2597
inl2_ned_sigma_t
struct PACKED inl2_ned_sigma_t
BIT_STATE_COMMAND_OFF
Definition: data_sets.h:1140
PACKED::status
uint32_t status
Definition: data_sets.h:649
-
eph_t::svh
int32_t svh
Definition: data_sets.h:1741
+
eph_t::svh
int32_t svh
Definition: data_sets.h:1746
RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER1
Definition: data_sets.h:1294
PACKED::startupNavDtMs
uint32_t startupNavDtMs
Definition: data_sets.h:1404
-
geph_t
Definition: data_sets.h:1840
-
port_monitor_t
Definition: data_sets.h:2362
-
obs_t::n
int32_t n
Definition: data_sets.h:1716
-
eph_t::OMGd
double OMGd
Definition: data_sets.h:1787
+
geph_t
Definition: data_sets.h:1845
+
port_monitor_t
Definition: data_sets.h:2367
+
obs_t::n
int32_t n
Definition: data_sets.h:1721
+
eph_t::OMGd
double OMGd
Definition: data_sets.h:1792
eDataIDs
uint32_t eDataIDs
Definition: data_sets.h:32
-
eph_t::M0
double M0
Definition: data_sets.h:1781
+
eph_t::M0
double M0
Definition: data_sets.h:1786
rtos_info_t
struct PACKED rtos_info_t
sys_sensors_adc_t
struct PACKED sys_sensors_adc_t
SAT_SV_FLAGS_ORBITSOURCE_MASK
Definition: data_sets.h:726
-
raw_data_type_ephemeris
Definition: data_sets.h:2150
+
raw_data_type_ephemeris
Definition: data_sets.h:2155
GPS_STATUS_FLAGS_BASE_MASK
Definition: data_sets.h:364
-
alm_t::svconf
int32_t svconf
Definition: data_sets.h:1933
+
prcopt_t::max_baseline_error
double max_baseline_error
Definition: data_sets.h:1658
+
alm_t::svconf
int32_t svconf
Definition: data_sets.h:1938
NAV_FIX_STATUS_STANDARD
Definition: data_sets.h:240
-
PACKED::time
gtime_t time
Definition: data_sets.h:1673
-
prcopt_t::gainholdamb
double gainholdamb
Definition: data_sets.h:1638
+
PACKED::time
gtime_t time
Definition: data_sets.h:1678
+
prcopt_t::gainholdamb
double gainholdamb
Definition: data_sets.h:1641
PACKED::gps2AntOffset
float gps2AntOffset[3]
Definition: data_sets.h:1449
-
SURVEY_IN_STATE_RUNNING_FLOAT
Definition: data_sets.h:2267
+
SURVEY_IN_STATE_RUNNING_FLOAT
Definition: data_sets.h:2272
PACKED::zeroVelOffset
float zeroVelOffset[3]
Definition: data_sets.h:1455
SENSOR_CFG_GYR_DLPF_250HZ
Definition: data_sets.h:1353
PACKED::imuTemp
float imuTemp
Definition: data_sets.h:905
-
PACKED::obsCount
uint8_t obsCount
Definition: data_sets.h:2202
+
PACKED::obsCount
uint8_t obsCount
Definition: data_sets.h:2207
SENSOR_CFG_ACC_FS_16G
Definition: data_sets.h:1347
-
eph_t
Definition: data_sets.h:1726
-
EVB2_LOG_STATE_CMD_PURGE
Definition: data_sets.h:2354
+
eph_t
Definition: data_sets.h:1731
+
EVB2_LOG_STATE_CMD_PURGE
Definition: data_sets.h:2359
SENSOR_CFG_GYR_FS_2000
Definition: data_sets.h:1339
PACKED::dt
float dt
Definition: data_sets.h:635
INS_STATUS_GPS_UPDATE_IN_SOLUTION
Definition: data_sets.h:179
HDW_STATUS_SATURATION_MAG
Definition: data_sets.h:277
-
eph_t::f2
double f2
Definition: data_sets.h:1823
+
eph_t::f2
double f2
Definition: data_sets.h:1828
PACKED::theta
float theta[3]
Definition: data_sets.h:458
HDW_STATUS_STROBE_IN_EVENT
Definition: data_sets.h:266
-
eph_t::omg
double omg
Definition: data_sets.h:1778
+
eph_t::omg
double omg
Definition: data_sets.h:1783
NUM_MPU_DEVICES
#define NUM_MPU_DEVICES
Definition: data_sets.h:148
ascii_msgs_t
struct PACKED ascii_msgs_t
CFG_SYS_CMD_ENABLE_GPS_LOW_LEVEL_CONFIG
Definition: data_sets.h:946
@@ -328,175 +330,174 @@
HDW_BIT_PASSED_ALL
Definition: data_sets.h:1147
dual_imu_t
struct PACKED dual_imu_t
PACKED::cno
uint8_t cno
Definition: data_sets.h:701
-
EVB2_LOG_STATE_RUNNING
Definition: data_sets.h:2345
-
port_monitor_t::portNumber
uint32_t portNumber
Definition: data_sets.h:2365
+
EVB2_LOG_STATE_RUNNING
Definition: data_sets.h:2350
+
port_monitor_t::portNumber
uint32_t portNumber
Definition: data_sets.h:2370
PACKED::I
imus_t I
Definition: data_sets.h:570
-
PACKED::runTimeUs
uint32_t runTimeUs
Definition: data_sets.h:2524
+
PACKED::runTimeUs
uint32_t runTimeUs
Definition: data_sets.h:2529
PACKED::date
char date[16]
Definition: data_sets.h:435
prcopt_t::gpsmodear
int32_t gpsmodear
Definition: data_sets.h:1560
RTK_CFG_BITS_RTK_BASE_SER1
Definition: data_sets.h:1317
SAT_SV_FLAGS_SV_USED
Definition: data_sets.h:721
BIT_STATE_CMD_BASIC_MOVING
Definition: data_sets.h:1135
-
PACKED::gloEph
geph_t gloEph
Definition: data_sets.h:2177
+
PACKED::gloEph
geph_t gloEph
Definition: data_sets.h:2182
PACKED::count
uint32_t count
Definition: data_sets.h:1511
PACKED::ioConfig
uint32_t ioConfig
Definition: data_sets.h:1443
-
prcopt_t::maxinno
double maxinno
Definition: data_sets.h:1644
MAG_RECAL_MODE_MULTI_AXIS
Definition: data_sets.h:1109
-
PACKED::freeHeapSize
uint32_t freeHeapSize
Definition: data_sets.h:2559
+
PACKED::freeHeapSize
uint32_t freeHeapSize
Definition: data_sets.h:2564
PACKED::elev
int8_t elev
Definition: data_sets.h:704
INS_STATUS_ALIGN_COARSE_MASK
Definition: data_sets.h:160
eGpsStatus
eGpsStatus
Definition: data_sets.h:332
SENSOR_CFG_ACC_FS_2G
Definition: data_sets.h:1344
PUSH_PACK_1
#define PUSH_PACK_1
Definition: ISConstants.h:218
PACKED::biasPqr
float biasPqr[3]
Definition: data_sets.h:775
-
eEvb2LoggerState
eEvb2LoggerState
Definition: data_sets.h:2336
+
eEvb2LoggerState
eEvb2LoggerState
Definition: data_sets.h:2341
CAL_BIT_FAULT_MOTION_ACC
Definition: data_sets.h:1184
HDW_STATUS_SATURATION_BARO
Definition: data_sets.h:279
gps_rtk_misc_t
struct PACKED gps_rtk_misc_t
PACKED::key
uint32_t key
Definition: data_sets.h:438
PACKED::time
double time
Definition: data_sets.h:567
prcopt_t
Definition: data_sets.h:1533
-
PACKED::sysParams
sys_params_t sysParams
Definition: data_sets.h:2588
-
alm_t::OMG0
double OMG0
Definition: data_sets.h:1951
-
diag_msg_t
Definition: data_sets.h:2242
-
sbsmsg_t::prn
int32_t prn
Definition: data_sets.h:1895
-
geph_t::toe
gtime_t toe
Definition: data_sets.h:1861
+
PACKED::sysParams
sys_params_t sysParams
Definition: data_sets.h:2593
+
alm_t::OMG0
double OMG0
Definition: data_sets.h:1956
+
diag_msg_t
Definition: data_sets.h:2247
+
sbsmsg_t::prn
int32_t prn
Definition: data_sets.h:1900
+
geph_t::toe
gtime_t toe
Definition: data_sets.h:1866
SENSOR_CFG_ACC_DLPF_21HZ
Definition: data_sets.h:1369
-
alm_t::A
double A
Definition: data_sets.h:1942
-
diag_msg_t::timeOfWeekMs
uint32_t timeOfWeekMs
Definition: data_sets.h:2245
-
PACKED::baseGpsObservationCount
uint32_t baseGpsObservationCount
Definition: data_sets.h:2074
+
alm_t::A
double A
Definition: data_sets.h:1947
+
diag_msg_t::timeOfWeekMs
uint32_t timeOfWeekMs
Definition: data_sets.h:2250
+
PACKED::baseGpsObservationCount
uint32_t baseGpsObservationCount
Definition: data_sets.h:2079
HDW_BIT_FAILED_AHRS_MASK
Definition: data_sets.h:1153
-
evb2_t::comBridgeCfg
uint32_t comBridgeCfg
Definition: data_sets.h:2306
+
evb2_t::comBridgeCfg
uint32_t comBridgeCfg
Definition: data_sets.h:2311
PACKED::tcAccSlope
float tcAccSlope
Definition: data_sets.h:1206
-
geph_t::iode
int32_t iode
Definition: data_sets.h:1846
-
prcopt_t::outsingle
int32_t outsingle
Definition: data_sets.h:1665
+
geph_t::iode
int32_t iode
Definition: data_sets.h:1851
+
prcopt_t::outsingle
int32_t outsingle
Definition: data_sets.h:1670
PACKED::magInc
float magInc
Definition: data_sets.h:787
-
alm_t::M0
double M0
Definition: data_sets.h:1957
+
alm_t::M0
double M0
Definition: data_sets.h:1962
HDW_STATUS_MOTION_GYR_SIG
Definition: data_sets.h:251
PACKED::insRotation
float insRotation[3]
Definition: data_sets.h:1413
-
PACKED::gpsRtkMisc
gps_rtk_misc_t gpsRtkMisc
Definition: data_sets.h:2583
-
PACKED::imu
imu_t imu
Definition: data_sets.h:2573
+
PACKED::gpsRtkMisc
gps_rtk_misc_t gpsRtkMisc
Definition: data_sets.h:2588
+
PACKED::imu
imu_t imu
Definition: data_sets.h:2578
GPS_STATUS_INIT_STATUS_PROGRAM_OSC
Definition: data_sets.h:379
-
prcopt_t::minholdsats
int32_t minholdsats
Definition: data_sets.h:1578
+
prcopt_t::minholdsats
int32_t minholdsats
Definition: data_sets.h:1581
PACKED::vAcc
float vAcc
Definition: data_sets.h:664
PACKED::vin
float vin
Definition: data_sets.h:864
-
eph_t::ndot
double ndot
Definition: data_sets.h:1836
+
eph_t::ndot
double ndot
Definition: data_sets.h:1841
HDW_BIT_FAULT_NOISE_ACC
Definition: data_sets.h:1155
-
eph_t::idot
double idot
Definition: data_sets.h:1790
-
crash_info_t::lr
uint32_t lr
Definition: data_sets.h:2422
-
PACKED::roverQzsEphemerisCount
uint32_t roverQzsEphemerisCount
Definition: data_sets.h:2125
+
eph_t::idot
double idot
Definition: data_sets.h:1795
+
crash_info_t::lr
uint32_t lr
Definition: data_sets.h:2427
+
PACKED::roverQzsEphemerisCount
uint32_t roverQzsEphemerisCount
Definition: data_sets.h:2130
strobe_in_time_t
struct PACKED strobe_in_time_t
-
eph_t::code
int32_t code
Definition: data_sets.h:1749
+
eph_t::code
int32_t code
Definition: data_sets.h:1754
PACKED::system
uint32_t system
Definition: data_sets.h:934
PACKED::serialNumber
uint32_t serialNumber
Definition: data_sets.h:395
-
PACKED::priority
uint32_t priority
Definition: data_sets.h:2509
+
PACKED::priority
uint32_t priority
Definition: data_sets.h:2514
GPS_STATUS_FLAGS_FIX_OK
Definition: data_sets.h:354
gpsToNmeaGGA
int gpsToNmeaGGA(const gps_pos_t *gps, char *buffer, int bufferLength)
Definition: data_sets.c:675
-
geph_t::tof
gtime_t tof
Definition: data_sets.h:1864
+
geph_t::tof
gtime_t tof
Definition: data_sets.h:1869
CAL_BIT_PASSED_ALL
Definition: data_sets.h:1166
SENSOR_CFG_GYR_FS_500
Definition: data_sets.h:1337
-
geph_t::svh
int32_t svh
Definition: data_sets.h:1852
+
geph_t::svh
int32_t svh
Definition: data_sets.h:1857
SENSOR_CFG_GYR_DLPF_184HZ
Definition: data_sets.h:1354
-
SURVEY_IN_STATE_CANCEL
Definition: data_sets.h:2260
+
SURVEY_IN_STATE_CANCEL
Definition: data_sets.h:2265
PACKED::qe2b
float qe2b[4]
Definition: data_sets.h:542
GPS_STATUS_FLAGS_BIT_OFFSET
Definition: data_sets.h:376
CAL_BIT_FAULT_ORTO_INVALID
Definition: data_sets.h:1182
-
PACKED::handle
uint32_t handle
Definition: data_sets.h:2549
+
PACKED::handle
uint32_t handle
Definition: data_sets.h:2554
NUM_ANA_CHANNELS
#define NUM_ANA_CHANNELS
Definition: data_sets.h:1000
-
PACKED::roverQzsObservationCount
uint32_t roverQzsObservationCount
Definition: data_sets.h:2095
-
crash_info_t::r0
uint32_t r0
Definition: data_sets.h:2407
-
PACKED::roverGalileoObservationCount
uint32_t roverGalileoObservationCount
Definition: data_sets.h:2083
+
PACKED::roverQzsObservationCount
uint32_t roverQzsObservationCount
Definition: data_sets.h:2100
+
crash_info_t::r0
uint32_t r0
Definition: data_sets.h:2412
+
PACKED::roverGalileoObservationCount
uint32_t roverGalileoObservationCount
Definition: data_sets.h:2088
INS_STATUS_UNUSED_4
Definition: data_sets.h:190
-
rtk_solution_status_fix
Definition: data_sets.h:2001
+
rtk_solution_status_fix
Definition: data_sets.h:2006
PACKED::lastLlaUpdateDistance
float lastLlaUpdateDistance
Definition: data_sets.h:1440
PACKED::declination
float declination
Definition: data_sets.h:1125
-
PACKED::qualL
uint8_t qualL[1]
Definition: data_sets.h:1691
-
eph_t::iodc
int32_t iodc
Definition: data_sets.h:1735
+
PACKED::qualL
uint8_t qualL[1]
Definition: data_sets.h:1696
+
eph_t::iodc
int32_t iodc
Definition: data_sets.h:1740
PACKED::zeroVelRotation
float zeroVelRotation[3]
Definition: data_sets.h:1452
-
alm_t::toa
gtime_t toa
Definition: data_sets.h:1939
+
alm_t::toa
gtime_t toa
Definition: data_sets.h:1944
BIT_STATE_CMD_FULL_STATIONARY
Definition: data_sets.h:1134
GPS_STATUS_FLAGS_BASE_NO_POSITION
Definition: data_sets.h:362
INS_STATUS_RTK_BASE_ERR_NO_POSITION
Definition: data_sets.h:224
-
PACKED::roverGalileoEphemerisCount
uint32_t roverGalileoEphemerisCount
Definition: data_sets.h:2113
-
PACKED::baseBeidouObservationCount
uint32_t baseBeidouObservationCount
Definition: data_sets.h:2092
+
PACKED::roverGalileoEphemerisCount
uint32_t roverGalileoEphemerisCount
Definition: data_sets.h:2118
+
PACKED::baseBeidouObservationCount
uint32_t baseBeidouObservationCount
Definition: data_sets.h:2097
PACKED::azim
int16_t azim
Definition: data_sets.h:707
-
PACKED::task
rtos_task_t task[RTOS_NUM_TASKS]
Definition: data_sets.h:2556
+
PACKED::task
rtos_task_t task[RTOS_NUM_TASKS]
Definition: data_sets.h:2561
gtime_t
Definition: data_sets.h:1519
PACKED::insOffset
float insOffset[3]
Definition: data_sets.h:1416
-
PACKED::arThreshold
float arThreshold
Definition: data_sets.h:2053
+
PACKED::arThreshold
float arThreshold
Definition: data_sets.h:2058
CAL_BIT_FAULT_TCAL_TSPAN
Definition: data_sets.h:1172
-
rtk_solution_status_none
Definition: data_sets.h:1998
+
rtk_solution_status_none
Definition: data_sets.h:2003
GPS_STATUS_FIX_GPS_PLUS_DEAD_RECK
Definition: data_sets.h:341
MAG_RECAL_MODE_COMPLETE
Definition: data_sets.h:1111
PACKED::gps1AntOffset
float gps1AntOffset[3]
Definition: data_sets.h:1419
INS_STATUS_RTK_COMPASSING_WRONG_BASELINE
Definition: data_sets.h:208
eIoConfig
eIoConfig
Definition: data_sets.h:1379
PACKED::qn2b
float qn2b[4]
Definition: data_sets.h:487
-
ion_model_utc_alm_t::alm
alm_t alm
Definition: data_sets.h:1991
-
PACKED::headingToBase
float headingToBase
Definition: data_sets.h:2035
+
ion_model_utc_alm_t::alm
alm_t alm
Definition: data_sets.h:1996
+
PACKED::headingToBase
float headingToBase
Definition: data_sets.h:2040
HDW_STATUS_ERR_COM_TX_LIMITED
Definition: data_sets.h:294
PACKED::startupGPSDtMs
uint32_t startupGPSDtMs
Definition: data_sets.h:1467
gen_1axis_sensor_t
struct PACKED gen_1axis_sensor_t
PACKED::progress
float progress
Definition: data_sets.h:1122
-
alm_t::week
int32_t week
Definition: data_sets.h:1936
+
alm_t::week
int32_t week
Definition: data_sets.h:1941
PACKED::pqr
float pqr[3]
Definition: data_sets.h:556
PACKED::uvw
float uvw[3]
Definition: data_sets.h:461
RTK_CFG_BITS_RTK_BASE_SER0
Definition: data_sets.h:1313
PACKED::hAcc
float hAcc
Definition: data_sets.h:661
PACKED::PvelNED
float PvelNED[3]
Definition: data_sets.h:1485
-
eph_t::cus
double cus
Definition: data_sets.h:1802
+
eph_t::cus
double cus
Definition: data_sets.h:1807
PACKED::enMagRecal
uint32_t enMagRecal
Definition: data_sets.h:1119
PACKED::sAcc
float sAcc
Definition: data_sets.h:687
-
eph_t::crs
double crs
Definition: data_sets.h:1796
+
eph_t::crs
double crs
Definition: data_sets.h:1801
HDW_BIT_FAULT_GPS_NOISE
Definition: data_sets.h:1159
-
PACKED::eph
eph_t eph
Definition: data_sets.h:2174
-
eph_t::f1
double f1
Definition: data_sets.h:1820
+
PACKED::eph
eph_t eph
Definition: data_sets.h:2179
+
eph_t::f1
double f1
Definition: data_sets.h:1825
PACKED::calBitStatus
uint32_t calBitStatus
Definition: data_sets.h:1198
-
PACKED::magCal
mag_cal_t magCal
Definition: data_sets.h:2576
+
PACKED::magCal
mag_cal_t magCal
Definition: data_sets.h:2581
SENSOR_CFG_GYR_DLPF_41HZ
Definition: data_sets.h:1356
INS_STATUS_MAG_AIDING_HEADING
Definition: data_sets.h:183
SAT_SV_FLAGS_HEALTH_MASK
Definition: data_sets.h:722
INS_STATUS_SOLUTION_OFFSET
Definition: data_sets.h:194
SYS_CFG_BITS_MAG_RECAL_MODE_MASK
Definition: data_sets.h:1242
PACKED::val1
float val1[3]
Definition: data_sets.h:817
-
prcopt_t::maxgdop
double maxgdop
Definition: data_sets.h:1650
+
prcopt_t::maxgdop
double maxgdop
Definition: data_sets.h:1654
inl2_states_t
struct PACKED inl2_states_t
-
TASK_SAMPLE
Definition: data_sets.h:2458
+
TASK_SAMPLE
Definition: data_sets.h:2463
HDW_STATUS_UNUSED_2
Definition: data_sets.h:289
HDW_STATUS_FAULT_RESET_BACKUP_MODE
Definition: data_sets.h:319
PACKED::mcuTemp
float mcuTemp
Definition: data_sets.h:911
PACKED::insStatus
uint32_t insStatus
Definition: data_sets.h:452
HDW_BIT_PASSED_NO_GPS
Definition: data_sets.h:1148
-
PACKED::dualImu
dual_imu_t dualImu
Definition: data_sets.h:2574
-
eph_t::cuc
double cuc
Definition: data_sets.h:1799
-
ion_model_utc_alm_t::leaps
int32_t leaps
Definition: data_sets.h:1989
+
PACKED::dualImu
dual_imu_t dualImu
Definition: data_sets.h:2579
+
eph_t::cuc
double cuc
Definition: data_sets.h:1804
+
ion_model_utc_alm_t::leaps
int32_t leaps
Definition: data_sets.h:1994
PACKED::firmwareVer
uint8_t firmwareVer[4]
Definition: data_sets.h:401
-
survey_in_t::minAccuracy
float minAccuracy
Definition: data_sets.h:2285
+
survey_in_t::minAccuracy
float minAccuracy
Definition: data_sets.h:2290
PACKED::lastLlaWeek
uint32_t lastLlaWeek
Definition: data_sets.h:1437
SENSOR_CFG_ACC_DLPF_10HZ
Definition: data_sets.h:1370
-
PACKED::inl2NedSigma
inl2_ned_sigma_t inl2NedSigma
Definition: data_sets.h:2585
+
PACKED::inl2NedSigma
inl2_ned_sigma_t inl2NedSigma
Definition: data_sets.h:2590
HDW_BIT_FAULT_NOISE_PQR
Definition: data_sets.h:1154
SENSOR_CFG_ACC_DLPF_MASK
Definition: data_sets.h:1372
INS_STATUS_GENERAL_FAULT
Definition: data_sets.h:233
-
PACKED::roverSbasCount
uint32_t roverSbasCount
Definition: data_sets.h:2131
-
TASK_NAV
Definition: data_sets.h:2463
-
gps_rtk_opt_t
prcopt_t gps_rtk_opt_t
Definition: data_sets.h:1667
+
PACKED::roverSbasCount
uint32_t roverSbasCount
Definition: data_sets.h:2136
+
TASK_NAV
Definition: data_sets.h:2468
+
gps_rtk_opt_t
prcopt_t gps_rtk_opt_t
Definition: data_sets.h:1672
manufacturing_info_t
struct PACKED manufacturing_info_t
INS_STATUS_MAG_INTERFERENCE_OR_BAD_CAL
Definition: data_sets.h:214
-
PACKED::gDop
float gDop
Definition: data_sets.h:2056
-
PACKED::name
char name[MAX_TASK_NAME_LEN]
Definition: data_sets.h:2504
-
PACKED::rtosInfo
rtos_info_t rtosInfo
Definition: data_sets.h:2590
-
PACKED::roverBeidouEphemerisCount
uint32_t roverBeidouEphemerisCount
Definition: data_sets.h:2119
-
eph_t::i0
double i0
Definition: data_sets.h:1772
+
PACKED::gDop
float gDop
Definition: data_sets.h:2061
+
PACKED::name
char name[MAX_TASK_NAME_LEN]
Definition: data_sets.h:2509
+
PACKED::rtosInfo
rtos_info_t rtosInfo
Definition: data_sets.h:2595
+
PACKED::roverBeidouEphemerisCount
uint32_t roverBeidouEphemerisCount
Definition: data_sets.h:2124
+
eph_t::i0
double i0
Definition: data_sets.h:1777
INS_STATUS_UNUSED_1
Definition: data_sets.h:162
SAT_SV_FLAGS_EPHAVAIL
Definition: data_sets.h:728
SAT_SV_FLAGS_AOPAVAIL
Definition: data_sets.h:731
HDW_BIT_FAULT_GPS_POOR_CNO
Definition: data_sets.h:1157
SAT_SV_FLAGS_SMOOTHED
Definition: data_sets.h:725
-
SURVEY_IN_STATE_RUNNING_FIX
Definition: data_sets.h:2268
+
SURVEY_IN_STATE_RUNNING_FIX
Definition: data_sets.h:2273
SAT_SV_FLAGS_ORBITSOURCE_OFFSET
Definition: data_sets.h:727
-
PACKED::L
double L[1]
Definition: data_sets.h:1700
-
PACKED::cycleSlipCount
uint32_t cycleSlipCount
Definition: data_sets.h:2068
+
PACKED::L
double L[1]
Definition: data_sets.h:1705
+
PACKED::cycleSlipCount
uint32_t cycleSlipCount
Definition: data_sets.h:2073
PACKED::ecef
double ecef[3]
Definition: data_sets.h:548
ins_3_t
struct PACKED ins_3_t
PACKED::gpgsa
uint32_t gpgsa
Definition: data_sets.h:984
@@ -504,57 +505,57 @@
PACKED::hdwStatus
uint32_t hdwStatus
Definition: data_sets.h:455
PACKED::state
uint32_t state
Definition: data_sets.h:1192
RTK_CFG_BITS_RTK_BASE
Definition: data_sets.h:1306
-
PACKED::vDop
float vDop
Definition: data_sets.h:2062
+
PACKED::vDop
float vDop
Definition: data_sets.h:2067
RTK_CFG_BITS_GPS1_RTK_ROVER
Definition: data_sets.h:1264
SAT_SV_FLAGS_DIFFCORR
Definition: data_sets.h:724
-
PACKED::sat
uint8_t sat
Definition: data_sets.h:1676
+
PACKED::sat
uint8_t sat
Definition: data_sets.h:1681
INS_STATUS_SOLUTION_NAV
Definition: data_sets.h:200
prcopt_t::maxout
int32_t maxout
Definition: data_sets.h:1569
prcopt_t::glomodear
int32_t glomodear
Definition: data_sets.h:1557
-
PACKED::differentialAge
float differentialAge
Definition: data_sets.h:2023
+
PACKED::differentialAge
float differentialAge
Definition: data_sets.h:2028
HDW_STATUS_MOTION_GYR_DEV
Definition: data_sets.h:257
PACKED::pin
uint32_t pin
Definition: data_sets.h:1508
GPS_STATUS_FLAGS_STATIC_MODE
Definition: data_sets.h:359
-
PACKED::mag
magnetometer_t mag
Definition: data_sets.h:2575
+
PACKED::mag
magnetometer_t mag
Definition: data_sets.h:2580
PACKED::ser0BaudRate
uint32_t ser0BaudRate
Definition: data_sets.h:1407
PACKED::theta2
float theta2[3]
Definition: data_sets.h:626
PACKED::baroTemp
float baroTemp
Definition: data_sets.h:908
io_t
struct PACKED io_t
-
PACKED::time_ms
uint32_t time_ms
Definition: data_sets.h:2214
+
PACKED::time_ms
uint32_t time_ms
Definition: data_sets.h:2219
gps_version_t
struct PACKED gps_version_t
PACKED::reserved
uint32_t reserved
Definition: data_sets.h:392
eRTKConfigBits
eRTKConfigBits
Definition: data_sets.h:1261
prcopt_t::elmin
double elmin
Definition: data_sets.h:1548
-
evb2_t::loggerState
uint32_t loggerState
Definition: data_sets.h:2309
+
evb2_t::loggerState
uint32_t loggerState
Definition: data_sets.h:2314
SYS_CFG_BITS_DISABLE_GPS_FUSION
Definition: data_sets.h:1251
-
eph_t::A
double A
Definition: data_sets.h:1766
+
eph_t::A
double A
Definition: data_sets.h:1771
PACKED::reserved2
float reserved2[4]
Definition: data_sets.h:923
INS_STATUS_RTK_COMPASSING_MASK
Definition: data_sets.h:209
GPS_STATUS_FLAGS_TOW_VALID
Definition: data_sets.h:357
preintegrated_imu_t
struct PACKED preintegrated_imu_t
GPS_STATUS_FIX_DGPS
Definition: data_sets.h:345
-
obs_t::nmax
int32_t nmax
Definition: data_sets.h:1719
-
PACKED::dataType
uint8_t dataType
Definition: data_sets.h:2199
+
obs_t::nmax
int32_t nmax
Definition: data_sets.h:1724
+
PACKED::dataType
uint8_t dataType
Definition: data_sets.h:2204
CAL_BIT_FAULT_TCAL_PQR_SLOPE
Definition: data_sets.h:1176
PACKED::gnssId
uint8_t gnssId
Definition: data_sets.h:695
-
PACKED::baseGpsEphemerisCount
uint32_t baseGpsEphemerisCount
Definition: data_sets.h:2104
-
evb2_t::loggerElapsedTimeMs
uint32_t loggerElapsedTimeMs
Definition: data_sets.h:2312
+
PACKED::baseGpsEphemerisCount
uint32_t baseGpsEphemerisCount
Definition: data_sets.h:2109
+
evb2_t::loggerElapsedTimeMs
uint32_t loggerElapsedTimeMs
Definition: data_sets.h:2317
HDW_STATUS_BIT_FAULT
Definition: data_sets.h:308
RTK_CFG_BITS_BASE_POS_MOVING
Definition: data_sets.h:1297
-
PACKED::ins4
ins_4_t ins4
Definition: data_sets.h:2572
+
PACKED::ins4
ins_4_t ins4
Definition: data_sets.h:2577
GPS_STATUS_FLAGS_WEEK_VALID
Definition: data_sets.h:356
-
PACKED::baseGlonassEphemerisCount
uint32_t baseGlonassEphemerisCount
Definition: data_sets.h:2110
-
prcopt_t::minfix
int32_t minfix
Definition: data_sets.h:1587
-
alm_t::OMGd
double OMGd
Definition: data_sets.h:1960
+
PACKED::baseGlonassEphemerisCount
uint32_t baseGlonassEphemerisCount
Definition: data_sets.h:2115
+
prcopt_t::minfix
int32_t minfix
Definition: data_sets.h:1590
+
alm_t::OMGd
double OMGd
Definition: data_sets.h:1965
SYS_CFG_BITS_ENABLE_NAV_STROBE_OUT_GPIO_9
Definition: data_sets.h:1257
RTK_CFG_BITS_RTK_ROVER
Definition: data_sets.h:1321
PACKED::ppimu
uint32_t ppimu
Definition: data_sets.h:963
-
geph_t::sva
int32_t sva
Definition: data_sets.h:1855
+
geph_t::sva
int32_t sva
Definition: data_sets.h:1860
PACKED::buildTime
uint8_t buildTime[4]
Definition: data_sets.h:419
RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER0
Definition: data_sets.h:1273
NAV_FIX_STATUS_RTK_SINGLE
Definition: data_sets.h:241
gtime_t::time
int64_t time
Definition: data_sets.h:1522
-
TASK_IDLE
Definition: data_sets.h:2478
+
TASK_IDLE
Definition: data_sets.h:2483
HDW_STATUS_GPS_SATELLITE_RX
Definition: data_sets.h:264
SAT_SV_FLAGS_ALMAVAIL
Definition: data_sets.h:729
PACKED::lastLlaTimeOfWeekMs
uint32_t lastLlaTimeOfWeekMs
Definition: data_sets.h:1434
@@ -564,45 +565,45 @@
flipDoubles
void flipDoubles(uint8_t *data, int dataLength, int offset, uint16_t *offsets, uint16_t offsetsLength)
Definition: data_sets.c:93
getDoubleOffsets
uint16_t * getDoubleOffsets(eDataIDs dataId, uint16_t *offsetsLength)
Definition: data_sets.c:145
flipDoubleCopy
double flipDoubleCopy(double val)
Definition: data_sets.c:63
-
prcopt_t::thresslip
double thresslip
Definition: data_sets.h:1632
+
prcopt_t::thresslip
double thresslip
Definition: data_sets.h:1635
CFG_SYS_CMD_SOFTWARE_RESET
Definition: data_sets.h:948
-
PACKED::P
double P[1]
Definition: data_sets.h:1703
+
PACKED::P
double P[1]
Definition: data_sets.h:1708
INS_STATUS_POS_ALIGN_FINE
Definition: data_sets.h:169
-
SURVEY_IN_STATE_OFF
Definition: data_sets.h:2257
+
SURVEY_IN_STATE_OFF
Definition: data_sets.h:2262
RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER1
Definition: data_sets.h:1288
-
eph_t::cic
double cic
Definition: data_sets.h:1805
-
eRtkSolStatus
eRtkSolStatus
Definition: data_sets.h:1995
+
eph_t::cic
double cic
Definition: data_sets.h:1810
+
eRtkSolStatus
eRtkSolStatus
Definition: data_sets.h:2000
RTK_CFG_BITS_BASE_OUTPUT_GPS1_UBLOX_SER1
Definition: data_sets.h:1276
PACKED::barTemp
float barTemp
Definition: data_sets.h:609
PACKED::temp
f_t temp
Definition: data_sets.h:997
INS_STATUS_POS_ALIGN_COARSE
Definition: data_sets.h:158
CAL_BIT_FAULT_TCAL_ACC_BIAS
Definition: data_sets.h:1178
-
alm_t::omg
double omg
Definition: data_sets.h:1954
+
alm_t::omg
double omg
Definition: data_sets.h:1959
PACKED::addInfo
char addInfo[DEVINFO_ADDINFO_STRLEN]
Definition: data_sets.h:422
-
alm_t::svh
int32_t svh
Definition: data_sets.h:1930
+
alm_t::svh
int32_t svh
Definition: data_sets.h:1935
ins_output_t
struct PACKED ins_output_t
uGpsRawData
union PACKED uGpsRawData
-
PACKED::cpuUsage
float cpuUsage
Definition: data_sets.h:2544
+
PACKED::cpuUsage
float cpuUsage
Definition: data_sets.h:2549
PACKED::ned
float ned[3]
Definition: data_sets.h:467
PACKED::val
float val
Definition: data_sets.h:797
GPS_STATUS_INIT_STATUS_REINIT
Definition: data_sets.h:380
-
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2569
+
PACKED::ins1
ins_1_t ins1
Definition: data_sets.h:2574
INS_STATUS_SOLUTION_MASK
Definition: data_sets.h:193
-
port_monitor_t::status
uint32_t status
Definition: data_sets.h:2380
-
PACKED::LLI
uint8_t LLI[1]
Definition: data_sets.h:1685
-
prcopt_t::maxaveep
int32_t maxaveep
Definition: data_sets.h:1662
+
port_monitor_t::status
uint32_t status
Definition: data_sets.h:2385
+
PACKED::LLI
uint8_t LLI[1]
Definition: data_sets.h:1690
+
prcopt_t::maxaveep
int32_t maxaveep
Definition: data_sets.h:1667
prcopt_t::bdsmodear
int32_t bdsmodear
Definition: data_sets.h:1563
SENSOR_CFG_ACC_FS_MASK
Definition: data_sets.h:1348
PACKED::buildDate
uint8_t buildDate[4]
Definition: data_sets.h:416
GPS_STATUS_FLAGS_BASE_POSITION_MOVING
Definition: data_sets.h:363
-
SURVEY_IN_STATE_RUNNING_3D
Definition: data_sets.h:2266
+
SURVEY_IN_STATE_RUNNING_3D
Definition: data_sets.h:2271
PUSH_PACK_8
#define PUSH_PACK_8
Definition: ISConstants.h:220
CAL_BIT_FAULT_TCAL_CORRUPT
Definition: data_sets.h:1174
-
PACKED::id
uint32_t id
Definition: data_sets.h:2217
+
PACKED::id
uint32_t id
Definition: data_sets.h:2222
GPS_STATUS_FIX_2D
Definition: data_sets.h:339
prcopt_t::modear
int32_t modear
Definition: data_sets.h:1554
PACKED::PDeclination
float PDeclination
Definition: data_sets.h:1495
-
prcopt_t::refpos
int32_t refpos
Definition: data_sets.h:1605
+
prcopt_t::refpos
int32_t refpos
Definition: data_sets.h:1608
barometer_t
struct PACKED barometer_t
PACKED::biasBaro
float biasBaro
Definition: data_sets.h:781
GPS_STATUS_FLAGS_GPS_COMPASS_MASK
Definition: data_sets.h:371
@@ -610,83 +611,84 @@
GPS_STATUS_FIX_SBAS
Definition: data_sets.h:346
eCalBitStatusFlags
eCalBitStatusFlags
Definition: data_sets.h:1163
INS_STATUS_SOLUTION
#define INS_STATUS_SOLUTION(insStatus)
Definition: data_sets.h:195
-
eph_t::toe
gtime_t toe
Definition: data_sets.h:1757
-
PACKED::roverGpsObservationCount
uint32_t roverGpsObservationCount
Definition: data_sets.h:2071
-
SURVEY_IN_STATE_DONE
Definition: data_sets.h:2270
+
eph_t::toe
gtime_t toe
Definition: data_sets.h:1762
+
PACKED::roverGpsObservationCount
uint32_t roverGpsObservationCount
Definition: data_sets.h:2076
+
SURVEY_IN_STATE_DONE
Definition: data_sets.h:2275
GPS_STATUS_FLAGS_BASE_NO_OBSERV_EPHEM
Definition: data_sets.h:361
PACKED::humidity
f_t humidity
Definition: data_sets.h:1007
-
PACKED::roverGlonassEphemerisCount
uint32_t roverGlonassEphemerisCount
Definition: data_sets.h:2107
+
PACKED::roverGlonassEphemerisCount
uint32_t roverGlonassEphemerisCount
Definition: data_sets.h:2112
PACKED::gpgll
uint32_t gpgll
Definition: data_sets.h:981
-
PACKED::maxRunTimeUs
uint32_t maxRunTimeUs
Definition: data_sets.h:2529
-
PACKED::data
uGpsRawData data
Definition: data_sets.h:2208
-
sta_t
Definition: data_sets.h:1905
+
PACKED::maxRunTimeUs
uint32_t maxRunTimeUs
Definition: data_sets.h:2534
+
PACKED::data
uGpsRawData data
Definition: data_sets.h:2213
+
sta_t
Definition: data_sets.h:1910
HDW_STATUS_UNUSED_1
Definition: data_sets.h:270
-
PACKED::baseGalileoObservationCount
uint32_t baseGalileoObservationCount
Definition: data_sets.h:2086
+
PACKED::baseGalileoObservationCount
uint32_t baseGalileoObservationCount
Definition: data_sets.h:2091
HDW_BIT_PASSED_MASK
Definition: data_sets.h:1146
-
PACKED::sysSensors
sys_sensors_t sysSensors
Definition: data_sets.h:2589
+
PACKED::sysSensors
sys_sensors_t sysSensors
Definition: data_sets.h:2594
INS_STATUS_RTK_COMPASSING_ANT_POS_UNSET
Definition: data_sets.h:206
HDW_STATUS_FAULT_RESET_MASK
Definition: data_sets.h:317
-
sbsmsg_t::tow
int32_t tow
Definition: data_sets.h:1892
-
eph_t::ttr
gtime_t ttr
Definition: data_sets.h:1763
-
prcopt_t::varholdamb
double varholdamb
Definition: data_sets.h:1635
+
sbsmsg_t::tow
int32_t tow
Definition: data_sets.h:1897
+
eph_t::ttr
gtime_t ttr
Definition: data_sets.h:1768
+
prcopt_t::varholdamb
double varholdamb
Definition: data_sets.h:1638
IO_CFG_INPUT_STROBE_TRIGGER_HIGH
Definition: data_sets.h:1381
-
PACKED::surveyIn
survey_in_t surveyIn
Definition: data_sets.h:2587
-
internal_diagnostic_t
Definition: data_sets.h:2432
-
eph_t::deln
double deln
Definition: data_sets.h:1784
-
PACKED::q
float q[4]
Definition: data_sets.h:2226
-
prcopt_t::mindropsats
int32_t mindropsats
Definition: data_sets.h:1581
+
PACKED::surveyIn
survey_in_t surveyIn
Definition: data_sets.h:2592
+
internal_diagnostic_t
Definition: data_sets.h:2437
+
eph_t::deln
double deln
Definition: data_sets.h:1789
+
PACKED::q
float q[4]
Definition: data_sets.h:2231
+
prcopt_t::mindropsats
int32_t mindropsats
Definition: data_sets.h:1584
GPS_STATUS_FIX_MASK
Definition: data_sets.h:350
SENSOR_CFG_GYR_DLPF_20HZ
Definition: data_sets.h:1357
HDW_STATUS_UNUSED_3
Definition: data_sets.h:290
-
PACKED::baseBeidouEphemerisCount
uint32_t baseBeidouEphemerisCount
Definition: data_sets.h:2122
+
PACKED::baseBeidouEphemerisCount
uint32_t baseBeidouEphemerisCount
Definition: data_sets.h:2127
gps_rtk_rel_t
struct PACKED gps_rtk_rel_t
gen_3axis_sensord_t
struct PACKED gen_3axis_sensord_t
-
geph_t::sat
int32_t sat
Definition: data_sets.h:1843
+
geph_t::sat
int32_t sat
Definition: data_sets.h:1848
SENSOR_CFG_GYR_DLPF_92HZ
Definition: data_sets.h:1355
HDW_STATUS_UNUSED_5
Definition: data_sets.h:314
HDW_STATUS_FAULT_RESET_WATCHDOG
Definition: data_sets.h:321
-
obs_t::data
obsd_t * data
Definition: data_sets.h:1722
-
raw_data_type_glonass_ephemeris
Definition: data_sets.h:2153
+
obs_t::data
obsd_t * data
Definition: data_sets.h:1727
+
raw_data_type_glonass_ephemeris
Definition: data_sets.h:2158
nvm_flash_cfg_t
struct PACKED nvm_flash_cfg_t
-
PACKED::baro
barometer_t baro
Definition: data_sets.h:2577
+
PACKED::baro
barometer_t baro
Definition: data_sets.h:2582
SENSOR_CFG_GYR_FS_1000
Definition: data_sets.h:1338
-
MAX_TASK_NAME_LEN
#define MAX_TASK_NAME_LEN
Definition: data_sets.h:2494
+
MAX_TASK_NAME_LEN
#define MAX_TASK_NAME_LEN
Definition: data_sets.h:2499
HDW_STATUS_SATURATION_HISTORY
Definition: data_sets.h:287
-
eph_t::Adot
double Adot
Definition: data_sets.h:1833
+
eph_t::Adot
double Adot
Definition: data_sets.h:1838
PACKED::tcPqrSlope
float tcPqrSlope
Definition: data_sets.h:1205
GPS_STATUS_FLAGS_GPS_COMPASS_NO_BASELINE
Definition: data_sets.h:370
MAX_NUM_SAT_CHANNELS
#define MAX_NUM_SAT_CHANNELS
Definition: data_sets.h:127
-
PACKED::devInfo
dev_info_t devInfo
Definition: data_sets.h:2568
+
PACKED::devInfo
dev_info_t devInfo
Definition: data_sets.h:2573
GPS_STATUS_FIX_RTK_FIX
Definition: data_sets.h:349
prcopt_t::snrmin
int32_t snrmin
Definition: data_sets.h:1551
HDW_STATUS_FAULT_RESET_SOFT
Definition: data_sets.h:323
GPS_STATUS_FIX_DEAD_RECKONING_ONLY
Definition: data_sets.h:338
-
PACKED::D
float D[1]
Definition: data_sets.h:1706
+
PACKED::D
float D[1]
Definition: data_sets.h:1711
sys_sensors_t
struct PACKED sys_sensors_t
INS_STATUS_MAG_RECALIBRATING
Definition: data_sets.h:212
-
PACKED::baseQzsEphemerisCount
uint32_t baseQzsEphemerisCount
Definition: data_sets.h:2128
+
PACKED::baseQzsEphemerisCount
uint32_t baseQzsEphemerisCount
Definition: data_sets.h:2133
INS_STATUS_SOLUTION_OFF
Definition: data_sets.h:197
CAL_BIT_FAULT_TCAL_PQR_BIAS
Definition: data_sets.h:1175
-
raw_data_type_sbas
Definition: data_sets.h:2156
-
PACKED::cov
float cov[3]
Definition: data_sets.h:2223
+
raw_data_type_sbas
Definition: data_sets.h:2161
+
PACKED::cov
float cov[3]
Definition: data_sets.h:2228
sensors_mpu_w_temp_t
struct PACKED sensors_mpu_w_temp_t
INS_STATUS_SOLUTION_AHRS
Definition: data_sets.h:202
-
PACKED::roverBeidouObservationCount
uint32_t roverBeidouObservationCount
Definition: data_sets.h:2089
+
PACKED::roverBeidouObservationCount
uint32_t roverBeidouObservationCount
Definition: data_sets.h:2094
PACKED::PABias
float PABias[3]
Definition: data_sets.h:1489
PACKED::temp
float temp
Definition: data_sets.h:840
GPS_STATUS_INIT_STATUS_READING
Definition: data_sets.h:381
CAL_BIT_FAULT_MOTION_PQR
Definition: data_sets.h:1183
-
prcopt_t::minfixsats
int32_t minfixsats
Definition: data_sets.h:1575
-
sbsmsg_t::week
int32_t week
Definition: data_sets.h:1889
+
prcopt_t::minfixsats
int32_t minfixsats
Definition: data_sets.h:1578
+
sbsmsg_t::week
int32_t week
Definition: data_sets.h:1894
INS_STATUS_ATT_ALIGN_COARSE
Definition: data_sets.h:154
CFG_SYS_CMD_SAVE_PERSISTENT_MESSAGES
Definition: data_sets.h:942
SYS_CFG_BITS_DISABLE_LEDS
Definition: data_sets.h:1239
PACKED::buildNumber
uint32_t buildNumber
Definition: data_sets.h:404
PACKED::vel1
float vel1[3]
Definition: data_sets.h:629
SYS_CFG_BITS_DISABLE_BAROMETER_FUSION
Definition: data_sets.h:1249
-
crash_info_t::r12
uint32_t r12
Definition: data_sets.h:2419
+
crash_info_t::r12
uint32_t r12
Definition: data_sets.h:2424
PACKED::PxyzNED
float PxyzNED[3]
Definition: data_sets.h:1483
INS_STATUS_SOLUTION_NAV_HIGH_VARIANCE
Definition: data_sets.h:201
+
prcopt_t::maxrej
int32_t maxrej
Definition: data_sets.h:1572
PACKED::pins2
uint32_t pins2
Definition: data_sets.h:969
PACKED::PattNED
float PattNED[3]
Definition: data_sets.h:1487
PACKED::bits
uint64_t bits
Definition: data_sets.h:1088
@@ -696,12 +698,12 @@
obsd_t
struct PACKED obsd_t
GPS_STATUS_FLAGS_DGPS_USED
Definition: data_sets.h:355
SYS_CFG_BITS_MAG_RECAL_MODE_OFFSET
Definition: data_sets.h:1243
-
EVB2_CBC_NA
Definition: data_sets.h:2324
+
EVB2_CBC_NA
Definition: data_sets.h:2329
CAL_BIT_FAULT_ORTO_EMPTY
Definition: data_sets.h:1181
BIT_STATE_OFF
Definition: data_sets.h:1132
INS_STATUS_SOLUTION_ALIGNMENT_COMPLETE
Definition: data_sets.h:199
HDW_STATUS_ERR_GPS_RX_OVERRUN
Definition: data_sets.h:300
-
alm_t::f0
double f0
Definition: data_sets.h:1966
+
alm_t::f0
double f0
Definition: data_sets.h:1971
uInsOutDatasets
union PACKED uInsOutDatasets
SAT_SV_FLAGS_ANOAVAIL
Definition: data_sets.h:730
PACKED::humidity
float humidity
Definition: data_sets.h:612
@@ -710,42 +712,43 @@
bit_t
struct PACKED bit_t
CAL_BIT_FAULT_TCAL_ACC_SLOPE
Definition: data_sets.h:1179
PACKED::flags
uint32_t flags
Definition: data_sets.h:713
-
survey_in_t
Definition: data_sets.h:2276
-
PACKED::buf
uint8_t buf[GPS_RAW_MESSAGE_BUF_SIZE]
Definition: data_sets.h:2189
+
survey_in_t
Definition: data_sets.h:2281
+
PACKED::buf
uint8_t buf[GPS_RAW_MESSAGE_BUF_SIZE]
Definition: data_sets.h:2194
getStringOffsetsLengths
uint16_t * getStringOffsetsLengths(eDataIDs dataId, uint16_t *offsetsLength)
Definition: data_sets.c:351
-
eph_t::sat
int32_t sat
Definition: data_sets.h:1729
-
PACKED::rcv
uint8_t rcv
Definition: data_sets.h:1679
+
eph_t::sat
int32_t sat
Definition: data_sets.h:1734
+
PACKED::rcv
uint8_t rcv
Definition: data_sets.h:1684
magnetometer_t
struct PACKED magnetometer_t
-
crash_info_t
Definition: data_sets.h:2404
-
SURVEY_IN_STATE_START_FIX
Definition: data_sets.h:2263
+
crash_info_t
Definition: data_sets.h:2409
+
SURVEY_IN_STATE_START_FIX
Definition: data_sets.h:2268
CFG_SYS_CMD_ENABLE_RTOS_STATS
Definition: data_sets.h:945
PACKED::hardwareVer
uint8_t hardwareVer[4]
Definition: data_sets.h:398
SENSOR_CFG_ACC_FS_4G
Definition: data_sets.h:1345
-
alm_t
Definition: data_sets.h:1924
+
alm_t
Definition: data_sets.h:1929
GPS_STATUS_INIT_STATUS_BIT_OFFSET
Definition: data_sets.h:383
HDW_BIT_FAILED_MASK
Definition: data_sets.h:1152
CFG_SYS_CMD_ENABLE_SENSOR_STATS
Definition: data_sets.h:944
HDW_STATUS_COM_PARSE_ERR_COUNT_MASK
Definition: data_sets.h:303
gps_raw_t
struct PACKED gps_raw_t
INS_STATUS_ATT_ALIGN_FINE
Definition: data_sets.h:165
-
RTOS_NUM_TASKS
Definition: data_sets.h:2488
+
RTOS_NUM_TASKS
Definition: data_sets.h:2493
GPS_STATUS_FLAGS_GPS_COMPASS_BAD_BASELINE
Definition: data_sets.h:369
HDW_STATUS_FAULT_CPU_ERR
Definition: data_sets.h:328
didToRmcBit
uint64_t didToRmcBit(uint32_t dataId, uint64_t defaultRmcBits)
Definition: data_sets.c:512
-
PACKED::baseQzsObservationCount
uint32_t baseQzsObservationCount
Definition: data_sets.h:2098
+
PACKED::baseQzsObservationCount
uint32_t baseQzsObservationCount
Definition: data_sets.h:2103
eNavFixStatus
eNavFixStatus
Definition: data_sets.h:237
-
PACKED::baseAntennaCount
uint32_t baseAntennaCount
Definition: data_sets.h:2137
+
PACKED::baseAntennaCount
uint32_t baseAntennaCount
Definition: data_sets.h:2142
flipEndianess32
void flipEndianess32(uint8_t *data, int dataLength)
Definition: data_sets.c:75
-
crash_info_t::r1
uint32_t r1
Definition: data_sets.h:2410
+
prcopt_t::maxinnophase
double maxinnophase
Definition: data_sets.h:1648
+
crash_info_t::r1
uint32_t r1
Definition: data_sets.h:2415
ins_4_t
struct PACKED ins_4_t
flashChecksum32
uint32_t flashChecksum32(const void *data, int size)
Definition: data_sets.c:506
-
PACKED::gpsRaw
gps_raw_t gpsRaw
Definition: data_sets.h:2591
+
PACKED::gpsRaw
gps_raw_t gpsRaw
Definition: data_sets.h:2596
PACKED::swVersion
uint8_t swVersion[30]
Definition: data_sets.h:750
PACKED::cBrdConfig
uint32_t cBrdConfig
Definition: data_sets.h:1446
PACKED::towOffset
double towOffset
Definition: data_sets.h:673
rtos_task_t
struct PACKED rtos_task_t
NAV_SAT_FLAGS_HEALTH_OFFSET
Definition: data_sets.h:723
-
alm_t::f1
double f1
Definition: data_sets.h:1969
+
alm_t::f1
double f1
Definition: data_sets.h:1974
PACKED::vel2
float vel2[3]
Definition: data_sets.h:632
PACKED::lastLla
double lastLla[3]
Definition: data_sets.h:1431
prcopt_t::nf
int32_t nf
Definition: data_sets.h:1542
@@ -755,16 +758,16 @@
SYS_CFG_BITS_DISABLE_MAG_DECL_ESTIMATION
Definition: data_sets.h:1236
PACKED::tcAccLinearity
float tcAccLinearity
Definition: data_sets.h:1210
SENSOR_CFG_ACC_DLPF_218HZ
Definition: data_sets.h:1365
-
PACKED::obs
obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE]
Definition: data_sets.h:2171
+
PACKED::obs
obsd_t obs[MAX_OBSERVATION_COUNT_IN_RTK_MESSAGE]
Definition: data_sets.h:2176
PACKED::tcAccBias
float tcAccBias
Definition: data_sets.h:1202
prcopt_t::soltype
int32_t soltype
Definition: data_sets.h:1539
-
prcopt_t::maxrejc
double maxrejc
Definition: data_sets.h:1647
-
PACKED::receiverIndex
uint8_t receiverIndex
Definition: data_sets.h:2196
+
prcopt_t::maxrejc
double maxrejc
Definition: data_sets.h:1651
+
PACKED::receiverIndex
uint8_t receiverIndex
Definition: data_sets.h:2201
GPS_STATUS_FIX_TIME_ONLY
Definition: data_sets.h:342
-
eph_t::sva
int32_t sva
Definition: data_sets.h:1738
+
eph_t::sva
int32_t sva
Definition: data_sets.h:1743
HDW_BIT_FAULT_GPS_NO_COM
Definition: data_sets.h:1156
-
prcopt_t::dynamics
int32_t dynamics
Definition: data_sets.h:1593
-
PACKED::accuracyCov
float accuracyCov[3]
Definition: data_sets.h:2050
+
prcopt_t::dynamics
int32_t dynamics
Definition: data_sets.h:1596
+
PACKED::accuracyCov
float accuracyCov[3]
Definition: data_sets.h:2055
GPS_STATUS_FLAGS_RTK_ENABLED
Definition: data_sets.h:358
HDW_STATUS_GPS_TIME_OF_WEEK_VALID
Definition: data_sets.h:268
PACKED::lotNumber
uint32_t lotNumber
Definition: data_sets.h:432
@@ -774,54 +777,54 @@
INS_STATUS_UNUSED_3
Definition: data_sets.h:189
RTK_CFG_BITS_RTK_MODE_MASK
Definition: data_sets.h:1324
GPS_STATUS_FLAGS_GPS_COMPASSING_VALID
Definition: data_sets.h:368
-
prcopt_t::intpref
int32_t intpref
Definition: data_sets.h:1599
-
TASK_MAINTENANCE
Definition: data_sets.h:2473
+
prcopt_t::intpref
int32_t intpref
Definition: data_sets.h:1602
+
TASK_MAINTENANCE
Definition: data_sets.h:2478
SENSOR_CFG_ACC_FS_8G
Definition: data_sets.h:1346
-
PACKED::SNR
uint8_t SNR[1]
Definition: data_sets.h:1682
-
PACKED::sbas
sbsmsg_t sbas
Definition: data_sets.h:2180
-
PACKED::gpsPos
gps_pos_t gpsPos
Definition: data_sets.h:2579
-
ion_model_utc_alm_t
Definition: data_sets.h:1973
-
EVB2_LOG_STATE_NA
Definition: data_sets.h:2339
+
PACKED::SNR
uint8_t SNR[1]
Definition: data_sets.h:1687
+
PACKED::sbas
sbsmsg_t sbas
Definition: data_sets.h:2185
+
PACKED::gpsPos
gps_pos_t gpsPos
Definition: data_sets.h:2584
+
ion_model_utc_alm_t
Definition: data_sets.h:1978
+
EVB2_LOG_STATE_NA
Definition: data_sets.h:2344
PACKED::bar
f_t bar
Definition: data_sets.h:1005
PACKED::gpsTimeSyncPeriodMs
uint32_t gpsTimeSyncPeriodMs
Definition: data_sets.h:1464
-
prcopt_t::elmaskhold
double elmaskhold
Definition: data_sets.h:1629
+
prcopt_t::elmaskhold
double elmaskhold
Definition: data_sets.h:1632
BIT_STATE_RUNNING
Definition: data_sets.h:1138
gen_3axis_sensor_t
struct PACKED gen_3axis_sensor_t
PACKED::repoRevision
uint32_t repoRevision
Definition: data_sets.h:410
SENSOR_CFG_ACC_DLPF_OFFSET
Definition: data_sets.h:1373
-
PACKED::accuracyPos
float accuracyPos[3]
Definition: data_sets.h:2046
-
geph_t::frq
int32_t frq
Definition: data_sets.h:1849
-
PACKED::inl2States
inl2_states_t inl2States
Definition: data_sets.h:2584
+
PACKED::accuracyPos
float accuracyPos[3]
Definition: data_sets.h:2051
+
geph_t::frq
int32_t frq
Definition: data_sets.h:1854
+
PACKED::inl2States
inl2_states_t inl2States
Definition: data_sets.h:2589
flipFloatCopy
float flipFloatCopy(float val)
Definition: data_sets.c:34
eHdwBitStatusFlags
eHdwBitStatusFlags
Definition: data_sets.h:1144
-
PACKED::p
float p[3]
Definition: data_sets.h:2229
-
eph_t::fit
double fit
Definition: data_sets.h:1814
-
crash_info_t::pc
uint32_t pc
Definition: data_sets.h:2425
+
PACKED::p
float p[3]
Definition: data_sets.h:2234
+
eph_t::fit
double fit
Definition: data_sets.h:1819
+
crash_info_t::pc
uint32_t pc
Definition: data_sets.h:2430
INS_STATUS_NAV_FIX_STATUS_MASK
Definition: data_sets.h:217
PACKED::ana1
float ana1
Definition: data_sets.h:867
eHdwStatusFlags
eHdwStatusFlags
Definition: data_sets.h:248
PACKED::pDop
float pDop
Definition: data_sets.h:667
PACKED::biasAcc
float biasAcc[3]
Definition: data_sets.h:778
-
rtk_solution_status_dgps
Definition: data_sets.h:2010
+
rtk_solution_status_dgps
Definition: data_sets.h:2015
SENSOR_CFG_GYR_FS_250
Definition: data_sets.h:1336
eSysConfigBits
eSysConfigBits
Definition: data_sets.h:1228
HDW_STATUS_MOTION_SIG_MASK
Definition: data_sets.h:255
-
obs_t
Definition: data_sets.h:1713
-
PACKED::pImu
preintegrated_imu_t pImu
Definition: data_sets.h:2578
+
obs_t
Definition: data_sets.h:1718
+
PACKED::pImu
preintegrated_imu_t pImu
Definition: data_sets.h:2583
PACKED::manufacturer
char manufacturer[DEVINFO_MANUFACTURER_STRLEN]
Definition: data_sets.h:413
-
PACKED::hDop
float hDop
Definition: data_sets.h:2059
-
PACKED::valid
uint8_t valid[3]
Definition: data_sets.h:2232
+
PACKED::hDop
float hDop
Definition: data_sets.h:2064
+
PACKED::valid
uint8_t valid[3]
Definition: data_sets.h:2237
PACKED::RTKCfgBits
uint32_t RTKCfgBits
Definition: data_sets.h:1470
RTK_CFG_BITS_BASE_OUTPUT_GPS1_RTCM3_SER0
Definition: data_sets.h:1279
PACKED::protocolVer
uint8_t protocolVer[4]
Definition: data_sets.h:407
-
prcopt_t::minlock
int32_t minlock
Definition: data_sets.h:1572
+
prcopt_t::minlock
int32_t minlock
Definition: data_sets.h:1575
RTK_CFG_BITS_BASE_OUTPUT_GPS2_UBLOX_SER0
Definition: data_sets.h:1285
-
crash_info_t::r2
uint32_t r2
Definition: data_sets.h:2413
+
crash_info_t::r2
uint32_t r2
Definition: data_sets.h:2418
MAG_RECAL_MODE_ABORT
Definition: data_sets.h:1112
HDW_STATUS_FAULT_RESET_HDW
Definition: data_sets.h:325
HDW_STATUS_MOTION_ACC_SIG
Definition: data_sets.h:253
PACKED::insDynModel
uint32_t insDynModel
Definition: data_sets.h:1422
-
EVB2_LOG_STATE_CMD_STOP
Definition: data_sets.h:2351
+
EVB2_LOG_STATE_CMD_STOP
Definition: data_sets.h:2356
eSensorConfig
eSensorConfig
Definition: data_sets.h:1333
gps_sat_sv_t
struct PACKED gps_sat_sv_t
PACKED::accSigma
float accSigma
Definition: data_sets.h:1222
@@ -829,33 +832,33 @@
INS_STATUS_SOLUTION_ALIGNING
Definition: data_sets.h:198
PACKED::gprmc
uint32_t gprmc
Definition: data_sets.h:987
SENSOR_CFG_ACC_DLPF_5HZ
Definition: data_sets.h:1371
-
PACKED::periodMs
uint32_t periodMs
Definition: data_sets.h:2519
+
PACKED::periodMs
uint32_t periodMs
Definition: data_sets.h:2524
INS_STATUS_VEL_ALIGN_COARSE
Definition: data_sets.h:156
INS_STATUS_SOLUTION_AHRS_HIGH_VARIANCE
Definition: data_sets.h:203
-
eph_t::OMG0
double OMG0
Definition: data_sets.h:1775
-
EVB2_CBC_USBxSPI
Definition: data_sets.h:2330
-
eph_t::crc
double crc
Definition: data_sets.h:1793
+
eph_t::OMG0
double OMG0
Definition: data_sets.h:1780
+
EVB2_CBC_USBxSPI
Definition: data_sets.h:2335
+
eph_t::crc
double crc
Definition: data_sets.h:1798
mag_cal_t
struct PACKED mag_cal_t
SENSOR_CFG_ACC_DLPF_218HZb
Definition: data_sets.h:1366
MAG_RECAL_MODE_SINGLE_AXIS
Definition: data_sets.h:1110
GPS_STATUS_FLAGS_MASK
Definition: data_sets.h:375
HDW_STATUS_SATURATION_GYR
Definition: data_sets.h:273
-
sbsmsg_t
Definition: data_sets.h:1886
+
sbsmsg_t
Definition: data_sets.h:1891
SENSOR_CFG_ACC_FS_OFFSET
Definition: data_sets.h:1349
PACKED::pimu
uint32_t pimu
Definition: data_sets.h:960
PACKED::msl
float msl
Definition: data_sets.h:522
-
eRawDataType
eRawDataType
Definition: data_sets.h:2144
+
eRawDataType
eRawDataType
Definition: data_sets.h:2149
RTK_CFG_BITS_BASE_OUTPUT_GPS2_RTCM3_SER0
Definition: data_sets.h:1291
-
eph_t::e
double e
Definition: data_sets.h:1769
-
TASK_COMMUNICATIONS
Definition: data_sets.h:2468
+
eph_t::e
double e
Definition: data_sets.h:1774
+
TASK_COMMUNICATIONS
Definition: data_sets.h:2473
PACKED::numSats
uint32_t numSats
Definition: data_sets.h:740
PACKED::sensorConfig
uint32_t sensorConfig
Definition: data_sets.h:1473
PACKED::sat
gps_sat_sv_t sat[MAX_NUM_SAT_CHANNELS]
Definition: data_sets.h:742
-
PACKED::roverGpsEphemerisCount
uint32_t roverGpsEphemerisCount
Definition: data_sets.h:2101
+
PACKED::roverGpsEphemerisCount
uint32_t roverGpsEphemerisCount
Definition: data_sets.h:2106
SYS_CFG_BITS_DISABLE_AUTOBAUD_SER1
Definition: data_sets.h:1232
INS_STATUS_RESERVED_1
Definition: data_sets.h:181
-
alm_t::toas
double toas
Definition: data_sets.h:1963
+
alm_t::toas
double toas
Definition: data_sets.h:1968
HDW_STATUS_SATURATION_ACC
Definition: data_sets.h:275
PACKED::theta1
float theta1[3]
Definition: data_sets.h:623
ISConstants.h
diff --git a/docs/html/deprecated.html b/docs/html/deprecated.html index f34db1799..823be4c48 100644 --- a/docs/html/deprecated.html +++ b/docs/html/deprecated.html @@ -23,7 +23,7 @@ Logo
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@@ -205,6 +205,8 @@   file  linked_list.h [code]   +file  pybindMacros.h [code] +  file  ring_buffer.c [code]   file  ring_buffer.h [code] diff --git a/docs/html/files.html b/docs/html/files.html index 00c404329..4a4a04f3f 100644 --- a/docs/html/files.html +++ b/docs/html/files.html @@ -23,7 +23,7 @@ Logo
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Communications, logger, and bootloader libraries.
@@ -136,20 +136,21 @@  ISUtilities.h  linked_list.c  linked_list.h - ring_buffer.c - ring_buffer.h - serialPort.c - serialPort.h - serialPortPlatform.c - serialPortPlatform.h - time_conversion.cGNSS core 'c' function library: converting time information - time_conversion.hGNSS core 'c' function library: converting time information - tinystr.cpp - tinystr.h - tinyxml.cpp - tinyxml.h - tinyxmlerror.cpp - tinyxmlparser.cpp + pybindMacros.h + ring_buffer.c + ring_buffer.h + serialPort.c + serialPort.h + serialPortPlatform.c + serialPortPlatform.h + time_conversion.cGNSS core 'c' function library: converting time information + time_conversion.hGNSS core 'c' function library: converting time information + tinystr.cpp + tinystr.h + tinyxml.cpp + tinyxml.h + tinyxmlerror.cpp + tinyxmlparser.cpp
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diff --git a/docs/html/functions_func_d.html b/docs/html/functions_func_d.html index b72fbfdb5..918d7e737 100644 --- a/docs/html/functions_func_d.html +++ b/docs/html/functions_func_d.html @@ -23,7 +23,7 @@ Logo
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diff --git a/docs/html/functions_func_h.html b/docs/html/functions_func_h.html index a4228895c..9ee911f53 100644 --- a/docs/html/functions_func_h.html +++ b/docs/html/functions_func_h.html @@ -23,7 +23,7 @@ Logo
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/functions_vars_b.html b/docs/html/functions_vars_b.html index 04549a8d5..37a06e259 100644 --- a/docs/html/functions_vars_b.html +++ b/docs/html/functions_vars_b.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/functions_vars_h.html b/docs/html/functions_vars_h.html index 90a04ac15..2664a6a3e 100644 --- a/docs/html/functions_vars_h.html +++ b/docs/html/functions_vars_h.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
diff --git a/docs/html/functions_vars_l.html b/docs/html/functions_vars_l.html index 09d12a063..b4ba76fce 100644 --- a/docs/html/functions_vars_l.html +++ b/docs/html/functions_vars_l.html @@ -23,7 +23,7 @@ Logo
SDK -  Release 1.7.1 +  Release 1.7.2
Communications, logger, and bootloader libraries.
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SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
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        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_defs_x.html b/docs/html/globals_defs_x.html index cc5a45e0f..0d60752f1 100644 --- a/docs/html/globals_defs_x.html +++ b/docs/html/globals_defs_x.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_e.html b/docs/html/globals_e.html index ced2e32f3..004363488 100644 --- a/docs/html/globals_e.html +++ b/docs/html/globals_e.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_enum.html b/docs/html/globals_enum.html index f2b38082a..2d93ce95d 100644 --- a/docs/html/globals_enum.html +++ b/docs/html/globals_enum.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval.html b/docs/html/globals_eval.html index 31bee706c..6cd408f63 100644 --- a/docs/html/globals_eval.html +++ b/docs/html/globals_eval.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_b.html b/docs/html/globals_eval_b.html index 1715abe79..9b3f76802 100644 --- a/docs/html/globals_eval_b.html +++ b/docs/html/globals_eval_b.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_c.html b/docs/html/globals_eval_c.html index 25e2832fe..9279d2357 100644 --- a/docs/html/globals_eval_c.html +++ b/docs/html/globals_eval_c.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_d.html b/docs/html/globals_eval_d.html index 0271e18a6..b82eb867a 100644 --- a/docs/html/globals_eval_d.html +++ b/docs/html/globals_eval_d.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_e.html b/docs/html/globals_eval_e.html index ff58988da..360ac3cb6 100644 --- a/docs/html/globals_eval_e.html +++ b/docs/html/globals_eval_e.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_g.html b/docs/html/globals_eval_g.html index f52e9f50b..05f14d7af 100644 --- a/docs/html/globals_eval_g.html +++ b/docs/html/globals_eval_g.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_h.html b/docs/html/globals_eval_h.html index 343683603..0c0ccc1ae 100644 --- a/docs/html/globals_eval_h.html +++ b/docs/html/globals_eval_h.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_i.html b/docs/html/globals_eval_i.html index 97d83b20f..3a818904b 100644 --- a/docs/html/globals_eval_i.html +++ b/docs/html/globals_eval_i.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_m.html b/docs/html/globals_eval_m.html index 588403c83..e525b38aa 100644 --- a/docs/html/globals_eval_m.html +++ b/docs/html/globals_eval_m.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_n.html b/docs/html/globals_eval_n.html index 66ad6fa63..69679daa3 100644 --- a/docs/html/globals_eval_n.html +++ b/docs/html/globals_eval_n.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_p.html b/docs/html/globals_eval_p.html index 4489c1b14..074f3d37f 100644 --- a/docs/html/globals_eval_p.html +++ b/docs/html/globals_eval_p.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_r.html b/docs/html/globals_eval_r.html index 31364027c..e09c9810a 100644 --- a/docs/html/globals_eval_r.html +++ b/docs/html/globals_eval_r.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_s.html b/docs/html/globals_eval_s.html index 676616c15..e6cae649b 100644 --- a/docs/html/globals_eval_s.html +++ b/docs/html/globals_eval_s.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_t.html b/docs/html/globals_eval_t.html index 40b980322..f199c7341 100644 --- a/docs/html/globals_eval_t.html +++ b/docs/html/globals_eval_t.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_eval_u.html b/docs/html/globals_eval_u.html index a11d31473..c9cc2c1e1 100644 --- a/docs/html/globals_eval_u.html +++ b/docs/html/globals_eval_u.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_f.html b/docs/html/globals_f.html index 59efce2c4..af140dde2 100644 --- a/docs/html/globals_f.html +++ b/docs/html/globals_f.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func.html b/docs/html/globals_func.html index a17b74352..c76370949 100644 --- a/docs/html/globals_func.html +++ b/docs/html/globals_func.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_b.html b/docs/html/globals_func_b.html index 999341d86..18c3f6d28 100644 --- a/docs/html/globals_func_b.html +++ b/docs/html/globals_func_b.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_c.html b/docs/html/globals_func_c.html index 592ec103b..5563e4ac4 100644 --- a/docs/html/globals_func_c.html +++ b/docs/html/globals_func_c.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_d.html b/docs/html/globals_func_d.html index 0c787d5fa..a077c6db8 100644 --- a/docs/html/globals_func_d.html +++ b/docs/html/globals_func_d.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_e.html b/docs/html/globals_func_e.html index f27d7273a..dc2f735f9 100644 --- a/docs/html/globals_func_e.html +++ b/docs/html/globals_func_e.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_f.html b/docs/html/globals_func_f.html index bb55510de..9aac4d110 100644 --- a/docs/html/globals_func_f.html +++ b/docs/html/globals_func_f.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_g.html b/docs/html/globals_func_g.html index 205e66982..5b282db7c 100644 --- a/docs/html/globals_func_g.html +++ b/docs/html/globals_func_g.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_i.html b/docs/html/globals_func_i.html index eb870b69d..3a10b056a 100644 --- a/docs/html/globals_func_i.html +++ b/docs/html/globals_func_i.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_j.html b/docs/html/globals_func_j.html index 7c88c8911..58d945620 100644 --- a/docs/html/globals_func_j.html +++ b/docs/html/globals_func_j.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_l.html b/docs/html/globals_func_l.html index 83dc77e01..64a4b4922 100644 --- a/docs/html/globals_func_l.html +++ b/docs/html/globals_func_l.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_m.html b/docs/html/globals_func_m.html index 86faefff2..3d1a9a7e8 100644 --- a/docs/html/globals_func_m.html +++ b/docs/html/globals_func_m.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_n.html b/docs/html/globals_func_n.html index 05ec0fae7..80a65c88e 100644 --- a/docs/html/globals_func_n.html +++ b/docs/html/globals_func_n.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_o.html b/docs/html/globals_func_o.html index 85531b12e..edad651d5 100644 --- a/docs/html/globals_func_o.html +++ b/docs/html/globals_func_o.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_p.html b/docs/html/globals_func_p.html index 8e7082d2a..e2ef91cf4 100644 --- a/docs/html/globals_func_p.html +++ b/docs/html/globals_func_p.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        @@ -93,6 +93,9 @@

        - p -

        diff --git a/docs/html/globals_func_q.html b/docs/html/globals_func_q.html index 1a6235f58..cb97e8dfc 100644 --- a/docs/html/globals_func_q.html +++ b/docs/html/globals_func_q.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_r.html b/docs/html/globals_func_r.html index 71260cad1..f50383c9a 100644 --- a/docs/html/globals_func_r.html +++ b/docs/html/globals_func_r.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_s.html b/docs/html/globals_func_s.html index 6e8d402b4..461225ce4 100644 --- a/docs/html/globals_func_s.html +++ b/docs/html/globals_func_s.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_t.html b/docs/html/globals_func_t.html index 00ba31df2..2e835f13a 100644 --- a/docs/html/globals_func_t.html +++ b/docs/html/globals_func_t.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_u.html b/docs/html/globals_func_u.html index cbb576800..e1df8f2da 100644 --- a/docs/html/globals_func_u.html +++ b/docs/html/globals_func_u.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_func_v.html b/docs/html/globals_func_v.html index 6658803b6..b9426a626 100644 --- a/docs/html/globals_func_v.html +++ b/docs/html/globals_func_v.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_g.html b/docs/html/globals_g.html index 556cd368e..e7aa9b39e 100644 --- a/docs/html/globals_g.html +++ b/docs/html/globals_g.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_h.html b/docs/html/globals_h.html index 5a5e2d6a7..1cd784909 100644 --- a/docs/html/globals_h.html +++ b/docs/html/globals_h.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_i.html b/docs/html/globals_i.html index 4220b31ba..bf320f344 100644 --- a/docs/html/globals_i.html +++ b/docs/html/globals_i.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_j.html b/docs/html/globals_j.html index c2c02704f..bfc3553fe 100644 --- a/docs/html/globals_j.html +++ b/docs/html/globals_j.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_l.html b/docs/html/globals_l.html index 1383fc1a9..6c8e334d2 100644 --- a/docs/html/globals_l.html +++ b/docs/html/globals_l.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_m.html b/docs/html/globals_m.html index 2e9263516..d8f45f0aa 100644 --- a/docs/html/globals_m.html +++ b/docs/html/globals_m.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_n.html b/docs/html/globals_n.html index 1edbf81ce..11af3fb5b 100644 --- a/docs/html/globals_n.html +++ b/docs/html/globals_n.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_o.html b/docs/html/globals_o.html index 703e60571..cb2562ae0 100644 --- a/docs/html/globals_o.html +++ b/docs/html/globals_o.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        diff --git a/docs/html/globals_p.html b/docs/html/globals_p.html index 736feb59d..4a508bc5a 100644 --- a/docs/html/globals_p.html +++ b/docs/html/globals_p.html @@ -23,7 +23,7 @@ Logo
        SDK -  Release 1.7.1 +  Release 1.7.2
        Communications, logger, and bootloader libraries.
        @@ -294,8 +294,8 @@

        - p -

          : ISComm.h
        • psiDCM() -: ISPose.h -, ISPose.c +: ISPose.c +, ISPose.h
        • PUSH_PACK_1 : ISConstants.h @@ -306,6 +306,9 @@

          - p -

          diff --git a/docs/html/globals_q.html b/docs/html/globals_q.html index 506362190..2879962ed 100644 --- a/docs/html/globals_q.html +++ b/docs/html/globals_q.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/globals_r.html b/docs/html/globals_r.html index 7ab7e8deb..f2402e2bd 100644 --- a/docs/html/globals_r.html +++ b/docs/html/globals_r.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/globals_s.html b/docs/html/globals_s.html index 2c26139b2..dbd3255c5 100644 --- a/docs/html/globals_s.html +++ b/docs/html/globals_s.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/globals_t.html b/docs/html/globals_t.html index c0751aa07..326370fcb 100644 --- a/docs/html/globals_t.html +++ b/docs/html/globals_t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/globals_type.html b/docs/html/globals_type.html index e78834725..e264d8db4 100644 --- a/docs/html/globals_type.html +++ b/docs/html/globals_type.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/globals_u.html b/docs/html/globals_u.html index 8d768b575..ec5f8b887 100644 --- a/docs/html/globals_u.html +++ b/docs/html/globals_u.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/globals_v.html b/docs/html/globals_v.html index b770ed080..2b759894d 100644 --- a/docs/html/globals_v.html +++ b/docs/html/globals_v.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/globals_vars.html b/docs/html/globals_vars.html index c5c45592b..2c25ac6d9 100644 --- a/docs/html/globals_vars.html +++ b/docs/html/globals_vars.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/globals_x.html b/docs/html/globals_x.html index 65da18f6e..b2a57c803 100644 --- a/docs/html/globals_x.html +++ b/docs/html/globals_x.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/hierarchy.html b/docs/html/hierarchy.html index 7ea478835..c8a2ec9e9 100644 --- a/docs/html/hierarchy.html +++ b/docs/html/hierarchy.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/index.html b/docs/html/index.html index c0ea2c9d0..af7ca71be 100644 --- a/docs/html/index.html +++ b/docs/html/index.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/inertial_sense_boot_loader_8c.html b/docs/html/inertial_sense_boot_loader_8c.html index 2d49ac716..1ca2f0757 100644 --- a/docs/html/inertial_sense_boot_loader_8c.html +++ b/docs/html/inertial_sense_boot_loader_8c.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/inertial_sense_boot_loader_8c_source.html b/docs/html/inertial_sense_boot_loader_8c_source.html index bcfeb312b..f33acef72 100644 --- a/docs/html/inertial_sense_boot_loader_8c_source.html +++ b/docs/html/inertial_sense_boot_loader_8c_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/inertial_sense_boot_loader_8h.html b/docs/html/inertial_sense_boot_loader_8h.html index 51934a66a..5cbd39883 100644 --- a/docs/html/inertial_sense_boot_loader_8h.html +++ b/docs/html/inertial_sense_boot_loader_8h.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/inertial_sense_boot_loader_8h_source.html b/docs/html/inertial_sense_boot_loader_8h_source.html index 47427e4d8..301cbb3b0 100644 --- a/docs/html/inertial_sense_boot_loader_8h_source.html +++ b/docs/html/inertial_sense_boot_loader_8h_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/linked__list_8c.html b/docs/html/linked__list_8c.html index 8d8cf2ed7..48902655d 100644 --- a/docs/html/linked__list_8c.html +++ b/docs/html/linked__list_8c.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/linked__list_8c_source.html b/docs/html/linked__list_8c_source.html index 7a71d7413..c3ce156b9 100644 --- a/docs/html/linked__list_8c_source.html +++ b/docs/html/linked__list_8c_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/linked__list_8h.html b/docs/html/linked__list_8h.html index 4e483ddf2..9263c8de6 100644 --- a/docs/html/linked__list_8h.html +++ b/docs/html/linked__list_8h.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/linked__list_8h_source.html b/docs/html/linked__list_8h_source.html index ccd275f9c..61d53840f 100644 --- a/docs/html/linked__list_8h_source.html +++ b/docs/html/linked__list_8h_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/pages.html b/docs/html/pages.html index ce5c94069..631555980 100644 --- a/docs/html/pages.html +++ b/docs/html/pages.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/pybind_macros_8h.html b/docs/html/pybind_macros_8h.html new file mode 100644 index 000000000..922297883 --- /dev/null +++ b/docs/html/pybind_macros_8h.html @@ -0,0 +1,3596 @@ + + + + + + + +SDK: src/pybindMacros.h File Reference + + + + + + + + + +
          +
          + + + + + + + +
          +
          SDK +  Release 1.7.2 +
          +
          Communications, logger, and bootloader libraries.
          +
          +
          + + + + + + + + +
          +
          + + +
          + +
          + + +
          +
          +
          +Functions
          +
          +
          pybindMacros.h File Reference
          +
          +
          + +

          Go to the source code of this file.

          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

          +Functions

           PYBIND11_NUMPY_DTYPE (gps_sat_sv_t, gnssId, svId, cno, elev, azim, prRes, flags)
           
           PYBIND11_NUMPY_DTYPE (sensors_mpu_w_temp_t, pqr, acc, mag, temp)
           
           PYBIND11_NUMPY_DTYPE (rtos_task_t, name, priority, stackUnused, periodMs, runTimeUs, maxRunTimeUs, averageRunTimeUs, gapCount, cpuUsage, handle)
           
           PYBIND11_NUMPY_DTYPE (imus_t, pqr, acc)
           
           PYBIND11_NUMPY_DTYPE (sensors_mpu_t, pqr, acc, mag)
           
           PYBIND11_NUMPY_DTYPE (dev_info_t, reserved, serialNumber, hardwareVer, firmwareVer, buildNumber, protocolVer, repoRevision, manufacturer, buildDate, buildTime, addInfo)
           
           PYBIND11_NUMPY_DTYPE (crash_info_t, r0, r1, r2, r3, r12, lr, pc, psr)
           
           PYBIND11_NUMPY_DTYPE (preintegrated_imu_t, time, theta1, theta2, vel1, vel2, dt)
           
           PYBIND11_NUMPY_DTYPE (ins_1_t, week, timeOfWeek, insStatus, hdwStatus, theta, uvw, lla, ned)
           
           PYBIND11_NUMPY_DTYPE (ins_2_t, week, timeOfWeek, insStatus, hdwStatus, qn2b, uvw, lla)
           
           PYBIND11_NUMPY_DTYPE (gps_pos_t, week, timeOfWeekMs, status, ecef, lla, hMSL, hAcc, vAcc, pDop, cnoMean, towOffset)
           
           PYBIND11_NUMPY_DTYPE (config_t, system, invSystem)
           
           PYBIND11_NUMPY_DTYPE (ascii_msgs_t, options, pimu, ppimu, pins1, pins2, pgpsp, reserved, gpgga, gpgll, gpgsa, gprmc)
           
           PYBIND11_NUMPY_DTYPE (rmc_t, bits, options)
           
           PYBIND11_NUMPY_DTYPE (sys_params_t, timeOfWeekMs, insStatus, hdwStatus, imuTemp, baroTemp, mcuTemp, reserved1, imuPeriodMs, navPeriodMs, reserved2, genFaultCode)
           
           PYBIND11_NUMPY_DTYPE (sys_sensors_t, time, temp, pqr, acc, mag, bar, barTemp, mslBar, humidity, vin, ana1, ana3, ana4)
           
           PYBIND11_NUMPY_DTYPE (nvm_flash_cfg_t, size, checksum, key, startupImuDtMs, startupNavDtMs, ser0BaudRate, ser1BaudRate, insRotation, insOffset, gps1AntOffset, insDynModel, sysCfgBits, refLla, lastLla, lastLlaTimeOfWeekMs, lastLlaWeek, lastLlaUpdateDistance, ioConfig, cBrdConfig, gps2AntOffset, zeroVelRotation, zeroVelOffset, magInclination, magDeclination, gpsTimeSyncPeriodMs, startupGPSDtMs, RTKCfgBits, sensorConfig)
           
           PYBIND11_NUMPY_DTYPE (gps_sat_t, timeOfWeekMs, numSats, sat)
           
           PYBIND11_NUMPY_DTYPE (gps_version_t, swVersion, hwVersion, extension, reserved)
           
           PYBIND11_NUMPY_DTYPE (mag_cal_t, enMagRecal, progress, declination)
           
           PYBIND11_NUMPY_DTYPE (internal_diagnostic_t, gapCountSerialDriver, gapCountSerialParser, rxOverflowCount, txOverflowCount, checksumFailCount)
           
           PYBIND11_NUMPY_DTYPE (gps_rtk_rel_t, timeOfWeekMs, differentialAge, arRatio, vectorToBase, distanceToBase, headingToBase)
           
           PYBIND11_NUMPY_DTYPE (gps_rtk_misc_t, timeOfWeekMs, accuracyPos, accuracyCov, arThreshold, gDop, hDop, vDop, baseLla, cycleSlipCount, roverGpsObservationCount, baseGpsObservationCount, roverGlonassObservationCount, baseGlonassObservationCount, roverGalileoObservationCount, baseGalileoObservationCount, roverBeidouObservationCount, baseBeidouObservationCount, roverQzsObservationCount, baseQzsObservationCount, roverGpsEphemerisCount, baseGpsEphemerisCount, roverGlonassEphemerisCount, baseGlonassEphemerisCount, roverGalileoEphemerisCount, baseGalileoEphemerisCount, roverBeidouEphemerisCount, baseBeidouEphemerisCount, roverQzsEphemerisCount, baseQzsEphemerisCount, roverSbasCount, baseSbasCount, baseAntennaCount, ionUtcAlmCount)
           
           PYBIND11_NUMPY_DTYPE (sensors_t, mpu)
           
           PYBIND11_NUMPY_DTYPE (io_t, timeOfWeekMs, gpioStatus)
           
           PYBIND11_NUMPY_DTYPE (sys_sensors_adc_t, time, mpu, bar, barTemp, humidity, ana)
           
           PYBIND11_NUMPY_DTYPE (gps_vel_t, timeOfWeekMs, velEcef, sAcc)
           
           PYBIND11_NUMPY_DTYPE (rtos_info_t, task, freeHeapSize, mallocMinusFree)
           
           PYBIND11_NUMPY_DTYPE (inl2_states_t, timeOfWeek, qe2b, ve, ecef, biasPqr, biasAcc, biasBaro, magDec, magInc)
           
           PYBIND11_NUMPY_DTYPE (magnetometer_t, time, mag)
           
           PYBIND11_NUMPY_DTYPE (barometer_t, time, bar, mslBar, barTemp, humidity)
           
           PYBIND11_NUMPY_DTYPE (dual_imu_t, time, I)
           
           PYBIND11_NUMPY_DTYPE (manufacturing_info_t, serialNumber, lotNumber, date, key)
           
           PYBIND11_NUMPY_DTYPE (bit_t, state, hdwBitStatus, calBitStatus, tcPqrBias, tcAccBias, tcPqrSlope, tcAccSlope, tcPqrLinearity, tcAccLinearity, pqr, acc, pqrSigma, accSigma)
           
           PYBIND11_NUMPY_DTYPE (ins_3_t, week, timeOfWeek, insStatus, hdwStatus, qn2b, uvw, lla, msl)
           
           PYBIND11_NUMPY_DTYPE (ins_4_t, week, timeOfWeek, insStatus, hdwStatus, qe2b, ve, ecef)
           
           PYBIND11_NUMPY_DTYPE (inl2_ned_sigma_t, timeOfWeekMs, PxyzNED, PvelNED, PattNED, PABias, PWBias, PBaroBias, PDeclination)
           
           PYBIND11_NUMPY_DTYPE (strobe_in_time_t, week, timeOfWeekMs, pin, count)
           
           PYBIND11_NUMPY_DTYPE (velocity_sensor_t, time_ms, id, vel, cov, q, p, valid, reserved)
           
           PYBIND11_NUMPY_DTYPE (diag_msg_t, timeOfWeekMs, messageLength, message)
           
           PYBIND11_NUMPY_DTYPE (survey_in_t, state, maxDurationSec, minAccuracy, elapsedTimeSec, hAccuracy, lla)
           
           PYBIND11_NUMPY_DTYPE (evb2_t, firmwareVer, comBridgeCfg, loggerState, loggerElapsedTimeMs, ipAddr)
           
           PYBIND11_NUMPY_DTYPE (feature_bits_t, key, featureBits, hash1, hash2)
           
           PYBIND11_NUMPY_DTYPE (sensor_comp_unit_t, lpfLsb, temp, tempRampRate, tci, numTcPts, dtTemp)
           
           PYBIND11_NUMPY_DTYPE (imu1_t, pqr, acc, mag)
           
           PYBIND11_NUMPY_DTYPE (sensors_w_temp_t, mpu)
           
           PYBIND11_NUMPY_DTYPE (sensor_bias_t, timeOfWeekMs, pqr, acc, mslBar, magI, magB)
           
           PYBIND11_NUMPY_DTYPE (sensor_compensation_t, mpu, sampleCount, calState, alignAccel, status)
           
           PYBIND11_NUMPY_DTYPE (hdw_params_t, timeOfWeekMs, pqrDev, accDev, pqrSigma, accSigma, mean, update, gpsCnoSigma, gpsCnoMean)
           
           PYBIND11_NUMPY_DTYPE (nvr_manage_t, flash_write_needed, flash_write_count)
           
           PYBIND11_NUMPY_DTYPE (debug_string_t, s)
           
           PYBIND11_NUMPY_DTYPE (debug_array_t, i, f, lf)
           
           PYBIND11_NUMPY_DTYPE (ins_dev_1_t, week, timeOfWeek, insStatus, hdwStatus, euler, uvw, lla, ned, eulerErr, uvwErr, nedErr)
           
           PYBIND11_NUMPY_DTYPE (inl2_status_t, ahrs, zero_accel, zero_angrate, accel_motion, rot_motion, zero_vel, ahrs_gps_cnt, att_err, att_coarse, att_aligned, att_aligning, start_proc_done, mag_cal_good, mag_cal_done, stat_magfield)
           
           PYBIND11_NUMPY_DTYPE (inl2_misc_t, gps_time_last_valid)
           
          +

          Function Documentation

          + +

          ◆ PYBIND11_NUMPY_DTYPE() [1/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (gps_sat_sv_t ,
          gnssId ,
          svId ,
          cno ,
          elev ,
          azim ,
          prRes ,
          flags  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [2/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sensors_mpu_w_temp_t ,
          pqr ,
          acc ,
          mag ,
          temp  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [3/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (rtos_task_t ,
          name ,
          priority ,
          stackUnused ,
          periodMs ,
          runTimeUs ,
          maxRunTimeUs ,
          averageRunTimeUs ,
          gapCount ,
          cpuUsage ,
          handle  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [4/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (imus_t ,
          pqr ,
          acc  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [5/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sensors_mpu_t ,
          pqr ,
          acc ,
          mag  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [6/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (dev_info_t ,
          reserved ,
          serialNumber ,
          hardwareVer ,
          firmwareVer ,
          buildNumber ,
          protocolVer ,
          repoRevision ,
          manufacturer ,
          buildDate ,
          buildTime ,
          addInfo  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [7/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (crash_info_t ,
          r0 ,
          r1 ,
          r2 ,
          r3 ,
          r12 ,
          lr ,
          pc ,
          psr  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [8/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (preintegrated_imu_t ,
          time ,
          theta1 ,
          theta2 ,
          vel1 ,
          vel2 ,
          dt  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [9/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (ins_1_t ,
          week ,
          timeOfWeek ,
          insStatus ,
          hdwStatus ,
          theta ,
          uvw ,
          lla ,
          ned  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [10/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (ins_2_t ,
          week ,
          timeOfWeek ,
          insStatus ,
          hdwStatus ,
          qn2b ,
          uvw ,
          lla  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [11/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (gps_pos_t ,
          week ,
          timeOfWeekMs ,
          status ,
          ecef ,
          lla ,
          hMSL ,
          hAcc ,
          vAcc ,
          pDop ,
          cnoMean ,
          towOffset  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [12/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (config_t ,
          system ,
          invSystem  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [13/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (ascii_msgs_t ,
          options ,
          pimu ,
          ppimu ,
          pins1 ,
          pins2 ,
          pgpsp ,
          reserved ,
          gpgga ,
          gpgll ,
          gpgsa ,
          gprmc  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [14/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (rmc_t ,
          bits ,
          options  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [15/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sys_params_t ,
          timeOfWeekMs ,
          insStatus ,
          hdwStatus ,
          imuTemp ,
          baroTemp ,
          mcuTemp ,
          reserved1 ,
          imuPeriodMs ,
          navPeriodMs ,
          reserved2 ,
          genFaultCode  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [16/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sys_sensors_t ,
          time ,
          temp ,
          pqr ,
          acc ,
          mag ,
          bar ,
          barTemp ,
          mslBar ,
          humidity ,
          vin ,
          ana1 ,
          ana3 ,
          ana4  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [17/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (nvm_flash_cfg_t ,
          size ,
          checksum ,
          key ,
          startupImuDtMs ,
          startupNavDtMs ,
          ser0BaudRate ,
          ser1BaudRate ,
          insRotation ,
          insOffset ,
          gps1AntOffset ,
          insDynModel ,
          sysCfgBits ,
          refLla ,
          lastLla ,
          lastLlaTimeOfWeekMs ,
          lastLlaWeek ,
          lastLlaUpdateDistance ,
          ioConfig ,
          cBrdConfig ,
          gps2AntOffset ,
          zeroVelRotation ,
          zeroVelOffset ,
          magInclination ,
          magDeclination ,
          gpsTimeSyncPeriodMs ,
          startupGPSDtMs ,
          RTKCfgBits ,
          sensorConfig  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [18/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (gps_sat_t ,
          timeOfWeekMs ,
          numSats ,
          sat  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [19/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (gps_version_t ,
          swVersion ,
          hwVersion ,
          extension ,
          reserved  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [20/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (mag_cal_t ,
          enMagRecal ,
          progress ,
          declination  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [21/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (internal_diagnostic_t ,
          gapCountSerialDriver ,
          gapCountSerialParser ,
          rxOverflowCount ,
          txOverflowCount ,
          checksumFailCount  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [22/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (gps_rtk_rel_t ,
          timeOfWeekMs ,
          differentialAge ,
          arRatio ,
          vectorToBase ,
          distanceToBase ,
          headingToBase  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [23/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (gps_rtk_misc_t ,
          timeOfWeekMs ,
          accuracyPos ,
          accuracyCov ,
          arThreshold ,
          gDop ,
          hDop ,
          vDop ,
          baseLla ,
          cycleSlipCount ,
          roverGpsObservationCount ,
          baseGpsObservationCount ,
          roverGlonassObservationCount ,
          baseGlonassObservationCount ,
          roverGalileoObservationCount ,
          baseGalileoObservationCount ,
          roverBeidouObservationCount ,
          baseBeidouObservationCount ,
          roverQzsObservationCount ,
          baseQzsObservationCount ,
          roverGpsEphemerisCount ,
          baseGpsEphemerisCount ,
          roverGlonassEphemerisCount ,
          baseGlonassEphemerisCount ,
          roverGalileoEphemerisCount ,
          baseGalileoEphemerisCount ,
          roverBeidouEphemerisCount ,
          baseBeidouEphemerisCount ,
          roverQzsEphemerisCount ,
          baseQzsEphemerisCount ,
          roverSbasCount ,
          baseSbasCount ,
          baseAntennaCount ,
          ionUtcAlmCount  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [24/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sensors_t ,
          mpu  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [25/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (io_t ,
          timeOfWeekMs ,
          gpioStatus  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [26/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sys_sensors_adc_t ,
          time ,
          mpu ,
          bar ,
          barTemp ,
          humidity ,
          ana  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [27/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (gps_vel_t ,
          timeOfWeekMs ,
          velEcef ,
          sAcc  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [28/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (rtos_info_t ,
          task ,
          freeHeapSize ,
          mallocMinusFree  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [29/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (inl2_states_t ,
          timeOfWeek ,
          qe2b ,
          ve ,
          ecef ,
          biasPqr ,
          biasAcc ,
          biasBaro ,
          magDec ,
          magInc  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [30/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (magnetometer_t ,
          time ,
          mag  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [31/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (barometer_t ,
          time ,
          bar ,
          mslBar ,
          barTemp ,
          humidity  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [32/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (dual_imu_t ,
          time ,
          I  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [33/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (manufacturing_info_t ,
          serialNumber ,
          lotNumber ,
          date ,
          key  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [34/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (bit_t ,
          state ,
          hdwBitStatus ,
          calBitStatus ,
          tcPqrBias ,
          tcAccBias ,
          tcPqrSlope ,
          tcAccSlope ,
          tcPqrLinearity ,
          tcAccLinearity ,
          pqr ,
          acc ,
          pqrSigma ,
          accSigma  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [35/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (ins_3_t ,
          week ,
          timeOfWeek ,
          insStatus ,
          hdwStatus ,
          qn2b ,
          uvw ,
          lla ,
          msl  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [36/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (ins_4_t ,
          week ,
          timeOfWeek ,
          insStatus ,
          hdwStatus ,
          qe2b ,
          ve ,
          ecef  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [37/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (inl2_ned_sigma_t ,
          timeOfWeekMs ,
          PxyzNED ,
          PvelNED ,
          PattNED ,
          PABias ,
          PWBias ,
          PBaroBias ,
          PDeclination  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [38/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (strobe_in_time_t ,
          week ,
          timeOfWeekMs ,
          pin ,
          count  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [39/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (velocity_sensor_t ,
          time_ms ,
          id ,
          vel ,
          cov ,
          q ,
          p ,
          valid ,
          reserved  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [40/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (diag_msg_t ,
          timeOfWeekMs ,
          messageLength ,
          message  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [41/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (survey_in_t ,
          state ,
          maxDurationSec ,
          minAccuracy ,
          elapsedTimeSec ,
          hAccuracy ,
          lla  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [42/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (evb2_t ,
          firmwareVer ,
          comBridgeCfg ,
          loggerState ,
          loggerElapsedTimeMs ,
          ipAddr  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [43/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (feature_bits_t ,
          key ,
          featureBits ,
          hash1 ,
          hash2  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [44/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sensor_comp_unit_t ,
          lpfLsb ,
          temp ,
          tempRampRate ,
          tci ,
          numTcPts ,
          dtTemp  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [45/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (imu1_t ,
          pqr ,
          acc ,
          mag  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [46/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sensors_w_temp_t ,
          mpu  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [47/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sensor_bias_t ,
          timeOfWeekMs ,
          pqr ,
          acc ,
          mslBar ,
          magI ,
          magB  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [48/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (sensor_compensation_t ,
          mpu ,
          sampleCount ,
          calState ,
          alignAccel ,
          status  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [49/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (hdw_params_t ,
          timeOfWeekMs ,
          pqrDev ,
          accDev ,
          pqrSigma ,
          accSigma ,
          mean ,
          update ,
          gpsCnoSigma ,
          gpsCnoMean  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [50/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (nvr_manage_t ,
          flash_write_needed ,
          flash_write_count  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [51/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (debug_string_t ,
          s  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [52/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (debug_array_t ,
          i ,
          f ,
          lf  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [53/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (ins_dev_1_t ,
          week ,
          timeOfWeek ,
          insStatus ,
          hdwStatus ,
          euler ,
          uvw ,
          lla ,
          ned ,
          eulerErr ,
          uvwErr ,
          nedErr  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [54/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (inl2_status_t ,
          ahrs ,
          zero_accel ,
          zero_angrate ,
          accel_motion ,
          rot_motion ,
          zero_vel ,
          ahrs_gps_cnt ,
          att_err ,
          att_coarse ,
          att_aligned ,
          att_aligning ,
          start_proc_done ,
          mag_cal_good ,
          mag_cal_done ,
          stat_magfield  
          )
          +
          + +
          +
          + +

          ◆ PYBIND11_NUMPY_DTYPE() [55/55]

          + +
          +
          + + + + + + + + + + + + + + + + + + +
          PYBIND11_NUMPY_DTYPE (inl2_misc_t ,
          gps_time_last_valid  
          )
          +
          + +
          +
          +
          + +
          +Generated by   +doxygen + 1.8.14 +
          + + diff --git a/docs/html/pybind_macros_8h_source.html b/docs/html/pybind_macros_8h_source.html new file mode 100644 index 000000000..991362bdd --- /dev/null +++ b/docs/html/pybind_macros_8h_source.html @@ -0,0 +1,91 @@ + + + + + + + +SDK: src/pybindMacros.h Source File + + + + + + + + + +
          +
          + + + + + + + +
          +
          SDK +  Release 1.7.2 +
          +
          Communications, logger, and bootloader libraries.
          +
          +
          + + + + + + + + +
          +
          + + +
          + +
          + + +
          +
          +
          +
          pybindMacros.h
          +
          +
          +Go to the documentation of this file.
          1 // support types
          2 PYBIND11_NUMPY_DTYPE(gps_sat_sv_t, gnssId, svId, cno, elev, azim, prRes, flags);
          3 PYBIND11_NUMPY_DTYPE(sensors_mpu_w_temp_t, pqr, acc, mag, temp);
          4 PYBIND11_NUMPY_DTYPE(rtos_task_t, name, priority, stackUnused, periodMs, runTimeUs, maxRunTimeUs, averageRunTimeUs, gapCount, cpuUsage, handle);
          5 PYBIND11_NUMPY_DTYPE(imus_t, pqr, acc);
          6 PYBIND11_NUMPY_DTYPE(sensors_mpu_t, pqr, acc, mag);
          7 
          8 
          9 
          10 // Public Typcs
          11 PYBIND11_NUMPY_DTYPE(dev_info_t, reserved, serialNumber, hardwareVer, firmwareVer, buildNumber, protocolVer, repoRevision, manufacturer, buildDate, buildTime, addInfo);
          12 PYBIND11_NUMPY_DTYPE(crash_info_t, r0, r1, r2, r3, r12, lr, pc, psr);
          13 PYBIND11_NUMPY_DTYPE(preintegrated_imu_t, time, theta1, theta2, vel1, vel2, dt);
          14 PYBIND11_NUMPY_DTYPE(ins_1_t, week, timeOfWeek, insStatus, hdwStatus, theta, uvw, lla, ned);
          15 PYBIND11_NUMPY_DTYPE(ins_2_t, week, timeOfWeek, insStatus, hdwStatus, qn2b, uvw, lla);
          16 PYBIND11_NUMPY_DTYPE(gps_pos_t, week, timeOfWeekMs, status, ecef, lla, hMSL, hAcc, vAcc, pDop, cnoMean, towOffset);
          17 PYBIND11_NUMPY_DTYPE(config_t, system, invSystem);
          18 PYBIND11_NUMPY_DTYPE(ascii_msgs_t, options, pimu, ppimu, pins1, pins2, pgpsp, reserved, gpgga, gpgll, gpgsa, gprmc);
          19 PYBIND11_NUMPY_DTYPE(rmc_t, bits, options);
          20 PYBIND11_NUMPY_DTYPE(sys_params_t, timeOfWeekMs, insStatus, hdwStatus, imuTemp, baroTemp, mcuTemp, reserved1, imuPeriodMs, navPeriodMs, reserved2, genFaultCode);
          21 PYBIND11_NUMPY_DTYPE(sys_sensors_t, time, temp, pqr, acc, mag, bar, barTemp, mslBar, humidity, vin, ana1, ana3, ana4);
          22 PYBIND11_NUMPY_DTYPE(nvm_flash_cfg_t, size, checksum, key, startupImuDtMs, startupNavDtMs, ser0BaudRate, ser1BaudRate, insRotation, insOffset, gps1AntOffset, insDynModel, sysCfgBits, refLla, lastLla, lastLlaTimeOfWeekMs, lastLlaWeek, lastLlaUpdateDistance, ioConfig, cBrdConfig, gps2AntOffset, zeroVelRotation, zeroVelOffset, magInclination, magDeclination, gpsTimeSyncPeriodMs, startupGPSDtMs, RTKCfgBits, sensorConfig);
          23 PYBIND11_NUMPY_DTYPE(gps_sat_t, timeOfWeekMs, numSats, sat);
          24 PYBIND11_NUMPY_DTYPE(gps_version_t, swVersion, hwVersion, extension, reserved);
          25 PYBIND11_NUMPY_DTYPE(mag_cal_t, enMagRecal, progress, declination);
          26 PYBIND11_NUMPY_DTYPE(internal_diagnostic_t, gapCountSerialDriver, gapCountSerialParser, rxOverflowCount, txOverflowCount, checksumFailCount);
          27 PYBIND11_NUMPY_DTYPE(gps_rtk_rel_t, timeOfWeekMs, differentialAge, arRatio, vectorToBase, distanceToBase, headingToBase);
          28 PYBIND11_NUMPY_DTYPE(gps_rtk_misc_t, timeOfWeekMs, accuracyPos, accuracyCov, arThreshold, gDop, hDop, vDop, baseLla, cycleSlipCount, roverGpsObservationCount, baseGpsObservationCount, roverGlonassObservationCount, baseGlonassObservationCount, roverGalileoObservationCount, baseGalileoObservationCount, roverBeidouObservationCount, baseBeidouObservationCount, roverQzsObservationCount, baseQzsObservationCount, roverGpsEphemerisCount, baseGpsEphemerisCount, roverGlonassEphemerisCount, baseGlonassEphemerisCount, roverGalileoEphemerisCount, baseGalileoEphemerisCount, roverBeidouEphemerisCount, baseBeidouEphemerisCount, roverQzsEphemerisCount, baseQzsEphemerisCount, roverSbasCount, baseSbasCount, baseAntennaCount, ionUtcAlmCount);
          29 PYBIND11_NUMPY_DTYPE(sensors_t, mpu);
          30 PYBIND11_NUMPY_DTYPE(io_t, timeOfWeekMs, gpioStatus);
          31 PYBIND11_NUMPY_DTYPE(sys_sensors_adc_t, time, mpu, bar, barTemp, humidity, ana);
          32 PYBIND11_NUMPY_DTYPE(gps_vel_t, timeOfWeekMs, velEcef, sAcc);
          33 PYBIND11_NUMPY_DTYPE(rtos_info_t, task, freeHeapSize, mallocMinusFree);
          34 PYBIND11_NUMPY_DTYPE(inl2_states_t, timeOfWeek, qe2b, ve, ecef, biasPqr, biasAcc, biasBaro, magDec, magInc);
          35 PYBIND11_NUMPY_DTYPE(magnetometer_t, time, mag);
          36 PYBIND11_NUMPY_DTYPE(barometer_t, time, bar, mslBar, barTemp, humidity);
          37 PYBIND11_NUMPY_DTYPE(dual_imu_t, time, I);
          38 //PYBIND11_NUMPY_DTYPE(gps_raw_t, receiverIndex, dataType, obsCount, reserved, data);
          39 //PYBIND11_NUMPY_DTYPE(gps_rtk_opt_t, mode, soltype, nf, navsys, elmin, snrmin, modear, glomodear, gpsmodear, bdsmodear, arfilter, maxout, minlock, minfixsats, minholdsats, mindropsats, rcvstds, minfix, armaxiter, dynamics, niter, intpref, rovpos, refpos, eratio, err, std, prn, sclkstab, thresar, elmaskar, elmaskhold, thresslip, varholdamb, gainholdamb, maxtdiff, maxinno, maxrejc, maxgdop, baseline, ru, rb, maxaveep, outsingle, prcopt_t);
          40 PYBIND11_NUMPY_DTYPE(manufacturing_info_t, serialNumber, lotNumber, date, key);
          41 PYBIND11_NUMPY_DTYPE(bit_t, state, hdwBitStatus, calBitStatus, tcPqrBias, tcAccBias, tcPqrSlope, tcAccSlope, tcPqrLinearity, tcAccLinearity, pqr, acc, pqrSigma, accSigma);
          42 PYBIND11_NUMPY_DTYPE(ins_3_t, week, timeOfWeek, insStatus, hdwStatus, qn2b, uvw, lla, msl);
          43 PYBIND11_NUMPY_DTYPE(ins_4_t, week, timeOfWeek, insStatus, hdwStatus, qe2b, ve, ecef);
          44 PYBIND11_NUMPY_DTYPE(inl2_ned_sigma_t, timeOfWeekMs, PxyzNED, PvelNED, PattNED, PABias, PWBias, PBaroBias, PDeclination);
          45 PYBIND11_NUMPY_DTYPE(strobe_in_time_t, week, timeOfWeekMs, pin, count);
          46 PYBIND11_NUMPY_DTYPE(velocity_sensor_t, time_ms, id, vel, cov, q, p, valid, reserved);
          47 PYBIND11_NUMPY_DTYPE(diag_msg_t, timeOfWeekMs, messageLength, message);
          48 PYBIND11_NUMPY_DTYPE(survey_in_t, state, maxDurationSec, minAccuracy, elapsedTimeSec, hAccuracy, lla);
          49 PYBIND11_NUMPY_DTYPE(evb2_t, firmwareVer, comBridgeCfg, loggerState, loggerElapsedTimeMs, ipAddr);
          50 //PYBIND11_NUMPY_DTYPE(port_monitor_t, portNumber, txTimeMs, txBytesPerS, rxTimeMs, rxBytesPerS, status);
          51 
          52 
          53 // Internal Data types
          54 PYBIND11_NUMPY_DTYPE(feature_bits_t, key, featureBits, hash1, hash2);
          55 PYBIND11_NUMPY_DTYPE(sensor_comp_unit_t, lpfLsb, temp, tempRampRate, tci, numTcPts, dtTemp);
          56 PYBIND11_NUMPY_DTYPE(imu1_t, pqr, acc, mag);
          57 PYBIND11_NUMPY_DTYPE(sensors_w_temp_t, mpu);
          58 PYBIND11_NUMPY_DTYPE(sensor_bias_t, timeOfWeekMs, pqr, acc, mslBar, magI, magB);
          59 PYBIND11_NUMPY_DTYPE(sensor_compensation_t, mpu, sampleCount, calState, alignAccel, status);
          60 PYBIND11_NUMPY_DTYPE(hdw_params_t, timeOfWeekMs, pqrDev, accDev, pqrSigma, accSigma, mean, update, gpsCnoSigma, gpsCnoMean);
          61 PYBIND11_NUMPY_DTYPE(nvr_manage_t, flash_write_needed, flash_write_count);
          62 PYBIND11_NUMPY_DTYPE(debug_string_t, s);
          63 PYBIND11_NUMPY_DTYPE(debug_array_t, i, f, lf);
          64 PYBIND11_NUMPY_DTYPE(ins_dev_1_t, week, timeOfWeek, insStatus, hdwStatus, euler, uvw, lla, ned, eulerErr, uvwErr, nedErr);
          65 PYBIND11_NUMPY_DTYPE(inl2_status_t, ahrs, zero_accel, zero_angrate, accel_motion, rot_motion, zero_vel, ahrs_gps_cnt, att_err, att_coarse, att_aligned, att_aligning, start_proc_done, mag_cal_good, mag_cal_done, stat_magfield);
          66 PYBIND11_NUMPY_DTYPE(inl2_misc_t, gps_time_last_valid);
          evb2_t
          Definition: data_sets.h:2305
          +
          dev_info_t
          PUSH_PACK_1 struct PACKED dev_info_t
          +
          PYBIND11_NUMPY_DTYPE
          PYBIND11_NUMPY_DTYPE(gps_sat_sv_t, gnssId, svId, cno, elev, azim, prRes, flags)
          +
          diag_msg_t
          Definition: data_sets.h:2247
          +
          internal_diagnostic_t
          Definition: data_sets.h:2437
          +
          survey_in_t
          Definition: data_sets.h:2281
          +
          crash_info_t
          Definition: data_sets.h:2409
          + +
          + +
          +Generated by   +doxygen + 1.8.14 +
          + + diff --git a/docs/html/ring__buffer_8c.html b/docs/html/ring__buffer_8c.html index 4465aa43f..48b3d77b2 100644 --- a/docs/html/ring__buffer_8c.html +++ b/docs/html/ring__buffer_8c.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
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          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/ring__buffer_8h.html b/docs/html/ring__buffer_8h.html index 36739590c..3da029738 100644 --- a/docs/html/ring__buffer_8h.html +++ b/docs/html/ring__buffer_8h.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/ring__buffer_8h_source.html b/docs/html/ring__buffer_8h_source.html index 0b310b7dc..b2f19e980 100644 --- a/docs/html/ring__buffer_8h_source.html +++ b/docs/html/ring__buffer_8h_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
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          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
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          SDK -  Release 1.7.1 +  Release 1.7.2
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          SDK -  Release 1.7.1 +  Release 1.7.2
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          SDK -  Release 1.7.1 +  Release 1.7.2
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          SDK -  Release 1.7.1 +  Release 1.7.2
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          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
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          SDK -  Release 1.7.1 +  Release 1.7.2
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          SDK -  Release 1.7.1 +  Release 1.7.2
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          Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: Absolute value of means square root of estimated covariance NE, EU, UN

          -

          Definition at line 2050 of file data_sets.h.

          +

          Definition at line 2055 of file data_sets.h.

          @@ -730,7 +730,7 @@

          Accuracy - estimated standard deviations of the solution assuming a priori error model and error parameters by the positioning options. []: standard deviations {ECEF - x,y,z} or {north, east, down} (meters)

          -

          Definition at line 2046 of file data_sets.h.

          +

          Definition at line 2051 of file data_sets.h.

          @@ -831,7 +831,7 @@

          Ambiguity resolution ratio factor for validation

          -

          Definition at line 2026 of file data_sets.h.

          +

          Definition at line 2031 of file data_sets.h.

          @@ -848,7 +848,7 @@

          Ambiguity resolution threshold for validation

          -

          Definition at line 2053 of file data_sets.h.

          +

          Definition at line 2058 of file data_sets.h.

          @@ -865,7 +865,7 @@

          Rolling average over last 1000 executions

          -

          Definition at line 2534 of file data_sets.h.

          +

          Definition at line 2539 of file data_sets.h.

          @@ -931,7 +931,7 @@

          -

          Definition at line 2577 of file data_sets.h.

          +

          Definition at line 2582 of file data_sets.h.

          @@ -998,7 +998,7 @@

          Base station antenna position element counter

          -

          Definition at line 2137 of file data_sets.h.

          +

          Definition at line 2142 of file data_sets.h.

          @@ -1015,7 +1015,7 @@

          Base station beidou ephemeris element counter

          -

          Definition at line 2122 of file data_sets.h.

          +

          Definition at line 2127 of file data_sets.h.

          @@ -1032,7 +1032,7 @@

          Base station beidou observation element counter

          -

          Definition at line 2092 of file data_sets.h.

          +

          Definition at line 2097 of file data_sets.h.

          @@ -1049,7 +1049,7 @@

          Base station galileo ephemeris element counter

          -

          Definition at line 2116 of file data_sets.h.

          +

          Definition at line 2121 of file data_sets.h.

          @@ -1066,7 +1066,7 @@

          Base station galileo observation element counter

          -

          Definition at line 2086 of file data_sets.h.

          +

          Definition at line 2091 of file data_sets.h.

          @@ -1083,7 +1083,7 @@

          Base station glonass ephemeris element counter

          -

          Definition at line 2110 of file data_sets.h.

          +

          Definition at line 2115 of file data_sets.h.

          @@ -1100,7 +1100,7 @@

          Base station glonass observation element counter

          -

          Definition at line 2080 of file data_sets.h.

          +

          Definition at line 2085 of file data_sets.h.

          @@ -1117,7 +1117,7 @@

          Base station gps ephemeris element counter

          -

          Definition at line 2104 of file data_sets.h.

          +

          Definition at line 2109 of file data_sets.h.

          @@ -1134,7 +1134,7 @@

          Base station gps observation element counter

          -

          Definition at line 2074 of file data_sets.h.

          +

          Definition at line 2079 of file data_sets.h.

          @@ -1151,7 +1151,7 @@

          Base Position - latitude, longitude, height (degrees, meters)

          -

          Definition at line 2065 of file data_sets.h.

          +

          Definition at line 2070 of file data_sets.h.

          @@ -1168,7 +1168,7 @@

          Base station qzs ephemeris element counter

          -

          Definition at line 2128 of file data_sets.h.

          +

          Definition at line 2133 of file data_sets.h.

          @@ -1185,7 +1185,7 @@

          Base station qzs observation element counter

          -

          Definition at line 2098 of file data_sets.h.

          +

          Definition at line 2103 of file data_sets.h.

          @@ -1202,7 +1202,7 @@

          Base station sbas element counter

          -

          Definition at line 2134 of file data_sets.h.

          +

          Definition at line 2139 of file data_sets.h.

          @@ -1287,7 +1287,7 @@

          Byte buffer

          -

          Definition at line 2189 of file data_sets.h.

          +

          Definition at line 2194 of file data_sets.h.

          @@ -1440,7 +1440,7 @@

          code indicator (BeiDou: CODE_L1I, Other: CODE_L1C )

          -

          Definition at line 1688 of file data_sets.h.

          +

          Definition at line 1693 of file data_sets.h.

          @@ -1474,7 +1474,7 @@

          Covariance Matrix Diagonal (E[xx], E[yy], E[zz])

          -

          Definition at line 2223 of file data_sets.h.

          +

          Definition at line 2228 of file data_sets.h.

          @@ -1491,7 +1491,7 @@

          Cpu usage percent

          -

          Definition at line 2544 of file data_sets.h.

          +

          Definition at line 2549 of file data_sets.h.

          @@ -1508,7 +1508,7 @@

          Cycle slip counter

          -

          Definition at line 2068 of file data_sets.h.

          +

          Definition at line 2073 of file data_sets.h.

          @@ -1525,7 +1525,7 @@

          observation data doppler frequency (0.002 Hz)

          -

          Definition at line 1706 of file data_sets.h.

          +

          Definition at line 1711 of file data_sets.h.

          @@ -1542,7 +1542,7 @@

          Interpret based on dataType (see eRawDataType)

          -

          Definition at line 2208 of file data_sets.h.

          +

          Definition at line 2213 of file data_sets.h.

          @@ -1559,7 +1559,7 @@

          Type of data (eRawDataType: 1=observations, 2=ephemeris, 3=glonassEphemeris, 4=SBAS, 5=baseAntenna, 6=IonosphereModel)

          -

          Definition at line 2199 of file data_sets.h.

          +

          Definition at line 2204 of file data_sets.h.

          @@ -1609,7 +1609,7 @@

          -

          Definition at line 2568 of file data_sets.h.

          +

          Definition at line 2573 of file data_sets.h.

          @@ -1626,7 +1626,7 @@

          Age of differential (seconds)

          -

          Definition at line 2023 of file data_sets.h.

          +

          Definition at line 2028 of file data_sets.h.

          @@ -1643,7 +1643,7 @@

          Distance to Base (m)

          -

          Definition at line 2032 of file data_sets.h.

          +

          Definition at line 2037 of file data_sets.h.

          @@ -1676,7 +1676,7 @@

          -

          Definition at line 2574 of file data_sets.h.

          +

          Definition at line 2579 of file data_sets.h.

          @@ -1746,7 +1746,7 @@

          Satellite non-GLONASS ephemeris data (GPS, Galileo, Beidou, QZSS)

          -

          Definition at line 2174 of file data_sets.h.

          +

          Definition at line 2179 of file data_sets.h.

          @@ -1813,7 +1813,7 @@

          -

          Definition at line 2586 of file data_sets.h.

          +

          Definition at line 2591 of file data_sets.h.

          @@ -1830,7 +1830,7 @@

          Heap high water mark bytes

          -

          Definition at line 2559 of file data_sets.h.

          +

          Definition at line 2564 of file data_sets.h.

          @@ -1847,7 +1847,7 @@

          Counter of times task took too long to run

          -

          Definition at line 2539 of file data_sets.h.

          +

          Definition at line 2544 of file data_sets.h.

          @@ -1864,7 +1864,7 @@

          Geometric dilution of precision (meters)

          -

          Definition at line 2056 of file data_sets.h.

          +

          Definition at line 2061 of file data_sets.h.

          @@ -1898,7 +1898,7 @@

          Satellite GLONASS ephemeris data

          -

          Definition at line 2177 of file data_sets.h.

          +

          Definition at line 2182 of file data_sets.h.

          @@ -2050,7 +2050,7 @@

          -

          Definition at line 2579 of file data_sets.h.

          +

          Definition at line 2584 of file data_sets.h.

          @@ -2066,7 +2066,7 @@

          -

          Definition at line 2591 of file data_sets.h.

          +

          Definition at line 2596 of file data_sets.h.

          @@ -2082,7 +2082,7 @@

          -

          Definition at line 2583 of file data_sets.h.

          +

          Definition at line 2588 of file data_sets.h.

          @@ -2098,7 +2098,7 @@

          -

          Definition at line 2582 of file data_sets.h.

          +

          Definition at line 2587 of file data_sets.h.

          @@ -2114,7 +2114,7 @@

          -

          Definition at line 2581 of file data_sets.h.

          +

          Definition at line 2586 of file data_sets.h.

          @@ -2147,7 +2147,7 @@

          -

          Definition at line 2580 of file data_sets.h.

          +

          Definition at line 2585 of file data_sets.h.

          @@ -2181,7 +2181,7 @@

          Handle

          -

          Definition at line 2549 of file data_sets.h.

          +

          Definition at line 2554 of file data_sets.h.

          @@ -2215,7 +2215,7 @@

          Horizontal dilution of precision (meters)

          -

          Definition at line 2059 of file data_sets.h.

          +

          Definition at line 2064 of file data_sets.h.

          @@ -2267,7 +2267,7 @@

          Angle from north to vectorToBase in local tangent plane. (rad)

          -

          Definition at line 2035 of file data_sets.h.

          +

          Definition at line 2040 of file data_sets.h.

          @@ -2369,7 +2369,7 @@

          ID of sensor

          -

          Definition at line 2217 of file data_sets.h.

          +

          Definition at line 2222 of file data_sets.h.

          @@ -2385,7 +2385,7 @@

          -

          Definition at line 2573 of file data_sets.h.

          +

          Definition at line 2578 of file data_sets.h.

          @@ -2435,7 +2435,7 @@

          -

          Definition at line 2585 of file data_sets.h.

          +

          Definition at line 2590 of file data_sets.h.

          @@ -2451,7 +2451,7 @@

          -

          Definition at line 2584 of file data_sets.h.

          +

          Definition at line 2589 of file data_sets.h.

          @@ -2467,7 +2467,7 @@

          -

          Definition at line 2569 of file data_sets.h.

          +

          Definition at line 2574 of file data_sets.h.

          @@ -2483,7 +2483,7 @@

          -

          Definition at line 2570 of file data_sets.h.

          +

          Definition at line 2575 of file data_sets.h.

          @@ -2499,7 +2499,7 @@

          -

          Definition at line 2571 of file data_sets.h.

          +

          Definition at line 2576 of file data_sets.h.

          @@ -2515,7 +2515,7 @@

          -

          Definition at line 2572 of file data_sets.h.

          +

          Definition at line 2577 of file data_sets.h.

          @@ -2635,7 +2635,7 @@

          Ionosphere model and UTC parameters

          -

          Definition at line 2186 of file data_sets.h.

          +

          Definition at line 2191 of file data_sets.h.

          @@ -2652,7 +2652,7 @@

          Ionosphere model, utc and almanac count

          -

          Definition at line 2140 of file data_sets.h.

          +

          Definition at line 2145 of file data_sets.h.

          @@ -2687,7 +2687,7 @@

          observation data carrier-phase (cycle)

          -

          Definition at line 1700 of file data_sets.h.

          +

          Definition at line 1705 of file data_sets.h.

          @@ -2793,7 +2793,7 @@

          loss of lock indicator bit1=loss-of-lock, bit2=half-cycle-invalid

          -

          Definition at line 1685 of file data_sets.h.

          +

          Definition at line 1690 of file data_sets.h.

          @@ -2859,7 +2859,7 @@

          -

          Definition at line 2575 of file data_sets.h.

          +

          Definition at line 2580 of file data_sets.h.

          @@ -2875,7 +2875,7 @@

          -

          Definition at line 2576 of file data_sets.h.

          +

          Definition at line 2581 of file data_sets.h.

          @@ -2960,7 +2960,7 @@

          Malloc - free counter

          -

          Definition at line 2562 of file data_sets.h.

          +

          Definition at line 2567 of file data_sets.h.

          @@ -2994,7 +2994,7 @@

          Max run time microseconds

          -

          Definition at line 2529 of file data_sets.h.

          +

          Definition at line 2534 of file data_sets.h.

          @@ -3078,7 +3078,7 @@

          Task name

          -

          Definition at line 2504 of file data_sets.h.

          +

          Definition at line 2509 of file data_sets.h.

          @@ -3146,7 +3146,7 @@

          Satellite observation data

          -

          Definition at line 2171 of file data_sets.h.

          +

          Definition at line 2176 of file data_sets.h.

          @@ -3163,7 +3163,7 @@

          Number of observations in data (obsd_t) when dataType==1 (raw_data_type_observation).

          -

          Definition at line 2202 of file data_sets.h.

          +

          Definition at line 2207 of file data_sets.h.

          @@ -3198,7 +3198,7 @@

          observation data pseudorange (m)

          -

          Definition at line 1703 of file data_sets.h.

          +

          Definition at line 1708 of file data_sets.h.

          @@ -3215,7 +3215,7 @@

          Sensor origin position in IMU frame { x, y, z}

          -

          Definition at line 2229 of file data_sets.h.

          +

          Definition at line 2234 of file data_sets.h.

          @@ -3317,7 +3317,7 @@

          Task period ms

          -

          Definition at line 2519 of file data_sets.h.

          +

          Definition at line 2524 of file data_sets.h.

          @@ -3367,7 +3367,7 @@

          -

          Definition at line 2578 of file data_sets.h.

          +

          Definition at line 2583 of file data_sets.h.

          @@ -3504,7 +3504,7 @@

          Task priority (0 - 8)

          -

          Definition at line 2509 of file data_sets.h.

          +

          Definition at line 2514 of file data_sets.h.

          @@ -3623,7 +3623,7 @@

          Quaternion rotation from IMU frame to sensor frame {w, x, y, z}

          -

          Definition at line 2226 of file data_sets.h.

          +

          Definition at line 2231 of file data_sets.h.

          @@ -3675,7 +3675,7 @@

          Estimated carrier phase measurement standard deviation (0.004 cycles)

          -

          Definition at line 1691 of file data_sets.h.

          +

          Definition at line 1696 of file data_sets.h.

          @@ -3692,7 +3692,7 @@

          Estimated pseudorange measurement standard deviation (0.01 m)

          -

          Definition at line 1694 of file data_sets.h.

          +

          Definition at line 1699 of file data_sets.h.

          @@ -3709,7 +3709,7 @@

          receiver number

          -

          Definition at line 1679 of file data_sets.h.

          +

          Definition at line 1684 of file data_sets.h.

          @@ -3726,7 +3726,7 @@

          Receiver index (1=RECEIVER_INDEX_GPS1, 2=RECEIVER_INDEX_EXTERNAL_BASE, or 3=RECEIVER_INDEX_GPS2 )

          -

          Definition at line 2196 of file data_sets.h.

          +

          Definition at line 2201 of file data_sets.h.

          @@ -3852,7 +3852,7 @@

          Rover beidou ephemeris element counter

          -

          Definition at line 2119 of file data_sets.h.

          +

          Definition at line 2124 of file data_sets.h.

          @@ -3869,7 +3869,7 @@

          Rover beidou observation element counter

          -

          Definition at line 2089 of file data_sets.h.

          +

          Definition at line 2094 of file data_sets.h.

          @@ -3886,7 +3886,7 @@

          Rover galileo ephemeris element counter

          -

          Definition at line 2113 of file data_sets.h.

          +

          Definition at line 2118 of file data_sets.h.

          @@ -3903,7 +3903,7 @@

          Rover galileo observation element counter

          -

          Definition at line 2083 of file data_sets.h.

          +

          Definition at line 2088 of file data_sets.h.

          @@ -3920,7 +3920,7 @@

          Rover glonass ephemeris element counter

          -

          Definition at line 2107 of file data_sets.h.

          +

          Definition at line 2112 of file data_sets.h.

          @@ -3937,7 +3937,7 @@

          Rover glonass observation element counter

          -

          Definition at line 2077 of file data_sets.h.

          +

          Definition at line 2082 of file data_sets.h.

          @@ -3954,7 +3954,7 @@

          Rover gps ephemeris element counter

          -

          Definition at line 2101 of file data_sets.h.

          +

          Definition at line 2106 of file data_sets.h.

          @@ -3971,7 +3971,7 @@

          Rover gps observation element counter

          -

          Definition at line 2071 of file data_sets.h.

          +

          Definition at line 2076 of file data_sets.h.

          @@ -3988,7 +3988,7 @@

          Rover qzs ephemeris element counter

          -

          Definition at line 2125 of file data_sets.h.

          +

          Definition at line 2130 of file data_sets.h.

          @@ -4005,7 +4005,7 @@

          Rover qzs observation element counter

          -

          Definition at line 2095 of file data_sets.h.

          +

          Definition at line 2100 of file data_sets.h.

          @@ -4022,7 +4022,7 @@

          Rover sbas element counter

          -

          Definition at line 2131 of file data_sets.h.

          +

          Definition at line 2136 of file data_sets.h.

          @@ -4055,7 +4055,7 @@

          -

          Definition at line 2590 of file data_sets.h.

          +

          Definition at line 2595 of file data_sets.h.

          @@ -4072,7 +4072,7 @@

          Last run time microseconds

          -

          Definition at line 2524 of file data_sets.h.

          +

          Definition at line 2529 of file data_sets.h.

          @@ -4123,7 +4123,7 @@

          satellite number

          -

          Definition at line 1676 of file data_sets.h.

          +

          Definition at line 1681 of file data_sets.h.

          @@ -4140,7 +4140,7 @@

          Satellite-Based Augmentation Systems (SBAS) data

          -

          Definition at line 2180 of file data_sets.h.

          +

          Definition at line 2185 of file data_sets.h.

          @@ -4173,7 +4173,7 @@

          -

          Definition at line 2592 of file data_sets.h.

          +

          Definition at line 2597 of file data_sets.h.

          @@ -4258,7 +4258,7 @@

          signal strength (0.25 dBHz)

          -

          Definition at line 1682 of file data_sets.h.

          +

          Definition at line 1687 of file data_sets.h.

          @@ -4275,7 +4275,7 @@

          Base station information (base position, antenna position, antenna height, etc.)

          -

          Definition at line 2183 of file data_sets.h.

          +

          Definition at line 2188 of file data_sets.h.

          @@ -4292,7 +4292,7 @@

          Stack high water mark bytes

          -

          Definition at line 2514 of file data_sets.h.

          +

          Definition at line 2519 of file data_sets.h.

          @@ -4393,7 +4393,7 @@

          -

          Definition at line 2587 of file data_sets.h.

          +

          Definition at line 2592 of file data_sets.h.

          @@ -4460,7 +4460,7 @@

          -

          Definition at line 2588 of file data_sets.h.

          +

          Definition at line 2593 of file data_sets.h.

          @@ -4476,7 +4476,7 @@

          -

          Definition at line 2589 of file data_sets.h.

          +

          Definition at line 2594 of file data_sets.h.

          @@ -4510,7 +4510,7 @@

          Tasks

          -

          Definition at line 2556 of file data_sets.h.

          +

          Definition at line 2561 of file data_sets.h.

          @@ -4728,7 +4728,7 @@

          receiver sampling time (GPST)

          -

          Definition at line 1673 of file data_sets.h.

          +

          Definition at line 1678 of file data_sets.h.

          @@ -4745,7 +4745,7 @@

          Time measure was taken

          -

          Definition at line 2214 of file data_sets.h.

          +

          Definition at line 2219 of file data_sets.h.

          @@ -4934,7 +4934,7 @@

          Valid velocity vector terms {x, y, z}

          -

          Definition at line 2232 of file data_sets.h.

          +

          Definition at line 2237 of file data_sets.h.

          @@ -4951,7 +4951,7 @@

          Vertical dilution of precision (meters)

          -

          Definition at line 2062 of file data_sets.h.

          +

          Definition at line 2067 of file data_sets.h.

          @@ -4986,7 +4986,7 @@

          Vector to base (m) in ECEF - If Compassing enabled, this is the 3-vector from antenna 2 to antenna 1

          -

          Definition at line 2029 of file data_sets.h.

          +

          Definition at line 2034 of file data_sets.h.

          @@ -5003,7 +5003,7 @@

          Velocity Measurement (xyz)

          -

          Definition at line 2220 of file data_sets.h.

          +

          Definition at line 2225 of file data_sets.h.

          diff --git a/docs/html/struct_ti_xml_cursor-members.html b/docs/html/struct_ti_xml_cursor-members.html index f94b1fc4b..1bd059c49 100644 --- a/docs/html/struct_ti_xml_cursor-members.html +++ b/docs/html/struct_ti_xml_cursor-members.html @@ -23,7 +23,7 @@ Logo
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          diff --git a/docs/html/structalm__t-members.html b/docs/html/structalm__t-members.html index 68c2d072e..89d2b71af 100644 --- a/docs/html/structalm__t-members.html +++ b/docs/html/structalm__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
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          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -110,7 +110,7 @@

          Detailed Description

          almanac type

          -

          Definition at line 1924 of file data_sets.h.

          +

          Definition at line 1929 of file data_sets.h.

          Member Data Documentation

          ◆ A

          @@ -125,7 +125,7 @@

          SV orbit parameters - A

          -

          Definition at line 1942 of file data_sets.h.

          +

          Definition at line 1947 of file data_sets.h.

          @@ -142,7 +142,7 @@

          SV orbit parameters - e

          -

          Definition at line 1945 of file data_sets.h.

          +

          Definition at line 1950 of file data_sets.h.

          @@ -159,7 +159,7 @@

          SV clock parameters - af0

          -

          Definition at line 1966 of file data_sets.h.

          +

          Definition at line 1971 of file data_sets.h.

          @@ -176,7 +176,7 @@

          SV clock parameters - af1

          -

          Definition at line 1969 of file data_sets.h.

          +

          Definition at line 1974 of file data_sets.h.

          @@ -193,7 +193,7 @@

          SV orbit parameters - i0

          -

          Definition at line 1948 of file data_sets.h.

          +

          Definition at line 1953 of file data_sets.h.

          @@ -210,7 +210,7 @@

          SV orbit parameters - M0

          -

          Definition at line 1957 of file data_sets.h.

          +

          Definition at line 1962 of file data_sets.h.

          @@ -227,7 +227,7 @@

          SV orbit parameters - omg

          -

          Definition at line 1954 of file data_sets.h.

          +

          Definition at line 1959 of file data_sets.h.

          @@ -244,7 +244,7 @@

          SV orbit parameters - OMG0

          -

          Definition at line 1951 of file data_sets.h.

          +

          Definition at line 1956 of file data_sets.h.

          @@ -261,7 +261,7 @@

          SV orbit parameters - OMGd

          -

          Definition at line 1960 of file data_sets.h.

          +

          Definition at line 1965 of file data_sets.h.

          @@ -278,7 +278,7 @@

          satellite number

          -

          Definition at line 1927 of file data_sets.h.

          +

          Definition at line 1932 of file data_sets.h.

          @@ -295,7 +295,7 @@

          as and sv config

          -

          Definition at line 1933 of file data_sets.h.

          +

          Definition at line 1938 of file data_sets.h.

          @@ -312,7 +312,7 @@

          sv health (0:ok)

          -

          Definition at line 1930 of file data_sets.h.

          +

          Definition at line 1935 of file data_sets.h.

          @@ -328,7 +328,7 @@

          -

          Definition at line 1939 of file data_sets.h.

          +

          Definition at line 1944 of file data_sets.h.

          @@ -345,7 +345,7 @@

          Toa (s) in week - toas

          -

          Definition at line 1963 of file data_sets.h.

          +

          Definition at line 1968 of file data_sets.h.

          @@ -361,7 +361,7 @@

          -

          Definition at line 1936 of file data_sets.h.

          +

          Definition at line 1941 of file data_sets.h.

          diff --git a/docs/html/structascii_message_map__t-members.html b/docs/html/structascii_message_map__t-members.html index 2c4292328..f411ac9d6 100644 --- a/docs/html/structascii_message_map__t-members.html +++ b/docs/html/structascii_message_map__t-members.html @@ -23,7 +23,7 @@ Logo
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          SDK -  Release 1.7.1 +  Release 1.7.2
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          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structcom__manager__t-members.html b/docs/html/structcom__manager__t-members.html index 272d4ed85..3a31c7584 100644 --- a/docs/html/structcom__manager__t-members.html +++ b/docs/html/structcom__manager__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structcom__manager__t.html b/docs/html/structcom__manager__t.html index 0613090a7..1b6b0b36e 100644 --- a/docs/html/structcom__manager__t.html +++ b/docs/html/structcom__manager__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structcrash__info__t-members.html b/docs/html/structcrash__info__t-members.html index 5524b43e1..c1295435b 100644 --- a/docs/html/structcrash__info__t-members.html +++ b/docs/html/structcrash__info__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structcrash__info__t.html b/docs/html/structcrash__info__t.html index 45e636324..be062bfa1 100644 --- a/docs/html/structcrash__info__t.html +++ b/docs/html/structcrash__info__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -96,7 +96,7 @@

          Detailed Description

          Crash Info message Special values: 0xFFFFFFFA: User reset 0xFFFFFFFB: Enable bootloader 0xFFFFFFFC: Invalid code operation 0xFFFFFFFD: soft reset was issued 0xFFFFFFFE: malloc failed 0xFFFFFFFF: stack overflow Others: Non-zero is Hard fault

          -

          Definition at line 2404 of file data_sets.h.

          +

          Definition at line 2409 of file data_sets.h.

          Member Data Documentation

          ◆ lr

          @@ -111,7 +111,7 @@

          link register value at time of HardFault

          -

          Definition at line 2422 of file data_sets.h.

          +

          Definition at line 2427 of file data_sets.h.

          @@ -128,7 +128,7 @@

          Program Counter value at time of HardFault

          -

          Definition at line 2425 of file data_sets.h.

          +

          Definition at line 2430 of file data_sets.h.

          @@ -145,7 +145,7 @@

          Program Status Register value at time of HardFault

          -

          Definition at line 2428 of file data_sets.h.

          +

          Definition at line 2433 of file data_sets.h.

          @@ -162,7 +162,7 @@

          r0 value at time of HardFault

          -

          Definition at line 2407 of file data_sets.h.

          +

          Definition at line 2412 of file data_sets.h.

          @@ -179,7 +179,7 @@

          r1 value at time of HardFault

          -

          Definition at line 2410 of file data_sets.h.

          +

          Definition at line 2415 of file data_sets.h.

          @@ -196,7 +196,7 @@

          r12 value at time of HardFault

          -

          Definition at line 2419 of file data_sets.h.

          +

          Definition at line 2424 of file data_sets.h.

          @@ -213,7 +213,7 @@

          r2 value at time of HardFault

          -

          Definition at line 2413 of file data_sets.h.

          +

          Definition at line 2418 of file data_sets.h.

          @@ -230,7 +230,7 @@

          r3 value at time of HardFault

          -

          Definition at line 2416 of file data_sets.h.

          +

          Definition at line 2421 of file data_sets.h.

          diff --git a/docs/html/structdata__info__t-members.html b/docs/html/structdata__info__t-members.html index 5d6a3877e..bd4719efc 100644 --- a/docs/html/structdata__info__t-members.html +++ b/docs/html/structdata__info__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structdata__info__t.html b/docs/html/structdata__info__t.html index 41bfc9e1a..dcbeff46c 100644 --- a/docs/html/structdata__info__t.html +++ b/docs/html/structdata__info__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structdiag__msg__t-members.html b/docs/html/structdiag__msg__t-members.html index 0b6cf4414..527cfb49d 100644 --- a/docs/html/structdiag__msg__t-members.html +++ b/docs/html/structdiag__msg__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structdiag__msg__t.html b/docs/html/structdiag__msg__t.html index f67bf3a94..c38c79319 100644 --- a/docs/html/structdiag__msg__t.html +++ b/docs/html/structdiag__msg__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -86,7 +86,7 @@

          Detailed Description

          Diagnostic message

          -

          Definition at line 2242 of file data_sets.h.

          +

          Definition at line 2247 of file data_sets.h.

          Member Data Documentation

          ◆ message

          @@ -101,7 +101,7 @@

          Message data, max size of message is 256

          -

          Definition at line 2251 of file data_sets.h.

          +

          Definition at line 2256 of file data_sets.h.

          @@ -118,7 +118,7 @@

          Message length, including null terminator

          -

          Definition at line 2248 of file data_sets.h.

          +

          Definition at line 2253 of file data_sets.h.

          @@ -135,7 +135,7 @@

          Time of week (since Sunday morning) in milliseconds, GMT

          -

          Definition at line 2245 of file data_sets.h.

          +

          Definition at line 2250 of file data_sets.h.

          diff --git a/docs/html/structensured__pkt__t-members.html b/docs/html/structensured__pkt__t-members.html index 4d5f83f84..6cdd39ea3 100644 --- a/docs/html/structensured__pkt__t-members.html +++ b/docs/html/structensured__pkt__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structensured__pkt__t.html b/docs/html/structensured__pkt__t.html index 453302c13..424952769 100644 --- a/docs/html/structensured__pkt__t.html +++ b/docs/html/structensured__pkt__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structeph__t-members.html b/docs/html/structeph__t-members.html index 016e7222a..b710cc639 100644 --- a/docs/html/structeph__t-members.html +++ b/docs/html/structeph__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structeph__t.html b/docs/html/structeph__t.html index fbd33e1a8..6a1d6e682 100644 --- a/docs/html/structeph__t.html +++ b/docs/html/structeph__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -148,7 +148,7 @@

          Detailed Description

          non-Glonass ephemeris data

          -

          Definition at line 1726 of file data_sets.h.

          +

          Definition at line 1731 of file data_sets.h.

          Member Data Documentation

          ◆ A

          @@ -163,7 +163,7 @@

          Semi-Major Axis m

          -

          Definition at line 1766 of file data_sets.h.

          +

          Definition at line 1771 of file data_sets.h.

          @@ -180,7 +180,7 @@

          Adot for CNAV

          -

          Definition at line 1833 of file data_sets.h.

          +

          Definition at line 1838 of file data_sets.h.

          @@ -197,7 +197,7 @@

          Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination (rad)

          -

          Definition at line 1805 of file data_sets.h.

          +

          Definition at line 1810 of file data_sets.h.

          @@ -214,7 +214,7 @@

          Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination (rad)

          -

          Definition at line 1808 of file data_sets.h.

          +

          Definition at line 1813 of file data_sets.h.

          @@ -231,7 +231,7 @@

          GPS/QZS: code on L2 (00=Invalid, 01 = P Code ON, 11 = C/A code ON, 11 = Invalid) GAL/CMP: data sources

          -

          Definition at line 1749 of file data_sets.h.

          +

          Definition at line 1754 of file data_sets.h.

          @@ -248,7 +248,7 @@

          Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius

          -

          Definition at line 1793 of file data_sets.h.

          +

          Definition at line 1798 of file data_sets.h.

          @@ -265,7 +265,7 @@

          Amplitude of the Sine Harmonic Correction Term to the Orbit Radius (m)

          -

          Definition at line 1796 of file data_sets.h.

          +

          Definition at line 1801 of file data_sets.h.

          @@ -282,7 +282,7 @@

          Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude (rad)

          -

          Definition at line 1799 of file data_sets.h.

          +

          Definition at line 1804 of file data_sets.h.

          @@ -299,7 +299,7 @@

          Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude (rad)

          -

          Definition at line 1802 of file data_sets.h.

          +

          Definition at line 1807 of file data_sets.h.

          @@ -316,7 +316,7 @@

          Mean Motion Difference From Computed Value (rad)

          -

          Definition at line 1784 of file data_sets.h.

          +

          Definition at line 1789 of file data_sets.h.

          @@ -333,7 +333,7 @@

          Eccentricity (no units)

          -

          Definition at line 1769 of file data_sets.h.

          +

          Definition at line 1774 of file data_sets.h.

          @@ -350,7 +350,7 @@

          SV clock parameters - af0

          -

          Definition at line 1817 of file data_sets.h.

          +

          Definition at line 1822 of file data_sets.h.

          @@ -367,7 +367,7 @@

          SV clock parameters - af1

          -

          Definition at line 1820 of file data_sets.h.

          +

          Definition at line 1825 of file data_sets.h.

          @@ -384,7 +384,7 @@

          SV clock parameters - af2

          -

          Definition at line 1823 of file data_sets.h.

          +

          Definition at line 1828 of file data_sets.h.

          @@ -401,7 +401,7 @@

          fit interval (h) (0: 4 hours, 1:greater than 4 hours)

          -

          Definition at line 1814 of file data_sets.h.

          +

          Definition at line 1819 of file data_sets.h.

          @@ -419,7 +419,7 @@

          Definition at line 1754 of file data_sets.h.

          +

          Definition at line 1759 of file data_sets.h.

          @@ -436,7 +436,7 @@

          Inclination Angle at Reference Time (rad)

          -

          Definition at line 1772 of file data_sets.h.

          +

          Definition at line 1777 of file data_sets.h.

          @@ -453,7 +453,7 @@

          Rate of Inclination Angle (rad/s)

          -

          Definition at line 1790 of file data_sets.h.

          +

          Definition at line 1795 of file data_sets.h.

          @@ -470,7 +470,7 @@

          IODC Issue of Data, Clock (clock version)

          -

          Definition at line 1735 of file data_sets.h.

          +

          Definition at line 1740 of file data_sets.h.

          @@ -487,7 +487,7 @@

          IODE Issue of Data, Ephemeris (ephemeris version)

          -

          Definition at line 1732 of file data_sets.h.

          +

          Definition at line 1737 of file data_sets.h.

          @@ -504,7 +504,7 @@

          Mean Anomaly at Reference Time (rad)

          -

          Definition at line 1781 of file data_sets.h.

          +

          Definition at line 1786 of file data_sets.h.

          @@ -521,7 +521,7 @@

          ndot for CNAV

          -

          Definition at line 1836 of file data_sets.h.

          +

          Definition at line 1841 of file data_sets.h.

          @@ -538,7 +538,7 @@

          Argument of Perigee (rad)

          -

          Definition at line 1778 of file data_sets.h.

          +

          Definition at line 1783 of file data_sets.h.

          @@ -555,7 +555,7 @@

          Longitude of Ascending Node of Orbit Plane at Weekly Epoch (rad)

          -

          Definition at line 1775 of file data_sets.h.

          +

          Definition at line 1780 of file data_sets.h.

          @@ -572,7 +572,7 @@

          Rate of Right Ascension (rad/s)

          -

          Definition at line 1787 of file data_sets.h.

          +

          Definition at line 1792 of file data_sets.h.

          @@ -589,7 +589,7 @@

          satellite number

          -

          Definition at line 1729 of file data_sets.h.

          +

          Definition at line 1734 of file data_sets.h.

          @@ -606,7 +606,7 @@

          SV accuracy (URA index) IRN-IS-200H p.97

          -

          Definition at line 1738 of file data_sets.h.

          +

          Definition at line 1743 of file data_sets.h.

          @@ -623,7 +623,7 @@

          SV health GPS/QZS (0:ok)

          -

          Definition at line 1741 of file data_sets.h.

          +

          Definition at line 1746 of file data_sets.h.

          @@ -640,7 +640,7 @@

          group delay parameters GPS/QZS:tgd[0]=TGD (IRN-IS-200H p.103) GAL :tgd[0]=BGD E5a/E1,tgd[1]=BGD E5b/E1 CMP :tgd[0]=BGD1,tgd[1]=BGD2

          -

          Definition at line 1830 of file data_sets.h.

          +

          Definition at line 1835 of file data_sets.h.

          @@ -657,7 +657,7 @@

          clock data reference time (s) (20.3.4.5)

          -

          Definition at line 1760 of file data_sets.h.

          +

          Definition at line 1765 of file data_sets.h.

          @@ -674,7 +674,7 @@

          Toe

          -

          Definition at line 1757 of file data_sets.h.

          +

          Definition at line 1762 of file data_sets.h.

          @@ -691,7 +691,7 @@

          Reference Time Ephemeris in week (s)

          -

          Definition at line 1811 of file data_sets.h.

          +

          Definition at line 1816 of file data_sets.h.

          @@ -708,7 +708,7 @@

          T_trans

          -

          Definition at line 1763 of file data_sets.h.

          +

          Definition at line 1768 of file data_sets.h.

          @@ -725,7 +725,7 @@

          GPS/QZS: gps week, GAL: galileo week

          -

          Definition at line 1744 of file data_sets.h.

          +

          Definition at line 1749 of file data_sets.h.

          diff --git a/docs/html/structevb2__t-members.html b/docs/html/structevb2__t-members.html index 0a6da8a7b..3bc2e33aa 100644 --- a/docs/html/structevb2__t-members.html +++ b/docs/html/structevb2__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structevb2__t.html b/docs/html/structevb2__t.html index de1c0e94a..8cdb3477b 100644 --- a/docs/html/structevb2__t.html +++ b/docs/html/structevb2__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -90,7 +90,7 @@

          Detailed Description

          (DID_EVB2) EVB-2 monitor, config, and logger control interface

          -

          Definition at line 2300 of file data_sets.h.

          +

          Definition at line 2305 of file data_sets.h.

          Member Data Documentation

          ◆ comBridgeCfg

          @@ -105,7 +105,7 @@

          Communications bridge configuration. (see eEvb2ComBridgeCfg)

          -

          Definition at line 2306 of file data_sets.h.

          +

          Definition at line 2311 of file data_sets.h.

          @@ -122,7 +122,7 @@

          Firmware (software) version

          -

          Definition at line 2303 of file data_sets.h.

          +

          Definition at line 2308 of file data_sets.h.

          @@ -139,7 +139,7 @@

          IP address

          -

          Definition at line 2315 of file data_sets.h.

          +

          Definition at line 2320 of file data_sets.h.

          @@ -156,7 +156,7 @@

          logger

          -

          Definition at line 2312 of file data_sets.h.

          +

          Definition at line 2317 of file data_sets.h.

          @@ -173,7 +173,7 @@

          Data logger control state. (see eEvb2LoggerState)

          -

          Definition at line 2309 of file data_sets.h.

          +

          Definition at line 2314 of file data_sets.h.

          diff --git a/docs/html/structfile__info__t-members.html b/docs/html/structfile__info__t-members.html index c26803d5e..88ff3a9b1 100644 --- a/docs/html/structfile__info__t-members.html +++ b/docs/html/structfile__info__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structfile__info__t.html b/docs/html/structfile__info__t.html index bcd4e9b34..bf6e3af7e 100644 --- a/docs/html/structfile__info__t.html +++ b/docs/html/structfile__info__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structgeph__t-members.html b/docs/html/structgeph__t-members.html index b46d1786c..b5df5874e 100644 --- a/docs/html/structgeph__t-members.html +++ b/docs/html/structgeph__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structgeph__t.html b/docs/html/structgeph__t.html index 3a99c1e34..e50f007c9 100644 --- a/docs/html/structgeph__t.html +++ b/docs/html/structgeph__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -108,7 +108,7 @@

          Detailed Description

          Glonass ephemeris data

          -

          Definition at line 1840 of file data_sets.h.

          +

          Definition at line 1845 of file data_sets.h.

          Member Data Documentation

          ◆ acc

          @@ -123,7 +123,7 @@

          satellite acceleration (ecef) (m/s^2)

          -

          Definition at line 1873 of file data_sets.h.

          +

          Definition at line 1878 of file data_sets.h.

          @@ -140,7 +140,7 @@

          satellite age of operation

          -

          Definition at line 1858 of file data_sets.h.

          +

          Definition at line 1863 of file data_sets.h.

          @@ -157,7 +157,7 @@

          delay between L1 and L2 (s)

          -

          Definition at line 1882 of file data_sets.h.

          +

          Definition at line 1887 of file data_sets.h.

          @@ -174,7 +174,7 @@

          satellite frequency number

          -

          Definition at line 1849 of file data_sets.h.

          +

          Definition at line 1854 of file data_sets.h.

          @@ -191,7 +191,7 @@

          relative freq bias

          -

          Definition at line 1879 of file data_sets.h.

          +

          Definition at line 1884 of file data_sets.h.

          @@ -208,7 +208,7 @@

          IODE (0-6 bit of tb field)

          -

          Definition at line 1846 of file data_sets.h.

          +

          Definition at line 1851 of file data_sets.h.

          @@ -225,7 +225,7 @@

          satellite position (ecef) (m)

          -

          Definition at line 1867 of file data_sets.h.

          +

          Definition at line 1872 of file data_sets.h.

          @@ -242,7 +242,7 @@

          satellite number

          -

          Definition at line 1843 of file data_sets.h.

          +

          Definition at line 1848 of file data_sets.h.

          @@ -259,7 +259,7 @@

          satellite accuracy

          -

          Definition at line 1855 of file data_sets.h.

          +

          Definition at line 1860 of file data_sets.h.

          @@ -276,7 +276,7 @@

          satellite health

          -

          Definition at line 1852 of file data_sets.h.

          +

          Definition at line 1857 of file data_sets.h.

          @@ -293,7 +293,7 @@

          SV clock bias (s)

          -

          Definition at line 1876 of file data_sets.h.

          +

          Definition at line 1881 of file data_sets.h.

          @@ -310,7 +310,7 @@

          epoch of epherides (gpst)

          -

          Definition at line 1861 of file data_sets.h.

          +

          Definition at line 1866 of file data_sets.h.

          @@ -327,7 +327,7 @@

          message frame time (gpst)

          -

          Definition at line 1864 of file data_sets.h.

          +

          Definition at line 1869 of file data_sets.h.

          @@ -344,7 +344,7 @@

          satellite velocity (ecef) (m/s)

          -

          Definition at line 1870 of file data_sets.h.

          +

          Definition at line 1875 of file data_sets.h.

          diff --git a/docs/html/structgtime__t-members.html b/docs/html/structgtime__t-members.html index 02c26c2d2..ebc45a241 100644 --- a/docs/html/structgtime__t-members.html +++ b/docs/html/structgtime__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structgtime__t.html b/docs/html/structgtime__t.html index eec43c251..da1978935 100644 --- a/docs/html/structgtime__t.html +++ b/docs/html/structgtime__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structinternal__diagnostic__t-members.html b/docs/html/structinternal__diagnostic__t-members.html index f5a63402b..49158c15c 100644 --- a/docs/html/structinternal__diagnostic__t-members.html +++ b/docs/html/structinternal__diagnostic__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structinternal__diagnostic__t.html b/docs/html/structinternal__diagnostic__t.html index 4722a4385..d2d17fdf1 100644 --- a/docs/html/structinternal__diagnostic__t.html +++ b/docs/html/structinternal__diagnostic__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -90,7 +90,7 @@

          Detailed Description

          Diagnostic information for internal use

          -

          Definition at line 2432 of file data_sets.h.

          +

          Definition at line 2437 of file data_sets.h.

          Member Data Documentation

          ◆ checksumFailCount

          @@ -105,7 +105,7 @@

          Count of checksum failures, one entry for each com port

          -

          Definition at line 2447 of file data_sets.h.

          +

          Definition at line 2452 of file data_sets.h.

          @@ -122,7 +122,7 @@

          Count of gap of more than 0.5 seconds receiving serial data, driver level, one entry for each com port

          -

          Definition at line 2435 of file data_sets.h.

          +

          Definition at line 2440 of file data_sets.h.

          @@ -139,7 +139,7 @@

          Count of gap of more than 0.5 seconds receiving serial data, class / parser level, one entry for each com port

          -

          Definition at line 2438 of file data_sets.h.

          +

          Definition at line 2443 of file data_sets.h.

          @@ -156,7 +156,7 @@

          Count of rx overflow, one entry for each com port

          -

          Definition at line 2441 of file data_sets.h.

          +

          Definition at line 2446 of file data_sets.h.

          @@ -173,7 +173,7 @@

          Count of tx overflow, one entry for each com port

          -

          Definition at line 2444 of file data_sets.h.

          +

          Definition at line 2449 of file data_sets.h.

          diff --git a/docs/html/struction__model__utc__alm__t-members.html b/docs/html/struction__model__utc__alm__t-members.html index 60ee4e46d..d900fbcda 100644 --- a/docs/html/struction__model__utc__alm__t-members.html +++ b/docs/html/struction__model__utc__alm__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/struction__model__utc__alm__t.html b/docs/html/struction__model__utc__alm__t.html index 80dfc71b2..7b1a7d3bf 100644 --- a/docs/html/struction__model__utc__alm__t.html +++ b/docs/html/struction__model__utc__alm__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -108,7 +108,7 @@

          Detailed Description

          ionosphere model and utc parameters

          -

          Definition at line 1973 of file data_sets.h.

          +

          Definition at line 1978 of file data_sets.h.

          Member Data Documentation

          ◆ alm

          @@ -122,7 +122,7 @@

          -

          Definition at line 1991 of file data_sets.h.

          +

          Definition at line 1996 of file data_sets.h.

          @@ -138,7 +138,7 @@

          -

          Definition at line 1978 of file data_sets.h.

          +

          Definition at line 1983 of file data_sets.h.

          @@ -154,7 +154,7 @@

          -

          Definition at line 1976 of file data_sets.h.

          +

          Definition at line 1981 of file data_sets.h.

          @@ -170,7 +170,7 @@

          -

          Definition at line 1975 of file data_sets.h.

          +

          Definition at line 1980 of file data_sets.h.

          @@ -186,7 +186,7 @@

          -

          Definition at line 1979 of file data_sets.h.

          +

          Definition at line 1984 of file data_sets.h.

          @@ -202,7 +202,7 @@

          -

          Definition at line 1977 of file data_sets.h.

          +

          Definition at line 1982 of file data_sets.h.

          @@ -218,7 +218,7 @@

          -

          Definition at line 1989 of file data_sets.h.

          +

          Definition at line 1994 of file data_sets.h.

          @@ -234,7 +234,7 @@

          -

          Definition at line 1985 of file data_sets.h.

          +

          Definition at line 1990 of file data_sets.h.

          @@ -250,7 +250,7 @@

          -

          Definition at line 1983 of file data_sets.h.

          +

          Definition at line 1988 of file data_sets.h.

          @@ -266,7 +266,7 @@

          -

          Definition at line 1982 of file data_sets.h.

          +

          Definition at line 1987 of file data_sets.h.

          @@ -282,7 +282,7 @@

          -

          Definition at line 1981 of file data_sets.h.

          +

          Definition at line 1986 of file data_sets.h.

          @@ -298,7 +298,7 @@

          -

          Definition at line 1986 of file data_sets.h.

          +

          Definition at line 1991 of file data_sets.h.

          @@ -314,7 +314,7 @@

          -

          Definition at line 1984 of file data_sets.h.

          +

          Definition at line 1989 of file data_sets.h.

          @@ -330,7 +330,7 @@

          -

          Definition at line 1987 of file data_sets.h.

          +

          Definition at line 1992 of file data_sets.h.

          diff --git a/docs/html/structis__comm__instance__t-members.html b/docs/html/structis__comm__instance__t-members.html index 47fe4aa8b..4f1dd507f 100644 --- a/docs/html/structis__comm__instance__t-members.html +++ b/docs/html/structis__comm__instance__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structis__comm__instance__t.html b/docs/html/structis__comm__instance__t.html index c915959c8..cb243deed 100644 --- a/docs/html/structis__comm__instance__t.html +++ b/docs/html/structis__comm__instance__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structlinked__list__node__t-members.html b/docs/html/structlinked__list__node__t-members.html index 675c476fe..e6937618e 100644 --- a/docs/html/structlinked__list__node__t-members.html +++ b/docs/html/structlinked__list__node__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structlinked__list__node__t.html b/docs/html/structlinked__list__node__t.html index 6e011f824..a47647633 100644 --- a/docs/html/structlinked__list__node__t.html +++ b/docs/html/structlinked__list__node__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structlinked__list__t-members.html b/docs/html/structlinked__list__t-members.html index 1b0d0d4e4..ee0a2e3bc 100644 --- a/docs/html/structlinked__list__t-members.html +++ b/docs/html/structlinked__list__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structlinked__list__t.html b/docs/html/structlinked__list__t.html index c8b2f4c0f..5499277e8 100644 --- a/docs/html/structlinked__list__t.html +++ b/docs/html/structlinked__list__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structobs__t-members.html b/docs/html/structobs__t-members.html index 4df3dc2e4..011dfb00b 100644 --- a/docs/html/structobs__t-members.html +++ b/docs/html/structobs__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structobs__t.html b/docs/html/structobs__t.html index 591bff3b6..c103b0740 100644 --- a/docs/html/structobs__t.html +++ b/docs/html/structobs__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -86,7 +86,7 @@

          Detailed Description

          observation data

          -

          Definition at line 1713 of file data_sets.h.

          +

          Definition at line 1718 of file data_sets.h.

          Member Data Documentation

          ◆ data

          @@ -101,7 +101,7 @@

          observation data buffer

          -

          Definition at line 1722 of file data_sets.h.

          +

          Definition at line 1727 of file data_sets.h.

          @@ -118,7 +118,7 @@

          number of observation slots used

          -

          Definition at line 1716 of file data_sets.h.

          +

          Definition at line 1721 of file data_sets.h.

          @@ -135,7 +135,7 @@

          number of observation slots allocated

          -

          Definition at line 1719 of file data_sets.h.

          +

          Definition at line 1724 of file data_sets.h.

          diff --git a/docs/html/structp__ack__hdr__t-members.html b/docs/html/structp__ack__hdr__t-members.html index 04d1a0d5c..a4af00e61 100644 --- a/docs/html/structp__ack__hdr__t-members.html +++ b/docs/html/structp__ack__hdr__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__ack__hdr__t.html b/docs/html/structp__ack__hdr__t.html index 73620853a..8bffa34f4 100644 --- a/docs/html/structp__ack__hdr__t.html +++ b/docs/html/structp__ack__hdr__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__ack__t-members.html b/docs/html/structp__ack__t-members.html index 5de4b575b..e8dc5dd62 100644 --- a/docs/html/structp__ack__t-members.html +++ b/docs/html/structp__ack__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__ack__t.html b/docs/html/structp__ack__t.html index 1710ac123..bdc7c065f 100644 --- a/docs/html/structp__ack__t.html +++ b/docs/html/structp__ack__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__cnk__data__t-members.html b/docs/html/structp__cnk__data__t-members.html index d2f091fdc..fa2e4573e 100644 --- a/docs/html/structp__cnk__data__t-members.html +++ b/docs/html/structp__cnk__data__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__cnk__data__t.html b/docs/html/structp__cnk__data__t.html index 1057f5c60..6b61cbfa9 100644 --- a/docs/html/structp__cnk__data__t.html +++ b/docs/html/structp__cnk__data__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__data__disable__t-members.html b/docs/html/structp__data__disable__t-members.html index 30fd1b374..d47ef96aa 100644 --- a/docs/html/structp__data__disable__t-members.html +++ b/docs/html/structp__data__disable__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__data__disable__t.html b/docs/html/structp__data__disable__t.html index 0698f0d58..4bc79de38 100644 --- a/docs/html/structp__data__disable__t.html +++ b/docs/html/structp__data__disable__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__data__get__t-members.html b/docs/html/structp__data__get__t-members.html index 5c3397f0e..23fae44c7 100644 --- a/docs/html/structp__data__get__t-members.html +++ b/docs/html/structp__data__get__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__data__get__t.html b/docs/html/structp__data__get__t.html index bfdfba0b5..5380b9efc 100644 --- a/docs/html/structp__data__get__t.html +++ b/docs/html/structp__data__get__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__data__hdr__t-members.html b/docs/html/structp__data__hdr__t-members.html index 464e265aa..c0af62932 100644 --- a/docs/html/structp__data__hdr__t-members.html +++ b/docs/html/structp__data__hdr__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__data__hdr__t.html b/docs/html/structp__data__hdr__t.html index c163d91ff..e7198ccb2 100644 --- a/docs/html/structp__data__hdr__t.html +++ b/docs/html/structp__data__hdr__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__data__t-members.html b/docs/html/structp__data__t-members.html index c7c76dd43..a1a2a75e1 100644 --- a/docs/html/structp__data__t-members.html +++ b/docs/html/structp__data__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structp__data__t.html b/docs/html/structp__data__t.html index 2bb66b8a8..0099fe31f 100644 --- a/docs/html/structp__data__t.html +++ b/docs/html/structp__data__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structpacket__ftr__t-members.html b/docs/html/structpacket__ftr__t-members.html index 768d1e18f..e3e6c2973 100644 --- a/docs/html/structpacket__ftr__t-members.html +++ b/docs/html/structpacket__ftr__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structpacket__ftr__t.html b/docs/html/structpacket__ftr__t.html index 76ba1e06f..2659047a2 100644 --- a/docs/html/structpacket__ftr__t.html +++ b/docs/html/structpacket__ftr__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structpacket__hdr__t-members.html b/docs/html/structpacket__hdr__t-members.html index 11b26a535..902ee0cad 100644 --- a/docs/html/structpacket__hdr__t-members.html +++ b/docs/html/structpacket__hdr__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structpacket__hdr__t.html b/docs/html/structpacket__hdr__t.html index d1b9d6627..d2d41709b 100644 --- a/docs/html/structpacket__hdr__t.html +++ b/docs/html/structpacket__hdr__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structpacket__t-members.html b/docs/html/structpacket__t-members.html index 930e3f9bd..8c3364182 100644 --- a/docs/html/structpacket__t-members.html +++ b/docs/html/structpacket__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structpacket__t.html b/docs/html/structpacket__t.html index 226dcd568..43dfd5d48 100644 --- a/docs/html/structpacket__t.html +++ b/docs/html/structpacket__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structpkt__info__t-members.html b/docs/html/structpkt__info__t-members.html index a2bfec0ba..0d7aa04ed 100644 --- a/docs/html/structpkt__info__t-members.html +++ b/docs/html/structpkt__info__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structpkt__info__t.html b/docs/html/structpkt__info__t.html index 008d628cb..3cb3c1a93 100644 --- a/docs/html/structpkt__info__t.html +++ b/docs/html/structpkt__info__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structport__monitor__t-members.html b/docs/html/structport__monitor__t-members.html index d6f14fe56..ff34ba6a5 100644 --- a/docs/html/structport__monitor__t-members.html +++ b/docs/html/structport__monitor__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structport__monitor__t.html b/docs/html/structport__monitor__t.html index 60596793a..54c87ec97 100644 --- a/docs/html/structport__monitor__t.html +++ b/docs/html/structport__monitor__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -88,7 +88,7 @@

          Detailed Description

          (DID_PORT_MONITOR) Data rate and status monitoring for each communications port.

          -

          Definition at line 2362 of file data_sets.h.

          +

          Definition at line 2367 of file data_sets.h.

          Member Data Documentation

          ◆ portNumber

          @@ -103,7 +103,7 @@

          Com port number

          -

          Definition at line 2365 of file data_sets.h.

          +

          Definition at line 2370 of file data_sets.h.

          @@ -120,7 +120,7 @@

          Rx time ms Rx rate (bytes/s)

          -

          Definition at line 2377 of file data_sets.h.

          +

          Definition at line 2382 of file data_sets.h.

          @@ -137,7 +137,7 @@

          Status

          -

          Definition at line 2380 of file data_sets.h.

          +

          Definition at line 2385 of file data_sets.h.

          @@ -154,7 +154,7 @@

          Tx time ms Tx rate (bytes/s)

          -

          Definition at line 2371 of file data_sets.h.

          +

          Definition at line 2376 of file data_sets.h.

          diff --git a/docs/html/structprcopt__t-members.html b/docs/html/structprcopt__t-members.html index 04c9a6787..0ebef8a95 100644 --- a/docs/html/structprcopt__t-members.html +++ b/docs/html/structprcopt__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -85,36 +85,39 @@ glomodearprcopt_t gpsmodearprcopt_t intprefprcopt_t - maxaveepprcopt_t - maxgdopprcopt_t - maxinnoprcopt_t + max_baseline_errorprcopt_t + maxaveepprcopt_t + maxgdopprcopt_t + maxinnocodeprcopt_t + maxinnophaseprcopt_t maxoutprcopt_t - maxrejcprcopt_t - maxtdiffprcopt_t - mindropsatsprcopt_t - minfixprcopt_t - minfixsatsprcopt_t - minholdsatsprcopt_t - minlockprcopt_t - modeprcopt_t - modearprcopt_t - navsysprcopt_t - nfprcopt_t - niterprcopt_t - outsingleprcopt_t - prnprcopt_t - rbprcopt_t - rcvstdsprcopt_t - refposprcopt_t - rovposprcopt_t - ruprcopt_t - sclkstabprcopt_t - snrminprcopt_t - soltypeprcopt_t - stdprcopt_t - thresarprcopt_t - thresslipprcopt_t - varholdambprcopt_t + maxrejprcopt_t + maxrejcprcopt_t + maxtdiffprcopt_t + mindropsatsprcopt_t + minfixprcopt_t + minfixsatsprcopt_t + minholdsatsprcopt_t + minlockprcopt_t + modeprcopt_t + modearprcopt_t + navsysprcopt_t + nfprcopt_t + niterprcopt_t + outsingleprcopt_t + prnprcopt_t + rbprcopt_t + rcvstdsprcopt_t + refposprcopt_t + rovposprcopt_t + ruprcopt_t + sclkstabprcopt_t + snrminprcopt_t + soltypeprcopt_t + stdprcopt_t + thresarprcopt_t + thresslipprcopt_t + varholdambprcopt_t
          diff --git a/docs/html/structprcopt__t.html b/docs/html/structprcopt__t.html index cd92822cc..5e6e04f0a 100644 --- a/docs/html/structprcopt__t.html +++ b/docs/html/structprcopt__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -100,6 +100,8 @@   int32_t maxout   +int32_t maxrej +  int32_t minlock   int32_t minfixsats @@ -148,14 +150,18 @@   double maxtdiff   -double maxinno -  +double maxinnocode +  +double maxinnophase +  double maxrejc   double maxgdop   double baseline [2]   +double max_baseline_error +  double ru [3]   double rb [3] @@ -200,7 +206,7 @@

          max iteration to resolve ambiguity

          -

          Definition at line 1590 of file data_sets.h.

          +

          Definition at line 1593 of file data_sets.h.

          @@ -217,7 +223,7 @@

          baseline length constraint {const,sigma} (m)

          -

          Definition at line 1653 of file data_sets.h.

          +

          Definition at line 1657 of file data_sets.h.

          @@ -251,7 +257,7 @@

          dynamics model (0:none,1:velociy,2:accel)

          -

          Definition at line 1593 of file data_sets.h.

          +

          Definition at line 1596 of file data_sets.h.

          @@ -268,7 +274,7 @@

          elevation mask of AR for rising satellite (rad)

          -

          Definition at line 1626 of file data_sets.h.

          +

          Definition at line 1629 of file data_sets.h.

          @@ -285,7 +291,7 @@

          elevation mask to hold ambiguity (rad)

          -

          Definition at line 1629 of file data_sets.h.

          +

          Definition at line 1632 of file data_sets.h.

          @@ -319,7 +325,7 @@

          code/phase error ratio

          -

          Definition at line 1608 of file data_sets.h.

          +

          Definition at line 1611 of file data_sets.h.

          @@ -336,7 +342,7 @@

          measurement error factor

          -

          Definition at line 1611 of file data_sets.h.

          +

          Definition at line 1614 of file data_sets.h.

          @@ -353,7 +359,7 @@

          gain used for GLO and SBAS sats to adjust ambiguity

          -

          Definition at line 1638 of file data_sets.h.

          +

          Definition at line 1641 of file data_sets.h.

          @@ -404,7 +410,23 @@

          interpolate reference obs (for post mission)

          -

          Definition at line 1599 of file data_sets.h.

          +

          Definition at line 1602 of file data_sets.h.

          + + + + +

          ◆ max_baseline_error

          + +
          +
          + + + + +
          double prcopt_t::max_baseline_error
          +
          + +

          Definition at line 1658 of file data_sets.h.

          @@ -421,7 +443,7 @@

          max averaging epochs

          -

          Definition at line 1662 of file data_sets.h.

          +

          Definition at line 1667 of file data_sets.h.

          @@ -438,24 +460,40 @@

          reject threshold of gdop

          -

          Definition at line 1650 of file data_sets.h.

          +

          Definition at line 1654 of file data_sets.h.

          - -

          ◆ maxinno

          + +

          ◆ maxinnocode

          - +
          double prcopt_t::maxinnodouble prcopt_t::maxinnocode

          reject threshold of NIS

          -

          Definition at line 1644 of file data_sets.h.

          +

          Definition at line 1647 of file data_sets.h.

          + +
          +
          + +

          ◆ maxinnophase

          + +
          +
          + + + + +
          double prcopt_t::maxinnophase
          +
          + +

          Definition at line 1648 of file data_sets.h.

          @@ -474,6 +512,23 @@

          Definition at line 1569 of file data_sets.h.

          + + + +

          ◆ maxrej

          + +
          +
          + + + + +
          int32_t prcopt_t::maxrej
          +
          +

          reject count to reset bias

          + +

          Definition at line 1572 of file data_sets.h.

          +
          @@ -489,7 +544,7 @@

          max number of measurement rejections before bias reset

          -

          Definition at line 1647 of file data_sets.h.

          +

          Definition at line 1651 of file data_sets.h.

          @@ -506,7 +561,7 @@

          max difference of time (sec)

          -

          Definition at line 1641 of file data_sets.h.

          +

          Definition at line 1644 of file data_sets.h.

          @@ -523,7 +578,7 @@

          min sats to drop sats in AR

          -

          Definition at line 1581 of file data_sets.h.

          +

          Definition at line 1584 of file data_sets.h.

          @@ -540,7 +595,7 @@

          min fix count to hold ambiguity

          -

          Definition at line 1587 of file data_sets.h.

          +

          Definition at line 1590 of file data_sets.h.

          @@ -557,7 +612,7 @@

          min sats to fix integer ambiguities

          -

          Definition at line 1575 of file data_sets.h.

          +

          Definition at line 1578 of file data_sets.h.

          @@ -574,7 +629,7 @@

          min sats to hold integer ambiguities

          -

          Definition at line 1578 of file data_sets.h.

          +

          Definition at line 1581 of file data_sets.h.

          @@ -591,7 +646,7 @@

          min lock count to fix ambiguity

          -

          Definition at line 1572 of file data_sets.h.

          +

          Definition at line 1575 of file data_sets.h.

          @@ -676,7 +731,7 @@

          number of filter iteration

          -

          Definition at line 1596 of file data_sets.h.

          +

          Definition at line 1599 of file data_sets.h.

          @@ -693,7 +748,7 @@

          output single by dgps/float/fix/ppp outage

          -

          Definition at line 1665 of file data_sets.h.

          +

          Definition at line 1670 of file data_sets.h.

          @@ -710,7 +765,7 @@

          process-noise std [0]bias,[1]iono [2]trop [3]acch [4]accv [5] pos

          -

          Definition at line 1617 of file data_sets.h.

          +

          Definition at line 1620 of file data_sets.h.

          @@ -727,7 +782,7 @@

          base position for relative mode {x,y,z} (ecef) (m)

          -

          Definition at line 1659 of file data_sets.h.

          +

          Definition at line 1664 of file data_sets.h.

          @@ -744,7 +799,7 @@

          use stdev estimates from receiver to adjust measurement variances

          -

          Definition at line 1584 of file data_sets.h.

          +

          Definition at line 1587 of file data_sets.h.

          @@ -761,7 +816,7 @@

          base position for relative mode

          -

          Definition at line 1605 of file data_sets.h.

          +

          Definition at line 1608 of file data_sets.h.

          @@ -778,7 +833,7 @@

          rover position for fixed mode

          -

          Definition at line 1602 of file data_sets.h.

          +

          Definition at line 1605 of file data_sets.h.

          @@ -795,7 +850,7 @@

          rover position for fixed mode {x,y,z} (ecef) (m)

          -

          Definition at line 1656 of file data_sets.h.

          +

          Definition at line 1661 of file data_sets.h.

          @@ -812,7 +867,7 @@

          satellite clock stability (sec/sec)

          -

          Definition at line 1620 of file data_sets.h.

          +

          Definition at line 1623 of file data_sets.h.

          @@ -863,7 +918,7 @@

          initial-state std [0]bias,[1]iono [2]trop

          -

          Definition at line 1614 of file data_sets.h.

          +

          Definition at line 1617 of file data_sets.h.

          @@ -880,7 +935,7 @@

          AR validation threshold

          -

          Definition at line 1623 of file data_sets.h.

          +

          Definition at line 1626 of file data_sets.h.

          @@ -897,7 +952,7 @@

          slip threshold of geometry-free phase (m)

          -

          Definition at line 1632 of file data_sets.h.

          +

          Definition at line 1635 of file data_sets.h.

          @@ -914,7 +969,7 @@

          variance for fix-and-hold pseudo measurements (cycle^2)

          -

          Definition at line 1635 of file data_sets.h.

          +

          Definition at line 1638 of file data_sets.h.

          diff --git a/docs/html/structregistered__data__t-members.html b/docs/html/structregistered__data__t-members.html index 0282f476f..1c91dc49b 100644 --- a/docs/html/structregistered__data__t-members.html +++ b/docs/html/structregistered__data__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structregistered__data__t.html b/docs/html/structregistered__data__t.html index b7422f350..3c1a9eba9 100644 --- a/docs/html/structregistered__data__t.html +++ b/docs/html/structregistered__data__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structring__buffer__t-members.html b/docs/html/structring__buffer__t-members.html index 04dd2797a..b7e50be19 100644 --- a/docs/html/structring__buffer__t-members.html +++ b/docs/html/structring__buffer__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structring__buffer__t.html b/docs/html/structring__buffer__t.html index c5fb7ac95..be23ce051 100644 --- a/docs/html/structring__buffer__t.html +++ b/docs/html/structring__buffer__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structringbuf__t-members.html b/docs/html/structringbuf__t-members.html index f931534c5..a27497b3b 100644 --- a/docs/html/structringbuf__t-members.html +++ b/docs/html/structringbuf__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structringbuf__t.html b/docs/html/structringbuf__t.html index 52fb85666..c18aaa773 100644 --- a/docs/html/structringbuf__t.html +++ b/docs/html/structringbuf__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_case_insensitive_compare-members.html b/docs/html/structs_case_insensitive_compare-members.html index e4b574c55..91da39c45 100644 --- a/docs/html/structs_case_insensitive_compare-members.html +++ b/docs/html/structs_case_insensitive_compare-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_case_insensitive_compare.html b/docs/html/structs_case_insensitive_compare.html index 50268fbc3..1d6d95993 100644 --- a/docs/html/structs_case_insensitive_compare.html +++ b/docs/html/structs_case_insensitive_compare.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_case_insensitive_compare_1_1nocase__compare-members.html b/docs/html/structs_case_insensitive_compare_1_1nocase__compare-members.html index 60bd88d1c..3dd1507a7 100644 --- a/docs/html/structs_case_insensitive_compare_1_1nocase__compare-members.html +++ b/docs/html/structs_case_insensitive_compare_1_1nocase__compare-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_case_insensitive_compare_1_1nocase__compare.html b/docs/html/structs_case_insensitive_compare_1_1nocase__compare.html index 68a5ae1e2..48a7cdcb7 100644 --- a/docs/html/structs_case_insensitive_compare_1_1nocase__compare.html +++ b/docs/html/structs_case_insensitive_compare_1_1nocase__compare.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_chunk_header-members.html b/docs/html/structs_chunk_header-members.html index f2a2c4eb7..4d06b2373 100644 --- a/docs/html/structs_chunk_header-members.html +++ b/docs/html/structs_chunk_header-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_chunk_header.html b/docs/html/structs_chunk_header.html index 6334ef1e7..7f76e452b 100644 --- a/docs/html/structs_chunk_header.html +++ b/docs/html/structs_chunk_header.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_chunk_sub_header-members.html b/docs/html/structs_chunk_sub_header-members.html index fc1427c91..b3c04918a 100644 --- a/docs/html/structs_chunk_sub_header-members.html +++ b/docs/html/structs_chunk_sub_header-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_chunk_sub_header.html b/docs/html/structs_chunk_sub_header.html index f8f24d7dd..88cbfe566 100644 --- a/docs/html/structs_chunk_sub_header.html +++ b/docs/html/structs_chunk_sub_header.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_kml_log-members.html b/docs/html/structs_kml_log-members.html index ed70b87f0..f59d17c9a 100644 --- a/docs/html/structs_kml_log-members.html +++ b/docs/html/structs_kml_log-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_kml_log.html b/docs/html/structs_kml_log.html index dd5846799..d70019277 100644 --- a/docs/html/structs_kml_log.html +++ b/docs/html/structs_kml_log.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_kml_log_data-members.html b/docs/html/structs_kml_log_data-members.html index a990f3b92..f9d08f3ef 100644 --- a/docs/html/structs_kml_log_data-members.html +++ b/docs/html/structs_kml_log_data-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_kml_log_data.html b/docs/html/structs_kml_log_data.html index f2dc5f850..55648c392 100644 --- a/docs/html/structs_kml_log_data.html +++ b/docs/html/structs_kml_log_data.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_lpf_o0-members.html b/docs/html/structs_lpf_o0-members.html index 76f2a1bd0..ffa90c1b2 100644 --- a/docs/html/structs_lpf_o0-members.html +++ b/docs/html/structs_lpf_o0-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_lpf_o0.html b/docs/html/structs_lpf_o0.html index 7b70facdd..a634e4747 100644 --- a/docs/html/structs_lpf_o0.html +++ b/docs/html/structs_lpf_o0.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_lpf_o1-members.html b/docs/html/structs_lpf_o1-members.html index 35973a25f..c9c9612ed 100644 --- a/docs/html/structs_lpf_o1-members.html +++ b/docs/html/structs_lpf_o1-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structs_lpf_o1.html b/docs/html/structs_lpf_o1.html index b9edc61bc..ab94b5cc1 100644 --- a/docs/html/structs_lpf_o1.html +++ b/docs/html/structs_lpf_o1.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structsbsmsg__t-members.html b/docs/html/structsbsmsg__t-members.html index 931380c83..b702c3b03 100644 --- a/docs/html/structsbsmsg__t-members.html +++ b/docs/html/structsbsmsg__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structsbsmsg__t.html b/docs/html/structsbsmsg__t.html index 60cbc1a6c..74d67fb8b 100644 --- a/docs/html/structsbsmsg__t.html +++ b/docs/html/structsbsmsg__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -90,7 +90,7 @@

          Detailed Description

          SBAS message type

          -

          Definition at line 1886 of file data_sets.h.

          +

          Definition at line 1891 of file data_sets.h.

          Member Data Documentation

          ◆ msg

          @@ -105,7 +105,7 @@

          SBAS message (226bit) padded by 0

          -

          Definition at line 1898 of file data_sets.h.

          +

          Definition at line 1903 of file data_sets.h.

          @@ -122,7 +122,7 @@

          SBAS satellite PRN number

          -

          Definition at line 1895 of file data_sets.h.

          +

          Definition at line 1900 of file data_sets.h.

          @@ -139,7 +139,7 @@

          reserved for alighment

          -

          Definition at line 1901 of file data_sets.h.

          +

          Definition at line 1906 of file data_sets.h.

          @@ -156,7 +156,7 @@

          reception time - tow

          -

          Definition at line 1892 of file data_sets.h.

          +

          Definition at line 1897 of file data_sets.h.

          @@ -173,7 +173,7 @@

          receiption time - week

          -

          Definition at line 1889 of file data_sets.h.

          +

          Definition at line 1894 of file data_sets.h.

          diff --git a/docs/html/structserial__port__t-members.html b/docs/html/structserial__port__t-members.html index 364fe302c..d8befef0d 100644 --- a/docs/html/structserial__port__t-members.html +++ b/docs/html/structserial__port__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structserial__port__t.html b/docs/html/structserial__port__t.html index 40959fcec..ffad8f9e7 100644 --- a/docs/html/structserial__port__t.html +++ b/docs/html/structserial__port__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structserial_port_handle-members.html b/docs/html/structserial_port_handle-members.html index 123a4b6e1..af3852a0d 100644 --- a/docs/html/structserial_port_handle-members.html +++ b/docs/html/structserial_port_handle-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structserial_port_handle.html b/docs/html/structserial_port_handle.html index 5e0adf58e..550c4c635 100644 --- a/docs/html/structserial_port_handle.html +++ b/docs/html/structserial_port_handle.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structsta__t-members.html b/docs/html/structsta__t-members.html index 3adb41f26..3171a92cc 100644 --- a/docs/html/structsta__t-members.html +++ b/docs/html/structsta__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structsta__t.html b/docs/html/structsta__t.html index fc02281be..84dc1f10d 100644 --- a/docs/html/structsta__t.html +++ b/docs/html/structsta__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -90,7 +90,7 @@

          Detailed Description

          station parameter type

          -

          Definition at line 1905 of file data_sets.h.

          +

          Definition at line 1910 of file data_sets.h.

          Member Data Documentation

          ◆ del

          @@ -105,7 +105,7 @@

          antenna position delta (e/n/u or x/y/z) (m)

          -

          Definition at line 1914 of file data_sets.h.

          +

          Definition at line 1919 of file data_sets.h.

          @@ -122,7 +122,7 @@

          antenna delta type (0:enu,1:xyz)

          -

          Definition at line 1908 of file data_sets.h.

          +

          Definition at line 1913 of file data_sets.h.

          @@ -139,7 +139,7 @@

          antenna height (m)

          -

          Definition at line 1917 of file data_sets.h.

          +

          Definition at line 1922 of file data_sets.h.

          @@ -156,7 +156,7 @@

          station position (ecef) (m)

          -

          Definition at line 1911 of file data_sets.h.

          +

          Definition at line 1916 of file data_sets.h.

          @@ -173,7 +173,7 @@

          station id

          -

          Definition at line 1920 of file data_sets.h.

          +

          Definition at line 1925 of file data_sets.h.

          diff --git a/docs/html/structsurvey__in__t-members.html b/docs/html/structsurvey__in__t-members.html index 9ec859ab0..29c132e93 100644 --- a/docs/html/structsurvey__in__t-members.html +++ b/docs/html/structsurvey__in__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structsurvey__in__t.html b/docs/html/structsurvey__in__t.html index 05661c0c8..64c3a8a54 100644 --- a/docs/html/structsurvey__in__t.html +++ b/docs/html/structsurvey__in__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          @@ -92,7 +92,7 @@

          Detailed Description

          Survey in status

          -

          Definition at line 2276 of file data_sets.h.

          +

          Definition at line 2281 of file data_sets.h.

          Member Data Documentation

          ◆ elapsedTimeSec

          @@ -107,7 +107,7 @@

          Elapsed time (seconds) of the survey.

          -

          Definition at line 2288 of file data_sets.h.

          +

          Definition at line 2293 of file data_sets.h.

          @@ -124,7 +124,7 @@

          Approximate horizontal accuracy of the survey (m).

          -

          Definition at line 2291 of file data_sets.h.

          +

          Definition at line 2296 of file data_sets.h.

          @@ -141,7 +141,7 @@

          The current surveyed latitude, longitude, altitude (deg, deg, m)

          -

          Definition at line 2294 of file data_sets.h.

          +

          Definition at line 2299 of file data_sets.h.

          @@ -158,7 +158,7 @@

          Maximum time (milliseconds) survey will run if minAccuracy is not first achieved. (ignored if 0).

          -

          Definition at line 2282 of file data_sets.h.

          +

          Definition at line 2287 of file data_sets.h.

          @@ -175,7 +175,7 @@

          Required horizontal accuracy (m) for survey to complete before maxDuration. (ignored if 0)

          -

          Definition at line 2285 of file data_sets.h.

          +

          Definition at line 2290 of file data_sets.h.

          @@ -192,7 +192,7 @@

          State of current survey, eSurveyInStatus

          -

          Definition at line 2279 of file data_sets.h.

          +

          Definition at line 2284 of file data_sets.h.

          diff --git a/docs/html/structxmodem__chunk__t-members.html b/docs/html/structxmodem__chunk__t-members.html index 11e93bbbc..0bd174c64 100644 --- a/docs/html/structxmodem__chunk__t-members.html +++ b/docs/html/structxmodem__chunk__t-members.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/structxmodem__chunk__t.html b/docs/html/structxmodem__chunk__t.html index a199eba61..94e38974b 100644 --- a/docs/html/structxmodem__chunk__t.html +++ b/docs/html/structxmodem__chunk__t.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/time__conversion_8c.html b/docs/html/time__conversion_8c.html index 16c74a3b5..d567fd294 100644 --- a/docs/html/time__conversion_8c.html +++ b/docs/html/time__conversion_8c.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/time__conversion_8c_source.html b/docs/html/time__conversion_8c_source.html index c47734332..b420424c1 100644 --- a/docs/html/time__conversion_8c_source.html +++ b/docs/html/time__conversion_8c_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/time__conversion_8h.html b/docs/html/time__conversion_8h.html index d058e64e2..e3893e164 100644 --- a/docs/html/time__conversion_8h.html +++ b/docs/html/time__conversion_8h.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/time__conversion_8h_source.html b/docs/html/time__conversion_8h_source.html index 667d0ca68..be3456816 100644 --- a/docs/html/time__conversion_8h_source.html +++ b/docs/html/time__conversion_8h_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinystr_8cpp.html b/docs/html/tinystr_8cpp.html index 95f5a408f..11a180f4d 100644 --- a/docs/html/tinystr_8cpp.html +++ b/docs/html/tinystr_8cpp.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinystr_8cpp_source.html b/docs/html/tinystr_8cpp_source.html index a5284b7de..6dbe5ea25 100644 --- a/docs/html/tinystr_8cpp_source.html +++ b/docs/html/tinystr_8cpp_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinystr_8h.html b/docs/html/tinystr_8h.html index 7ade15d34..3721c4a51 100644 --- a/docs/html/tinystr_8h.html +++ b/docs/html/tinystr_8h.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinystr_8h_source.html b/docs/html/tinystr_8h_source.html index 9f0d47230..f4ee75cd2 100644 --- a/docs/html/tinystr_8h_source.html +++ b/docs/html/tinystr_8h_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinyxml_8cpp.html b/docs/html/tinyxml_8cpp.html index 48a2861af..1317c2866 100644 --- a/docs/html/tinyxml_8cpp.html +++ b/docs/html/tinyxml_8cpp.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinyxml_8cpp_source.html b/docs/html/tinyxml_8cpp_source.html index 1d80988f2..a87182e52 100644 --- a/docs/html/tinyxml_8cpp_source.html +++ b/docs/html/tinyxml_8cpp_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinyxml_8h.html b/docs/html/tinyxml_8h.html index aaa20802b..7c01054fc 100644 --- a/docs/html/tinyxml_8h.html +++ b/docs/html/tinyxml_8h.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinyxml_8h_source.html b/docs/html/tinyxml_8h_source.html index ec121f0ca..990f50f09 100644 --- a/docs/html/tinyxml_8h_source.html +++ b/docs/html/tinyxml_8h_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinyxmlerror_8cpp.html b/docs/html/tinyxmlerror_8cpp.html index 45067bf8b..ffa1cbebd 100644 --- a/docs/html/tinyxmlerror_8cpp.html +++ b/docs/html/tinyxmlerror_8cpp.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinyxmlerror_8cpp_source.html b/docs/html/tinyxmlerror_8cpp_source.html index 3da0a2acc..ca94fa6a2 100644 --- a/docs/html/tinyxmlerror_8cpp_source.html +++ b/docs/html/tinyxmlerror_8cpp_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinyxmlparser_8cpp.html b/docs/html/tinyxmlparser_8cpp.html index 2347a316d..93c588457 100644 --- a/docs/html/tinyxmlparser_8cpp.html +++ b/docs/html/tinyxmlparser_8cpp.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/docs/html/tinyxmlparser_8cpp_source.html b/docs/html/tinyxmlparser_8cpp_source.html index 006047eb2..2a5a2fd63 100644 --- a/docs/html/tinyxmlparser_8cpp_source.html +++ b/docs/html/tinyxmlparser_8cpp_source.html @@ -23,7 +23,7 @@ Logo
          SDK -  Release 1.7.1 +  Release 1.7.2
          Communications, logger, and bootloader libraries.
          diff --git a/resources/update_doxygen_docs.bat b/resources/update_doxygen_docs.bat index c17051b2a..9f97a3aa1 100644 --- a/resources/update_doxygen_docs.bat +++ b/resources/update_doxygen_docs.bat @@ -25,7 +25,7 @@ echo Generating Doxygen Documentation :: Update Doxygen documentation ::doxygen resources\DoxyfileSDK -( type resources\DoxyfileSDK & echo PROJECT_NUMBER="Release 1.7.1" ) | doxygen - +( type resources\DoxyfileSDK & echo PROJECT_NUMBER="Release 1.7.2" ) | doxygen - ::( type resources\DoxyfileSDK & echo PROJECT_NUMBER="Release %releaseversion%, %releasedate%, %releasetime%" ) | doxygen - diff --git a/src/cltool.cpp b/src/cltool.cpp index ac0d7e35a..906363623 100644 --- a/src/cltool.cpp +++ b/src/cltool.cpp @@ -422,8 +422,8 @@ void cltool_outputUsage() cout << " -flashConfig=key=value|key=value " << boldOff << endlbOn; cout << " " << boldOff << " set key / value pairs in flash config. (Run -flashConfig to list all keys)" << endlbOn; cout << "EXAMPLES" << endlbOn; - cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -flashConfig " << EXAMPLE_SPACE_1 << boldOff << "# Read from device and print all keys and values" << endlbOn; - cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -flashConfig=insRotation[0]=1.5708" << EXAMPLE_SPACE_1 << boldOff << "# Set INS X rotation in radians (90 deg)" << endlbOn; + cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -flashConfig " << boldOff << "# Read from device and print all keys and values" << endlbOn; + cout << " " << APP_NAME << APP_EXT << " -c=" << EXAMPLE_PORT << " -flashConfig=insRotation[0]=1.5708|insOffset[1]=1.2 " << boldOff << "# Set multiple flashConfig values" << endlbOn; cout << endlbOn; cout << "OPTIONS (Client / Server)" << endl; cout << " -svr=" << boldOff << "INFO used to retrieve external data and send to the uINS. Examples:" << endl; diff --git a/src/data_sets.h b/src/data_sets.h index f0ae0e0ed..c18420876 100644 --- a/src/data_sets.h +++ b/src/data_sets.h @@ -1568,6 +1568,9 @@ typedef struct /** obs outage count to reset bias */ int32_t maxout; + /** reject count to reset bias */ + int32_t maxrej; + /** min lock count to fix ambiguity */ int32_t minlock; @@ -1640,17 +1643,19 @@ typedef struct /** max difference of time (sec) */ double maxtdiff; - /** reject threshold of NIS */ - double maxinno; + /** reject threshold of NIS */ + double maxinnocode; + double maxinnophase; - /** max number of measurement rejections before bias reset */ - double maxrejc; + /** max number of measurement rejections before bias reset */ + double maxrejc; /** reject threshold of gdop */ double maxgdop; /** baseline length constraint {const,sigma} (m) */ double baseline[2]; + double max_baseline_error; /** rover position for fixed mode {x,y,z} (ecef) (m) */ double ru[3]; diff --git a/src/pybindMacros.h b/src/pybindMacros.h new file mode 100644 index 000000000..1dbf5fc8a --- /dev/null +++ b/src/pybindMacros.h @@ -0,0 +1,66 @@ +// support types +PYBIND11_NUMPY_DTYPE(gps_sat_sv_t, gnssId, svId, cno, elev, azim, prRes, flags); +PYBIND11_NUMPY_DTYPE(sensors_mpu_w_temp_t, pqr, acc, mag, temp); +PYBIND11_NUMPY_DTYPE(rtos_task_t, name, priority, stackUnused, periodMs, runTimeUs, maxRunTimeUs, averageRunTimeUs, gapCount, cpuUsage, handle); +PYBIND11_NUMPY_DTYPE(imus_t, pqr, acc); +PYBIND11_NUMPY_DTYPE(sensors_mpu_t, pqr, acc, mag); + + + +// Public Typcs +PYBIND11_NUMPY_DTYPE(dev_info_t, reserved, serialNumber, hardwareVer, firmwareVer, buildNumber, protocolVer, repoRevision, manufacturer, buildDate, buildTime, addInfo); +PYBIND11_NUMPY_DTYPE(crash_info_t, r0, r1, r2, r3, r12, lr, pc, psr); +PYBIND11_NUMPY_DTYPE(preintegrated_imu_t, time, theta1, theta2, vel1, vel2, dt); +PYBIND11_NUMPY_DTYPE(ins_1_t, week, timeOfWeek, insStatus, hdwStatus, theta, uvw, lla, ned); +PYBIND11_NUMPY_DTYPE(ins_2_t, week, timeOfWeek, insStatus, hdwStatus, qn2b, uvw, lla); +PYBIND11_NUMPY_DTYPE(gps_pos_t, week, timeOfWeekMs, status, ecef, lla, hMSL, hAcc, vAcc, pDop, cnoMean, towOffset); +PYBIND11_NUMPY_DTYPE(config_t, system, invSystem); +PYBIND11_NUMPY_DTYPE(ascii_msgs_t, options, pimu, ppimu, pins1, pins2, pgpsp, reserved, gpgga, gpgll, gpgsa, gprmc); +PYBIND11_NUMPY_DTYPE(rmc_t, bits, options); +PYBIND11_NUMPY_DTYPE(sys_params_t, timeOfWeekMs, insStatus, hdwStatus, imuTemp, baroTemp, mcuTemp, reserved1, imuPeriodMs, navPeriodMs, reserved2, genFaultCode); +PYBIND11_NUMPY_DTYPE(sys_sensors_t, time, temp, pqr, acc, mag, bar, barTemp, mslBar, humidity, vin, ana1, ana3, ana4); +PYBIND11_NUMPY_DTYPE(nvm_flash_cfg_t, size, checksum, key, startupImuDtMs, startupNavDtMs, ser0BaudRate, ser1BaudRate, insRotation, insOffset, gps1AntOffset, insDynModel, sysCfgBits, refLla, lastLla, lastLlaTimeOfWeekMs, lastLlaWeek, lastLlaUpdateDistance, ioConfig, cBrdConfig, gps2AntOffset, zeroVelRotation, zeroVelOffset, magInclination, magDeclination, gpsTimeSyncPeriodMs, startupGPSDtMs, RTKCfgBits, sensorConfig); +PYBIND11_NUMPY_DTYPE(gps_sat_t, timeOfWeekMs, numSats, sat); +PYBIND11_NUMPY_DTYPE(gps_version_t, swVersion, hwVersion, extension, reserved); +PYBIND11_NUMPY_DTYPE(mag_cal_t, enMagRecal, progress, declination); +PYBIND11_NUMPY_DTYPE(internal_diagnostic_t, gapCountSerialDriver, gapCountSerialParser, rxOverflowCount, txOverflowCount, checksumFailCount); +PYBIND11_NUMPY_DTYPE(gps_rtk_rel_t, timeOfWeekMs, differentialAge, arRatio, vectorToBase, distanceToBase, headingToBase); +PYBIND11_NUMPY_DTYPE(gps_rtk_misc_t, timeOfWeekMs, accuracyPos, accuracyCov, arThreshold, gDop, hDop, vDop, baseLla, cycleSlipCount, roverGpsObservationCount, baseGpsObservationCount, roverGlonassObservationCount, baseGlonassObservationCount, roverGalileoObservationCount, baseGalileoObservationCount, roverBeidouObservationCount, baseBeidouObservationCount, roverQzsObservationCount, baseQzsObservationCount, roverGpsEphemerisCount, baseGpsEphemerisCount, roverGlonassEphemerisCount, baseGlonassEphemerisCount, roverGalileoEphemerisCount, baseGalileoEphemerisCount, roverBeidouEphemerisCount, baseBeidouEphemerisCount, roverQzsEphemerisCount, baseQzsEphemerisCount, roverSbasCount, baseSbasCount, baseAntennaCount, ionUtcAlmCount); +PYBIND11_NUMPY_DTYPE(sensors_t, mpu); +PYBIND11_NUMPY_DTYPE(io_t, timeOfWeekMs, gpioStatus); +PYBIND11_NUMPY_DTYPE(sys_sensors_adc_t, time, mpu, bar, barTemp, humidity, ana); +PYBIND11_NUMPY_DTYPE(gps_vel_t, timeOfWeekMs, velEcef, sAcc); +PYBIND11_NUMPY_DTYPE(rtos_info_t, task, freeHeapSize, mallocMinusFree); +PYBIND11_NUMPY_DTYPE(inl2_states_t, timeOfWeek, qe2b, ve, ecef, biasPqr, biasAcc, biasBaro, magDec, magInc); +PYBIND11_NUMPY_DTYPE(magnetometer_t, time, mag); +PYBIND11_NUMPY_DTYPE(barometer_t, time, bar, mslBar, barTemp, humidity); +PYBIND11_NUMPY_DTYPE(dual_imu_t, time, I); +//PYBIND11_NUMPY_DTYPE(gps_raw_t, receiverIndex, dataType, obsCount, reserved, data); +//PYBIND11_NUMPY_DTYPE(gps_rtk_opt_t, mode, soltype, nf, navsys, elmin, snrmin, modear, glomodear, gpsmodear, bdsmodear, arfilter, maxout, minlock, minfixsats, minholdsats, mindropsats, rcvstds, minfix, armaxiter, dynamics, niter, intpref, rovpos, refpos, eratio, err, std, prn, sclkstab, thresar, elmaskar, elmaskhold, thresslip, varholdamb, gainholdamb, maxtdiff, maxinno, maxrejc, maxgdop, baseline, ru, rb, maxaveep, outsingle, prcopt_t); +PYBIND11_NUMPY_DTYPE(manufacturing_info_t, serialNumber, lotNumber, date, key); +PYBIND11_NUMPY_DTYPE(bit_t, state, hdwBitStatus, calBitStatus, tcPqrBias, tcAccBias, tcPqrSlope, tcAccSlope, tcPqrLinearity, tcAccLinearity, pqr, acc, pqrSigma, accSigma); +PYBIND11_NUMPY_DTYPE(ins_3_t, week, timeOfWeek, insStatus, hdwStatus, qn2b, uvw, lla, msl); +PYBIND11_NUMPY_DTYPE(ins_4_t, week, timeOfWeek, insStatus, hdwStatus, qe2b, ve, ecef); +PYBIND11_NUMPY_DTYPE(inl2_ned_sigma_t, timeOfWeekMs, PxyzNED, PvelNED, PattNED, PABias, PWBias, PBaroBias, PDeclination); +PYBIND11_NUMPY_DTYPE(strobe_in_time_t, week, timeOfWeekMs, pin, count); +PYBIND11_NUMPY_DTYPE(velocity_sensor_t, time_ms, id, vel, cov, q, p, valid, reserved); +PYBIND11_NUMPY_DTYPE(diag_msg_t, timeOfWeekMs, messageLength, message); +PYBIND11_NUMPY_DTYPE(survey_in_t, state, maxDurationSec, minAccuracy, elapsedTimeSec, hAccuracy, lla); +PYBIND11_NUMPY_DTYPE(evb2_t, firmwareVer, comBridgeCfg, loggerState, loggerElapsedTimeMs, ipAddr); +//PYBIND11_NUMPY_DTYPE(port_monitor_t, portNumber, txTimeMs, txBytesPerS, rxTimeMs, rxBytesPerS, status); + + +// Internal Data types +PYBIND11_NUMPY_DTYPE(feature_bits_t, key, featureBits, hash1, hash2); +PYBIND11_NUMPY_DTYPE(sensor_comp_unit_t, lpfLsb, temp, tempRampRate, tci, numTcPts, dtTemp); +PYBIND11_NUMPY_DTYPE(imu1_t, pqr, acc, mag); +PYBIND11_NUMPY_DTYPE(sensors_w_temp_t, mpu); +PYBIND11_NUMPY_DTYPE(sensor_bias_t, timeOfWeekMs, pqr, acc, mslBar, magI, magB); +PYBIND11_NUMPY_DTYPE(sensor_compensation_t, mpu, sampleCount, calState, alignAccel, status); +PYBIND11_NUMPY_DTYPE(hdw_params_t, timeOfWeekMs, pqrDev, accDev, pqrSigma, accSigma, mean, update, gpsCnoSigma, gpsCnoMean); +PYBIND11_NUMPY_DTYPE(nvr_manage_t, flash_write_needed, flash_write_count); +PYBIND11_NUMPY_DTYPE(debug_string_t, s); +PYBIND11_NUMPY_DTYPE(debug_array_t, i, f, lf); +PYBIND11_NUMPY_DTYPE(ins_dev_1_t, week, timeOfWeek, insStatus, hdwStatus, euler, uvw, lla, ned, eulerErr, uvwErr, nedErr); +PYBIND11_NUMPY_DTYPE(inl2_status_t, ahrs, zero_accel, zero_angrate, accel_motion, rot_motion, zero_vel, ahrs_gps_cnt, att_err, att_coarse, att_aligned, att_aligning, start_proc_done, mag_cal_good, mag_cal_done, stat_magfield); +PYBIND11_NUMPY_DTYPE(inl2_misc_t, gps_time_last_valid);