Line data Source code
1 : /*
2 : This program is free software: you can redistribute it and/or modify
3 : it under the terms of the GNU General Public License as published by
4 : the Free Software Foundation, either version 3 of the License, or
5 : (at your option) any later version.
6 :
7 : This program is distributed in the hope that it will be useful,
8 : but WITHOUT ANY WARRANTY; without even the implied warranty of
9 : MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
10 : GNU General Public License for more details.
11 :
12 : You should have received a copy of the GNU General Public License
13 : along with this program. If not, see <http://www.gnu.org/licenses/>.
14 : */
15 : /*
16 : support for serial connected SBG INS system
17 : */
18 :
19 : #pragma once
20 :
21 : #include "AP_ExternalAHRS_config.h"
22 :
23 : #if AP_EXTERNAL_AHRS_SBG_ENABLED
24 :
25 : /*!
26 : * Clock status and UTC time status definitions.
27 : */
28 : #define SBG_ECOM_CLOCK_STATUS_SHIFT (1u) /*!< Shift used to extract the clock status part. */
29 : #define SBG_ECOM_CLOCK_STATUS_MASK (0x000Fu) /*!< Mask used to keep only the clock status part. */
30 : #define SBG_ECOM_CLOCK_UTC_STATUS_SHIFT (6u) /*!< Shift used to extract the clock UTC status part. */
31 : #define SBG_ECOM_CLOCK_UTC_STATUS_MASK (0x000Fu) /*!< Mask used to keep only the clock UTC status part. */
32 :
33 : /*!
34 : * Clock status enum.
35 : */
36 : typedef enum _SbgEComClockStatus
37 : {
38 : SBG_ECOM_CLOCK_ERROR = 0, /*!< An error has occurred on the clock estimation. */
39 : SBG_ECOM_CLOCK_FREE_RUNNING = 1, /*!< The clock is only based on the internal crystal. */
40 : SBG_ECOM_CLOCK_STEERING = 2, /*!< A PPS has been detected and the clock is converging to it. */
41 : SBG_ECOM_CLOCK_VALID = 3 /*!< The clock has converged to the PPS and is within 500ns. */
42 : } SbgEComClockStatus;
43 :
44 : /*!
45 : * Status for the UTC time data.
46 : */
47 : typedef enum _SbgEComClockUtcStatus
48 : {
49 : SBG_ECOM_UTC_INVALID = 0, /*!< The UTC time is not known, we are just propagating the UTC time internally. */
50 : SBG_ECOM_UTC_NO_LEAP_SEC = 1, /*!< We have received valid UTC time information but we don't have the leap seconds information. */
51 : SBG_ECOM_UTC_VALID = 2 /*!< We have received valid UTC time data with valid leap seconds. */
52 : } SbgEComClockUtcStatus;
53 :
54 0 : static inline SbgEComClockStatus sbgEComLogUtcGetClockStatus(uint16_t status) {
55 0 : return (SbgEComClockStatus)((status >> SBG_ECOM_CLOCK_STATUS_SHIFT) & SBG_ECOM_CLOCK_STATUS_MASK);
56 : }
57 0 : static inline SbgEComClockUtcStatus sbgEComLogUtcGetClockUtcStatus(uint16_t status) {
58 0 : return (SbgEComClockUtcStatus)((status >> SBG_ECOM_CLOCK_UTC_STATUS_SHIFT) & SBG_ECOM_CLOCK_UTC_STATUS_MASK);
59 : }
60 :
61 :
62 : typedef struct PACKED _SbgEComLogUtc
63 : {
64 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
65 : uint16_t status; /*!< UTC time and clock status information */
66 : uint16_t year; /*!< Year for example: 2013. */
67 : int8_t month; /*!< Month in year [1 .. 12]. */
68 : int8_t day; /*!< Day in month [1 .. 31]. */
69 : int8_t hour; /*!< Hour in day [0 .. 23]. */
70 : int8_t minute; /*!< Minute in hour [0 .. 59]. */
71 : int8_t second; /*!< Second in minute [0 .. 60]. (60 is used only when a leap second is added) */
72 : int32_t nanoSecond; /*!< Nanosecond of current second in ns. */
73 : uint32_t gpsTimeOfWeek; /*!< GPS time of week in ms. */
74 : } SbgEComLogUtc;
75 :
76 :
77 :
78 : /*!
79 : * Structure that stores data for the SBG_ECOM_LOG_GPS#_VEL message.
80 : */
81 : typedef struct PACKED _SbgEComLogGnssVel
82 : {
83 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
84 : uint32_t status; /*!< GPS velocity status, type and bitmask. */
85 : uint32_t timeOfWeek; /*!< GPS time of week in ms. */
86 : float velocity[3]; /*!< GPS North, East, Down velocity in m.s^-1. */
87 : float velocityAcc[3]; /*!< GPS North, East, Down velocity 1 sigma accuracy in m.s^-1. */
88 : float course; /*!< Track ground course in degrees. */
89 : float courseAcc; /*!< Course accuracy in degrees. */
90 : } SbgEComLogGnssVel;
91 :
92 : /*!
93 : * Structure that stores data for the SBG_ECOM_LOG_GPS#_POS message.
94 : */
95 : typedef struct PACKED _SbgEComLogGnssPos
96 : {
97 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
98 : uint32_t status; /*!< GPS position status, type and bitmask. */
99 : uint32_t timeOfWeek; /*!< GPS time of week in ms. */
100 : double latitude; /*!< Latitude in degrees, positive north. */
101 : double longitude; /*!< Longitude in degrees, positive east. */
102 : double altitude; /*!< Altitude above Mean Sea Level in meters. */
103 : float undulation; /*!< Altitude difference between the geoid and the Ellipsoid in meters (Height above Ellipsoid = altitude + undulation). */
104 : float latitudeAccuracy; /*!< 1 sigma latitude accuracy in meters. */
105 : float longitudeAccuracy; /*!< 1 sigma longitude accuracy in meters. */
106 : float altitudeAccuracy; /*!< 1 sigma altitude accuracy in meters. */
107 : uint8_t numSvUsed; /*!< Number of space vehicles used to compute the solution (since version 1.4). */
108 : uint16_t baseStationId; /*!< Base station id for differential corrections (0-4095). Set to 0xFFFF if differential corrections are not used (since version 1.4). */
109 : uint16_t differentialAge; /*!< Differential correction age in 0.01 seconds. Set to 0XFFFF if differential corrections are not used (since version 1.4). */
110 : } SbgEComLogGnssPos;
111 :
112 : /*!
113 : * Structure that stores data for the SBG_ECOM_LOG_GPS#_HDT message.
114 : */
115 : typedef struct PACKED _SbgEComLogGnssHdt
116 : {
117 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
118 : uint16_t status; /*!< GPS HDT status, type and bitmask. */
119 : uint32_t timeOfWeek; /*!< GPS time of week in ms. */
120 : float heading; /*!< GPS true heading in degrees. */
121 : float headingAccuracy; /*!< 1 sigma GPS true heading accuracy in degrees. */
122 : float pitch; /*!< GPS pitch angle measured from the master to the rover in degrees. */
123 : float pitchAccuracy; /*!< 1 signa GPS pitch angle accuarcy in degrees. */
124 : } SbgEComLogGnssHdt;
125 :
126 :
127 :
128 : /*!
129 : * Structure that stores data for the SBG_ECOM_LOG_IMU_DATA message.
130 : */
131 : typedef struct PACKED _SbgEComLogImuLegacy
132 : {
133 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
134 : uint16_t status; /*!< IMU status bitmask. */
135 : float accelerometers[3]; /*!< X, Y, Z accelerometers in m.s^-2. */
136 : float gyroscopes[3]; /*!< X, Y, Z gyroscopes in rad.s^-1. */
137 : float temperature; /*!< Internal temperature in C. */
138 : float deltaVelocity[3]; /*!< X, Y, Z delta velocity in m.s^-2. */
139 : float deltaAngle[3]; /*!< X, Y, Z delta angle in rad.s^-1. */
140 : } SbgEComLogImuLegacy;
141 :
142 : /*!
143 : * Structure that stores the data for SBG_ECOM_LOG_FAST_IMU_DATA message
144 : */
145 : typedef struct PACKED _SbgEComLogImuFastLegacy
146 : {
147 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
148 : uint16_t status; /*!< IMU status bitmask. */
149 : float accelerometers[3]; /*!< X, Y, Z accelerometers in m.s^-2. */
150 : float gyroscopes[3]; /*!< X, Y, Z gyroscopes in rad.s^-1. */
151 : } SbgEComLogImuFastLegacy;
152 :
153 : /*!
154 : * Log inertial data status mask definitions
155 : */
156 : #define SBG_ECOM_IMU_COM_OK (0x00000001u << 0) /*!< Set to 1 if the communication with the IMU is ok. */
157 : #define SBG_ECOM_IMU_STATUS_BIT (0x00000001u << 1) /*!< Set to 1 if the IMU passes general Built in Tests (calibration, CPU, ...). */
158 :
159 : #define SBG_ECOM_IMU_ACCEL_X_BIT (0x00000001u << 2) /*!< Set to 1 if the accelerometer X passes Built In Test. */
160 : #define SBG_ECOM_IMU_ACCEL_Y_BIT (0x00000001u << 3) /*!< Set to 1 if the accelerometer Y passes Built In Test. */
161 : #define SBG_ECOM_IMU_ACCEL_Z_BIT (0x00000001u << 4) /*!< Set to 1 if the accelerometer Z passes Built In Test. */
162 :
163 : #define SBG_ECOM_IMU_GYRO_X_BIT (0x00000001u << 5) /*!< Set to 1 if the gyroscope X passes Built In Test. */
164 : #define SBG_ECOM_IMU_GYRO_Y_BIT (0x00000001u << 6) /*!< Set to 1 if the gyroscope Y passes Built In Test. */
165 : #define SBG_ECOM_IMU_GYRO_Z_BIT (0x00000001u << 7) /*!< Set to 1 if the gyroscope Z passes Built In Test. */
166 :
167 : #define SBG_ECOM_IMU_ACCELS_IN_RANGE (0x00000001u << 8) /*!< Set to 1 if all accelerometers are within operating range. */
168 : #define SBG_ECOM_IMU_GYROS_IN_RANGE (0x00000001u << 9) /*!< Set to 1 if all gyroscopes are within operating range. */
169 : #define SBG_ECOM_IMU_GYROS_USE_HIGH_SCALE (0x00000001u << 10) /*!< Set if the gyroscope scale factor range is high. Applicable only for SBG_ECOM_LOG_IMU_SHORT logs. */
170 :
171 : /*!
172 : * Standard gyroscope scale factor.
173 : */
174 : #define SBG_ECOM_LOG_IMU_GYRO_SCALE_STD (67108864.0f)
175 :
176 : /*!
177 : * High range gyroscope scale factor derived from 10000 degrees per second maximum range.
178 : *
179 : * Calculation: (2^31 - 1) / (10000 * π / 180)
180 : */
181 : #define SBG_ECOM_LOG_IMU_GYRO_SCALE_HIGH (12304174.0f)
182 :
183 : /*!
184 : * Maximum value for the standard scale factor, in radians per second.
185 : *
186 : * Approximately equivalent to 1833 °/s.
187 : */
188 : #define SBG_ECOM_LOG_IMU_GYRO_SCALE_STD_MAX_RAD ((float)INT32_MAX / SBG_ECOM_LOG_IMU_GYRO_SCALE_STD)
189 :
190 : /*!
191 : * Standard accelerometer scale factor.
192 : */
193 : #define SBG_ECOM_LOG_IMU_ACCEL_SCALE_STD (1048576.0f)
194 :
195 : /*!
196 : * Standard temperature scale factor.
197 : */
198 : #define SBG_ECOM_LOG_IMU_TEMP_SCALE_STD (256.0f)
199 :
200 : /*!
201 : * Structure that stores data for the SBG_ECOM_LOG_IMU_SHORT message.
202 : *
203 : * This message is sent asynchronously and must be used for post processing.
204 : *
205 : * The delta angle values are scaled based on the gyroscopes output. If any output exceeds
206 : * a predefined limit, the scale factor switches from standard to high range to prevent saturation.
207 : */
208 : typedef struct PACKED _SbgEComLogImuShort
209 : {
210 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
211 : uint16_t status; /*!< IMU status bitmask. */
212 : int32_t deltaVelocity[3]; /*!< X, Y, Z delta velocity. Unit is 1048576 LSB for 1 m.s^-2. */
213 : int32_t deltaAngle[3]; /*!< X, Y, Z delta angle. Unit is either 67108864 LSB for 1 rad.s^-1 (standard) or 12304174 LSB for 1 rad.s^-1 (high range), managed automatically. */
214 : int16_t temperature; /*!< IMU average temperature. Unit is 256 LSB for 1°C. */
215 : } SbgEComLogImuShort;
216 :
217 :
218 :
219 : #define SBG_ECOM_LOG_EKF_SOLUTION_MODE_MASK (0x0000000Fu) /*!< Mask used to keep only the clock status part. */
220 :
221 : /*!
222 : * Solution filter mode enum.
223 : */
224 : typedef enum _SbgEComSolutionMode
225 : {
226 : SBG_ECOM_SOL_MODE_UNINITIALIZED = 0, /*!< The Kalman filter is not initialized and the returned data are all invalid. */
227 : SBG_ECOM_SOL_MODE_VERTICAL_GYRO = 1, /*!< The Kalman filter only rely on a vertical reference to compute roll and pitch angles. Heading and navigation data drift freely. */
228 : SBG_ECOM_SOL_MODE_AHRS = 2, /*!< A heading reference is available, the Kalman filter provides full orientation but navigation data drift freely. */
229 : SBG_ECOM_SOL_MODE_NAV_VELOCITY = 3, /*!< The Kalman filter computes orientation and velocity. Position is freely integrated from velocity estimation. */
230 : SBG_ECOM_SOL_MODE_NAV_POSITION = 4 /*!< Nominal mode, the Kalman filter computes all parameters (attitude, velocity, position). Absolute position is provided. */
231 : } SbgEComSolutionMode;
232 :
233 : /*!
234 : * EKF computed orientation using euler angles.
235 : */
236 : typedef struct PACKED _SbgEComLogEkfEuler
237 : {
238 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
239 : float euler[3]; /*!< Roll, Pitch and Yaw angles in rad. */
240 : float eulerStdDev[3]; /*!< Roll, Pitch and Yaw angles 1 sigma standard deviation in rad. */
241 : uint32_t status; /*!< EKF solution status bitmask and enum. */
242 : } SbgEComLogEkfEuler;
243 :
244 : /*!
245 : * EFK computed orientation using quaternion.
246 : */
247 : typedef struct PACKED _SbgEComLogEkfQuat
248 : {
249 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
250 : float quaternion[4]; /*!< Orientation quaternion stored in W, X, Y, Z form. */
251 : float eulerStdDev[3]; /*!< Roll, Pitch and Yaw angles 1 sigma standard deviation in rad. */
252 : uint32_t status; /*!< EKF solution status bitmask and enum. */
253 : } SbgEComLogEkfQuat;
254 :
255 : /*!
256 : * EFK computed navigation data.
257 : */
258 : typedef struct PACKED _SbgEComLogEkfNav
259 : {
260 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
261 : float velocity[3]; /*!< North, East, Down velocity in m.s^-1. */
262 : float velocityStdDev[3]; /*!< North, East, Down velocity 1 sigma standard deviation in m.s^-1. */
263 : double position[3]; /*!< Latitude, Longitude in degrees positive North and East.
264 : Altitude above Mean Sea Level in meters. */
265 : float undulation; /*!< Altitude difference between the geoid and the Ellipsoid in meters (Height above Ellipsoid = altitude + undulation). */
266 : float positionStdDev[3]; /*!< Latitude, longitude and altitude 1 sigma standard deviation in meters. */
267 : uint32_t status; /*!< EKF solution status bitmask and enum. */
268 : } SbgEComLogEkfNav;
269 :
270 : //----------------------------------------------------------------------//
271 : //- Log Air Data status definitions -//
272 : //----------------------------------------------------------------------//
273 :
274 : /*!
275 : * Air Data sensor status mask definitions
276 : */
277 : #define SBG_ECOM_AIR_DATA_TIME_IS_DELAY (0x0001u << 0) /*!< Set to 1 if the timeStamp field represents a delay instead of an absolute timestamp. */
278 : #define SBG_ECOM_AIR_DATA_PRESSURE_ABS_VALID (0x0001u << 1) /*!< Set to 1 if the pressure field is filled and valid. */
279 : #define SBG_ECOM_AIR_DATA_ALTITUDE_VALID (0x0001u << 2) /*!< Set to 1 if the barometric altitude field is filled and valid. */
280 : #define SBG_ECOM_AIR_DATA_PRESSURE_DIFF_VALID (0x0001u << 3) /*!< Set to 1 if the differential pressure field is filled and valid. */
281 : #define SBG_ECOM_AIR_DATA_AIRPSEED_VALID (0x0001u << 4) /*!< Set to 1 if the true airspeed field is filled and valid. */
282 : #define SBG_ECOM_AIR_DATA_TEMPERATURE_VALID (0x0001u << 5) /*!< Set to 1 if the output air temperature field is filled and valid. */
283 :
284 : /*!
285 : * Log structure for AirData.
286 : */
287 : typedef struct PACKED _SbgEComLogAirData
288 : {
289 : uint32_t timeStamp; /*!< Time in us since the sensor power up OR measurement delay in us. */
290 : uint16_t status; /*!< Airdata sensor status bitmask. */
291 : float pressureAbs; /*!< Raw absolute pressure measured by the barometer sensor in Pascals. */
292 : float altitude; /*!< Altitude computed from barometric altimeter in meters and positive upward. */
293 : float pressureDiff; /*!< Raw differential pressure measured by the pitot tube in Pascal. */
294 : float trueAirspeed; /*!< True airspeed measured by a pitot tube in m.s^-1 and positive forward. */
295 : float airTemperature; /*!< Outside air temperature in C that could be used to compute true airspeed from differential pressure. */
296 : } SbgEComLogAirData;
297 :
298 : /*!
299 : * Log magnetometer data status mask definitions
300 : */
301 : #define SBG_ECOM_MAG_MAG_X_BIT (0x00000001u << 0) /*!< Set to 1 if the magnetometer X passes Built In Test. */
302 : #define SBG_ECOM_MAG_MAG_Y_BIT (0x00000001u << 1) /*!< Set to 1 if the magnetometer Y passes Built In Test. */
303 : #define SBG_ECOM_MAG_MAG_Z_BIT (0x00000001u << 2) /*!< Set to 1 if the magnetometer Z passes Built In Test. */
304 :
305 : #define SBG_ECOM_MAG_ACCEL_X_BIT (0x00000001u << 3) /*!< Set to 1 if the accelerometer X passes Built In Test. */
306 : #define SBG_ECOM_MAG_ACCEL_Y_BIT (0x00000001u << 4) /*!< Set to 1 if the accelerometer Y passes Built In Test. */
307 : #define SBG_ECOM_MAG_ACCEL_Z_BIT (0x00000001u << 5) /*!< Set to 1 if the accelerometer Z passes Built In Test. */
308 :
309 : #define SBG_ECOM_MAG_MAGS_IN_RANGE (0x00000001u << 6) /*!< Set to 1 if all magnetometers are within operating range. */
310 : #define SBG_ECOM_MAG_ACCELS_IN_RANGE (0x00000001u << 7) /*!< Set to 1 if all accelerometers are within operating range. */
311 :
312 : #define SBG_ECOM_MAG_CALIBRATION_OK (0x00000001u << 8) /*!< Set to 1 if the magnetometers seems to be calibrated. */
313 :
314 : /*!
315 : * Structure that stores data for the SBG_ECOM_LOG_MAG message.
316 : */
317 : typedef struct PACKED _SbgEComLogMag
318 : {
319 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
320 : uint16_t status; /*!< Magnetometer status bitmask. */
321 : float magnetometers[3]; /*!< X, Y, Z magnetometer data in A.U. */
322 : float accelerometers[3]; /*!< X, Y, Z accelerometers in m.s^-2. */
323 : } SbgEComLogMag;
324 :
325 : /*!
326 : * Structure that stores data for the SBG_ECOM_LOG_MAG_CALIB message.
327 : */
328 : typedef struct PACKED _SbgEComLogMagCalib
329 : {
330 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
331 : uint16_t reserved; /*!< Reserved for future use. */
332 : uint8_t magData[16]; /*!< Magnetometers calibration data. */
333 : } SbgEComLogMagCalib;
334 :
335 :
336 : typedef struct PACKED _SbgEComLogStatus
337 : {
338 : uint32_t timeStamp; /*!< Time in us since the sensor power up. */
339 : uint16_t generalStatus; /*!< General status bitmask and enums. */
340 : uint16_t reserved1; /*!< Reserved status field for future use */
341 : uint32_t comStatus; /*!< Communication status bitmask and enums. */
342 : uint32_t aidingStatus; /*!< Aiding equipments status bitmask and enums. */
343 : uint32_t reserved2; /*!< Reserved status field for future use. */
344 : uint16_t reserved3; /*!< Reserved status field for future use. */
345 : uint32_t uptime; /*!< System uptime in seconds. */
346 : } SbgEComLogStatus;
347 :
348 : /*!
349 : * Helper structure to retrieve device info.
350 : */
351 : #define SBG_ECOM_INFO_PRODUCT_CODE_LENGTH (32)
352 : typedef struct PACKED _SbgEComDeviceInfo
353 : {
354 : uint8_t productCode[SBG_ECOM_INFO_PRODUCT_CODE_LENGTH]; /*!< Human readable Product Code. */
355 : uint32_t serialNumber; /*!< Device serial number */
356 : uint32_t calibationRev; /*!< Calibration data revision */
357 : uint16_t calibrationYear; /*!< Device Calibration Year */
358 : uint8_t calibrationMonth; /*!< Device Calibration Month */
359 : uint8_t calibrationDay; /*!< Device Calibration Day */
360 : uint32_t hardwareRev; /*!< Device hardware revision */
361 : uint32_t firmwareRev; /*!< Firmware revision */
362 : } SbgEComDeviceInfo;
363 :
364 :
365 :
366 : /*!
367 : * Generic errors definitions for SBG Systems projects.
368 : */
369 : typedef enum _SbgErrorCode : uint16_t
370 : {
371 : SBG_NO_ERROR = 0, /*!< The operation was successfully executed. */
372 : SBG_ERROR, /*!< We have a generic error. */
373 : SBG_NULL_POINTER, /*!< A pointer is null. */
374 : SBG_INVALID_CRC, /*!< The received frame has an invalid CRC. */
375 : SBG_INVALID_FRAME, /*!< The received frame is invalid <br> */
376 : /*!< We have received an unexpected frame (not the cmd we are waiting for or with an invalid data size.<br> */
377 : /*!< This could be caused by a desync between questions and answers.<br> */
378 : /*!< You should flush the serial port to fix this. */
379 : SBG_TIME_OUT, /*!< We have started to receive a frame but not the end. */
380 : SBG_WRITE_ERROR, /*!< All bytes hasn't been written. */
381 : SBG_READ_ERROR, /*!< All bytes hasn't been read. */
382 : SBG_BUFFER_OVERFLOW, /*!< A buffer is too small to contain so much data. */
383 : SBG_INVALID_PARAMETER, /*!< An invalid parameter has been found. */
384 : SBG_NOT_READY, /*!< A device isn't ready (Rx isn't ready for example). */
385 : SBG_MALLOC_FAILED, /*!< Failed to allocate a buffer. */
386 : SGB_CALIB_MAG_NOT_ENOUGH_POINTS, /*!< Not enough points were available to perform magnetometers calibration. */
387 : SBG_CALIB_MAG_INVALID_TAKE, /*!< The calibration procedure could not be properly executed due to insufficient precision. */
388 : SBG_CALIB_MAG_SATURATION, /*!< Saturation were detected when attempt to calibrate magnetos. */
389 : SBG_CALIB_MAG_POINTS_NOT_IN_A_PLANE, /*!< 2D calibration procedure could not be performed. */
390 :
391 : SBG_DEVICE_NOT_FOUND, /*!< A device couldn't be founded or opened PC only error code */
392 : SBG_OPERATION_CANCELLED, /*!< An operation was cancelled. PC only error code*/
393 : SBG_NOT_CONTINUOUS_FRAME, /*!< We have received a frame that isn't a continuous one. PC only error code*/
394 :
395 : SBG_INCOMPATIBLE_HARDWARE, /*!< Hence valid; the command cannot be executed because of hardware incompatibility */
396 : SBG_INVALID_VERSION /*!< Incompatible version */
397 : } SbgErrorCode;
398 :
399 :
400 : typedef struct PACKED _SbgEComACK
401 : {
402 : uint8_t ackMsg;
403 : uint8_t ackMsgClass;
404 : SbgErrorCode ackErrorCode;
405 : } SbgEComAck;
406 :
407 : /*!
408 : * Defintion of all the settings actions available.
409 : */
410 : typedef enum _SbgEComSettingsAction
411 : {
412 : SBG_ECOM_REBOOT_ONLY = 0, /*!< Only reboot the device. */
413 : SBG_ECOM_SAVE_SETTINGS = 1, /*!< Save the settings to non-volatile memory and then reboot the device. */
414 : SBG_ECOM_RESTORE_DEFAULT_SETTINGS = 2 /*!< Restore default settings, save them to non-volatile memory and reboot the device. */
415 : } SbgEComSettingsAction;
416 :
417 :
418 : typedef enum _SbgEComGpsPosType
419 : {
420 : SBG_ECOM_POS_NO_SOLUTION = 0, /*!< No valid solution available. */
421 : SBG_ECOM_POS_UNKNOWN_TYPE = 1, /*!< An unknown solution type has been computed. */
422 : SBG_ECOM_POS_SINGLE = 2, /*!< Single point solution position. */
423 : SBG_ECOM_POS_PSRDIFF = 3, /*!< Standard Pseudorange Differential Solution (DGPS). */
424 : SBG_ECOM_POS_SBAS = 4, /*!< SBAS satellite used for differential corrections. */
425 : SBG_ECOM_POS_OMNISTAR = 5, /*!< Omnistar VBS Position (L1 sub-meter). */
426 : SBG_ECOM_POS_RTK_FLOAT = 6, /*!< Floating RTK ambiguity solution (20 cms RTK). */
427 : SBG_ECOM_POS_RTK_INT = 7, /*!< Integer RTK ambiguity solution (2 cms RTK). */
428 : SBG_ECOM_POS_PPP_FLOAT = 8, /*!< Precise Point Positioning with float ambiguities. */
429 : SBG_ECOM_POS_PPP_INT = 9, /*!< Precise Point Positioning with fixed ambiguities. */
430 : SBG_ECOM_POS_FIXED = 10 /*!< Fixed location solution position. */
431 : } SbgEComGpsPosType;
432 :
433 : #define SBG_ECOM_GPS_POS_TYPE_SHIFT (6u) /*!< Shift used to extract the GPS position type part. */
434 : #define SBG_ECOM_GPS_POS_TYPE_MASK (0x0000003Fu) /*!< Mask used to keep only the GPS position type part. */
435 :
436 :
437 :
438 : /*!
439 : * Define if the onboard magnetic calibration should acquiere points for a 3D or 2D calibration.
440 : */
441 : typedef enum _SbgEComMagCalibMode
442 : {
443 : SBG_ECOM_MAG_CALIB_MODE_2D = 1, /*!< Tell the device that the magnetic calibration will be performed with limited motions.
444 : This calibration mode is only designed to be used when roll and pitch motions are less than 5.
445 : To work correctly, the device should be rotated through at least a full circle. */
446 : SBG_ECOM_MAG_CALIB_MODE_3D = 2 /*!< Tell the device to start a full 3D magnetic calibration procedure.
447 : The 3D magnetic calibration offers the best accuracy but needs at least motion of 30 on the roll and pitch angles. */
448 : } SbgEComMagCalibMode;
449 :
450 :
451 : /*!
452 : * Used to select the expected dynamics during the magnetic calibration.
453 : */
454 : typedef enum _SbgEComMagCalibBandwidth
455 : {
456 : SBG_ECOM_MAG_CALIB_LOW_BW = 0, /*!< Tell the device that low dynamics will be observed during the magnetic calibration process. */
457 : SBG_ECOM_MAG_CALIB_MEDIUM_BW = 1, /*!< Tell the device that normal dynamics will be observed during the magnetic calibration process. */
458 : SBG_ECOM_MAG_CALIB_HIGH_BW = 2 /*!< Tell the device that high dynamics will be observed during the magnetic calibration process. */
459 : } SbgEComMagCalibBandwidth;
460 :
461 : /*!
462 : * General quality indicator of an onboard magnetic calibration.
463 : */
464 : typedef enum _SbgEComMagCalibQuality
465 : {
466 : SBG_ECOM_MAG_CALIB_QUAL_OPTIMAL = 0, /*!< All acquired points fit very well on a unit sphere after the calibration. */
467 : SBG_ECOM_MAG_CALIB_QUAL_GOOD = 1, /*!< Small deviations of the magnetic field norm have been detected. The magnetic calibration should although provide accurate heading. */
468 : SBG_ECOM_MAG_CALIB_QUAL_POOR = 2, /*!< Large deviations of the magnetic field norm have been detected. It may come from external magnetic distortions during the calibration. */
469 : SBG_ECOM_MAG_CALIB_QUAL_INVALID = 3 /*!< No valid magnetic calibration has been computed. It could comes from too much magnetic disturbances, insufficient or invalid motions. */
470 : } SbgEComMagCalibQuality;
471 :
472 : /*!
473 : * Confidence indicator on results of an onbard magnetic calibration.
474 : */
475 : typedef enum _SbgEComMagCalibConfidence
476 : {
477 : SBG_ECOM_MAG_CALIB_TRUST_HIGH = 0, /*!< Reported quality indicator can be trusted as enough remarkable magnetic field points have been acquired. */
478 : SBG_ECOM_MAG_CALIB_TRUST_MEDIUM = 1, /*!< Few remarkable magnetic field points have been used to compute the magnetic calibration leading to a medium confidence in reported quality indicators. */
479 : SBG_ECOM_MAG_CALIB_TRUST_LOW = 2 /*!< Even if the quality indicator could report an excellent calibration,
480 : The data set used to compute the magnetic calibration was not meaningful enough to compute meaningful quality indicators.
481 : This calibration should be used carefully. */
482 : } SbgEComMagCalibConfidence;
483 :
484 : #define SBG_ECOM_MAG_CALIB_NOT_ENOUGH_POINTS (0x0001u) /*!< Not enough valid magnetic points have been acquired. */
485 : #define SBG_ECOM_MAG_CALIB_TOO_MUCH_DISTORTIONS (0x0002u) /*!< Unable to compute a magnetic calibration due to magnetic interferences or incorrect data set distribution. */
486 : #define SBG_ECOM_MAG_CALIB_X_MOTION_ISSUE (0x0004u) /*!< For a 3D calibration: not enough motion on X axis. For a 2D calibration; too much motion on X axis. */
487 : #define SBG_ECOM_MAG_CALIB_Y_MOTION_ISSUE (0x0008u) /*!< For a 3D calibration: not enough motion on Y axis. For a 2D calibration; too much motion on Y axis. */
488 : #define SBG_ECOM_MAG_CALIB_Z_MOTION_ISSUE (0x0010u) /*!< For a 3D or 2D calibration: not enough motion on Z axis. */
489 : #define SBG_ECOM_MAG_CALIB_ALIGNMENT_ISSUE (0x0020u) /*!< For a 3D calibration: the alignment between the magnetometers and the inertial frame seems to be invalid. */
490 :
491 :
492 : /*!
493 : * Helper structure to retrieve onboard magnetic calibration results.
494 : */
495 : typedef struct PACKED _SbgEComMagCalibResults
496 : {
497 : SbgEComMagCalibQuality quality; /*!< General magnetic calibration quality indicator. */
498 : SbgEComMagCalibConfidence confidence; /*!< Confidence indicator that should be read to interpret the quality indicator. */
499 : uint16_t advancedStatus; /*!< Set of bit masks used to report advanced information on the magnetic calibration status.*/
500 :
501 : float beforeMeanError; /*!< Mean magnetic field norm error observed before calibration. */
502 : float beforeStdError; /*!< Standard deviation of the magnetic field norm error observed before calibration. */
503 : float beforeMaxError; /*!< Maximum magnetic field norm error observed before calibration. */
504 :
505 : float afterMeanError; /*!< Mean magnetic field norm error observed after calibration. */
506 : float afterStdError; /*!< Standard deviation of the magnetic field norm error observed after calibration. */
507 : float afterMaxError; /*!< Maximum magnetic field norm error observed after calibration. */
508 :
509 : float meanAccuracy; /*!< Mean expected heading accuracy in radians. */
510 : float stdAccuracy; /*!< Standard deviation of the expected heading accuracy in radians. */
511 : float maxAccuracy; /*!< Maximum expected heading accuracy in radians. */
512 :
513 : uint16_t numPoints; /*!< Number of magnetic field points stored internally and used to compute the magnetic calibration. */
514 : uint16_t maxNumPoints; /*!< Maximum number of magnetic field points that can be stored internally. */
515 : float offset[3]; /*!< Computed Hard Iron correction vector offset. */
516 : float matrix[9]; /*!< Computed Hard & Soft Iron correction matrix. */
517 : } SbgEComMagCalibResults;
518 :
519 :
520 : typedef struct _SbgEComSetMagCal
521 : {
522 : float offset[3]; /*!< Computed Hard Iron correction vector offset. */
523 : float matrix[9]; /*!< Computed Hard & Soft Iron correction matrix. */
524 : } SbgEComSetMagCal;
525 :
526 :
527 : /*!
528 : * Enum that defines all the message classes available.
529 : */
530 : typedef enum _SbgEComClass
531 : {
532 : SBG_ECOM_CLASS_LOG_ECOM_0 = 0x00, /*!< Class that contains sbgECom protocol input/output log messages. */
533 :
534 : SBG_ECOM_CLASS_LOG_ECOM_1 = 0x01, /*!< Class that contains special sbgECom output messages that handle high frequency output */
535 :
536 : SBG_ECOM_CLASS_LOG_NMEA_0 = 0x02, /*!< Class that contains NMEA (and NMEA like) output logs. <br>
537 : Note: This class is only used for identification purpose and does not contain any sbgECom message. */
538 : SBG_ECOM_CLASS_LOG_NMEA_1 = 0x03, /*!< Class that contains proprietary NMEA (and NMEA like) output logs. <br>
539 : Note: This class is only used for identification purpose and does not contain any sbgECom message. */
540 : SBG_ECOM_CLASS_LOG_THIRD_PARTY_0 = 0x04, /*!< Class that contains third party output logs.
541 : Note: This class is only used for identification purpose and does not contain any sbgECom message. */
542 : SBG_ECOM_CLASS_LOG_CMD_0 = 0x10 /*!< Class that contains sbgECom protocol commands */
543 : } SbgEComClass;
544 :
545 : //----------------------------------------------------------------------//
546 : //- Definition of all messages id for sbgECom -//
547 : //----------------------------------------------------------------------//
548 :
549 : /*!
550 : * Enum that defines all the available ECom output logs from the sbgECom library.
551 : */
552 : typedef enum _SbgEComLog
553 : {
554 : SBG_ECOM_LOG_STATUS = 1, /*!< Status general, clock, com aiding, solution, heave */
555 :
556 : SBG_ECOM_LOG_UTC_TIME = 2, /*!< Provides UTC time reference */
557 :
558 : SBG_ECOM_LOG_IMU_DATA = 3, /*!< DEPRECATED: Synchronous IMU measurements (time aligned to UTC - NEVER use for Post Processing). */
559 :
560 : SBG_ECOM_LOG_MAG = 4, /*!< Magnetic data with associated accelerometer on each axis */
561 : SBG_ECOM_LOG_MAG_CALIB = 5, /*!< Magnetometer calibration data (raw buffer) */
562 :
563 : SBG_ECOM_LOG_EKF_EULER = 6, /*!< Includes roll, pitch, yaw and their accuracies on each axis */
564 : SBG_ECOM_LOG_EKF_QUAT = 7, /*!< Includes the 4 quaternions values */
565 : SBG_ECOM_LOG_EKF_NAV = 8, /*!< Position and velocities in NED coordinates with the accuracies on each axis */
566 :
567 : SBG_ECOM_LOG_SHIP_MOTION = 9, /*!< Heave, surge and sway and accelerations on each axis. */
568 :
569 : SBG_ECOM_LOG_GPS1_VEL = 13, /*!< GPS velocities from primary or secondary GPS receiver */
570 : SBG_ECOM_LOG_GPS1_POS = 14, /*!< GPS positions from primary or secondary GPS receiver */
571 : SBG_ECOM_LOG_GPS1_HDT = 15, /*!< GPS true heading from dual antenna system */
572 :
573 : SBG_ECOM_LOG_GPS2_VEL = 16, /*!< GPS 2 velocity log data. */
574 : SBG_ECOM_LOG_GPS2_POS = 17, /*!< GPS 2 position log data. */
575 : SBG_ECOM_LOG_GPS2_HDT = 18, /*!< GPS 2 true heading log data. */
576 :
577 : SBG_ECOM_LOG_ODO_VEL = 19, /*!< Provides odometer velocity */
578 :
579 : SBG_ECOM_LOG_EVENT_A = 24, /*!< Event markers sent when events are detected on sync in A pin */
580 : SBG_ECOM_LOG_EVENT_B = 25, /*!< Event markers sent when events are detected on sync in B pin */
581 : SBG_ECOM_LOG_EVENT_C = 26, /*!< Event markers sent when events are detected on sync in C pin */
582 : SBG_ECOM_LOG_EVENT_D = 27, /*!< Event markers sent when events are detected on sync in D pin */
583 : SBG_ECOM_LOG_EVENT_E = 28, /*!< Event markers sent when events are detected on sync in E pin */
584 :
585 : SBG_ECOM_LOG_DVL_BOTTOM_TRACK = 29, /*!< Doppler Velocity Log for bottom tracking data. */
586 : SBG_ECOM_LOG_DVL_WATER_TRACK = 30, /*!< Doppler Velocity log for water layer data. */
587 :
588 : SBG_ECOM_LOG_GPS1_RAW = 31, /*!< GPS 1 raw data for post processing. */
589 :
590 : SBG_ECOM_LOG_SHIP_MOTION_HP = 32, /*!< Return delayed ship motion such as surge, sway, heave. */
591 :
592 : SBG_ECOM_LOG_AIR_DATA = 36, /*!< Air Data aiding such as barometric altimeter and true air speed. */
593 :
594 : SBG_ECOM_LOG_USBL = 37, /*!< Raw USBL position data for sub-sea navigation. */
595 :
596 : SBG_ECOM_LOG_GPS2_RAW = 38, /*!< GPS 2 raw data for post processing. */
597 :
598 :
599 : SBG_ECOM_LOG_IMU_SHORT = 44, /*!< Asynchronous IMU measurements output at the IMU rate and to use for Post Processing with Qinertia. */
600 :
601 : SBG_ECOM_LOG_EVENT_OUT_A = 45, /*!< Event marker used to timestamp each generated Sync Out A signal. */
602 : SBG_ECOM_LOG_EVENT_OUT_B = 46, /*!< Event marker used to timestamp each generated Sync Out B signal. */
603 :
604 : SBG_ECOM_LOG_DEPTH = 47, /*!< Depth sensor measurement log used for sub-sea navigation. */
605 : SBG_ECOM_LOG_DIAG = 48, /*!< Diagnostic log. */
606 :
607 : SBG_ECOM_LOG_RTCM_RAW = 49, /*!< RTCM raw data. */
608 :
609 : SBG_ECOM_LOG_GPS1_SAT = 50, /*!< GPS 1 Satellite data. */
610 : SBG_ECOM_LOG_GPS2_SAT = 51, /*!< GNSS2 Satellite data. */
611 :
612 : SBG_ECOM_LOG_EKF_ROT_ACCEL_BODY = 52, /*!< INS body rotation rate and lateral acceleration (bias, earth rotation and gravity free compensated). */
613 : SBG_ECOM_LOG_EKF_ROT_ACCEL_NED = 53, /*!< INS North/East/Down rotation rate and lateral acceleration (bias, earth rotation and gravity free compensated). */
614 : SBG_ECOM_LOG_EKF_VEL_BODY = 54, /*!< INS X,Y,Z body velocity and standard deviation. */
615 :
616 : SBG_ECOM_LOG_SESSION_INFO = 55, /*!< Session information, including device information and current settings. */
617 :
618 : SBG_ECOM_LOG_EKF_DEBUG = 56, /*!< EKF debug data. */
619 :
620 : SBG_ECOM_LOG_PTP_STATUS = 57, /*!< PTP status. */
621 :
622 : SBG_ECOM_LOG_VELOCITY_1 = 58, /*!< Generic velocity 1 log. */
623 :
624 : SBG_ECOM_LOG_VIB_MON_FFT = 59, /*!< Vibration monitoring FFT data for post processing. */
625 : SBG_ECOM_LOG_VIB_MON_REPORT = 60, /*!< Vibration monitoring report information. */
626 :
627 : SBG_ECOM_LOG_ECOM_NUM_MESSAGES /*!< Helper definition to know the number of ECom messages */
628 : } SbgEComLog;
629 :
630 : /*!
631 : * Enum that defines all the available ECom output logs in the class SBG_ECOM_CLASS_LOG_ECOM_1
632 : */
633 : typedef enum _SbgEComLog1MsgId
634 : {
635 : SBG_ECOM_LOG_FAST_IMU_DATA = 0, /*!< Provides accelerometers, gyroscopes, time and status at 1KHz rate. */
636 : SBG_ECOM_LOG_ECOM_1_NUM_MESSAGES /*!< Helper definition to know the number of ECom messages */
637 : } SbgEComLog1;
638 :
639 :
640 : /*!
641 : * Enum that defines all the available commands for the sbgECom library.
642 : */
643 : typedef enum _SbgEComCmd
644 : {
645 : /* Acknowledge */
646 : SBG_ECOM_CMD_ACK = 0, /*!< Acknowledge */
647 :
648 : /* Special settings commands */
649 : SBG_ECOM_CMD_SETTINGS_ACTION = 1, /*!< Performs various settings actions */
650 : SBG_ECOM_CMD_IMPORT_SETTINGS = 2, /*!< Imports a new settings structure to the sensor */
651 : SBG_ECOM_CMD_EXPORT_SETTINGS = 3, /*!< Export the whole configuration from the sensor */
652 :
653 : /* Device info */
654 : SBG_ECOM_CMD_INFO = 4, /*!< Get basic device information */
655 :
656 : /* Sensor parameters */
657 : SBG_ECOM_CMD_INIT_PARAMETERS = 5, /*!< Initial configuration */
658 : SBG_ECOM_CMD_SET_MOTION_PROFILE = 6, /*!< Set a new motion profile */
659 : SBG_ECOM_CMD_MOTION_PROFILE_ID = 7, /*!< Get motion profile information */
660 : SBG_ECOM_CMD_IMU_ALIGNMENT_LEVER_ARM = 8, /*!< Sensor alignment and lever arm on vehicle configuration */
661 : SBG_ECOM_CMD_AIDING_ASSIGNMENT = 9, /*!< Aiding assignments such as RTCM / GPS / Odometer configuration */
662 :
663 : /* Magnetometer configuration */
664 : SBG_ECOM_CMD_MAGNETOMETER_SET_MODEL = 10, /*!< Set a new magnetometer error model */
665 : SBG_ECOM_CMD_MAGNETOMETER_MODEL_ID = 11, /*!< Get magnetometer error model information */
666 : SBG_ECOM_CMD_MAGNETOMETER_REJECT_MODE = 12, /*!< Magnetometer aiding rejection mode */
667 : SBG_ECOM_CMD_SET_MAG_CALIB = 13, /*!< Set magnetic soft and hard Iron calibration data */
668 :
669 : /* Magnetometer onboard calibration */
670 : SBG_ECOM_CMD_START_MAG_CALIB = 14, /*!< Start / reset internal magnetic field logging for calibration. */
671 : SBG_ECOM_CMD_COMPUTE_MAG_CALIB = 15, /*!< Compute a magnetic calibration based on previously logged data. */
672 :
673 : /* GNSS configuration */
674 : SBG_ECOM_CMD_GNSS_1_SET_MODEL = 16, /*!< Set a new GNSS model */
675 : SBG_ECOM_CMD_GNSS_1_MODEL_ID = 17, /*!< Get GNSS model information */
676 : SBG_ECOM_CMD_GNSS_1_LEVER_ARM_ALIGNMENT = 18, /*!< GNSS installation configuration (lever arm, antenna alignments) */
677 : SBG_ECOM_CMD_GNSS_1_REJECT_MODES = 19, /*!< GNSS aiding rejection modes configuration. */
678 :
679 : /* Odometer configuration */
680 : SBG_ECOM_CMD_ODO_CONF = 20, /*!< Odometer gain, direction configuration */
681 : SBG_ECOM_CMD_ODO_LEVER_ARM = 21, /*!< Odometer installation configuration (lever arm) */
682 : SBG_ECOM_CMD_ODO_REJECT_MODE = 22, /*!< Odometer aiding rejection mode configuration. */
683 :
684 : /* Interfaces configuration */
685 : SBG_ECOM_CMD_UART_CONF = 23, /*!< UART interfaces configuration */
686 : SBG_ECOM_CMD_CAN_BUS_CONF = 24, /*!< CAN bus interface configuration */
687 : SBG_ECOM_CMD_CAN_OUTPUT_CONF = 25, /*!< CAN identifiers configuration */
688 :
689 : /* Events configuration */
690 : SBG_ECOM_CMD_SYNC_IN_CONF = 26, /*!< Synchronization inputs configuration */
691 : SBG_ECOM_CMD_SYNC_OUT_CONF = 27, /*!< Synchronization outputs configuration */
692 :
693 : /* Output configuration */
694 : SBG_ECOM_CMD_NMEA_TALKER_ID = 29, /*!< NMEA talker ID configuration */
695 : SBG_ECOM_CMD_OUTPUT_CONF = 30, /*!< Output configuration */
696 : SBG_ECOM_CMD_LEGACY_CONT_OUTPUT_CONF = 31, /*!< Legacy serial output mode configuration */
697 :
698 : /* Avanced configuration */
699 : SBG_ECOM_CMD_ADVANCED_CONF = 32, /*!< Advanced settings configuration */
700 :
701 : /* Features related commands */
702 : SBG_ECOM_CMD_FEATURES = 33, /*!< Retrieve device features */
703 :
704 : /* Licenses related commands */
705 : SBG_ECOM_CMD_LICENSE_APPLY = 34, /*!< Upload and apply a new license */
706 :
707 : /* Message class output switch */
708 : SBG_ECOM_CMD_OUTPUT_CLASS_ENABLE = 35, /*!< Enable/disable the output of an entire class */
709 :
710 : /* Ethernet configuration */
711 : SBG_ECOM_CMD_ETHERNET_CONF = 36, /*!< Set/get Ethernet configuration such as DHCP mode and IP address. */
712 : SBG_ECOM_CMD_ETHERNET_INFO = 37, /*!< Return the current IP used by the device. */
713 :
714 : /* Misc. */
715 : SBG_ECOM_LOG_ECOM_NUM_CMDS /*!< Helper definition to know the number of commands */
716 : } SbgEComCmd;
717 :
718 :
719 : #endif // AP_EXTERNAL_AHRS_SBG_ENABLED
720 :
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