1 #ifndef _VNPROTOCOL_UART_TYPES_H_
2 #define _VNPROTOCOL_UART_TYPES_H_
10 enum ErrorDetectionMode
12 ERRORDETECTIONMODE_NONE,
13 ERRORDETECTIONMODE_CHECKSUM,
14 ERRORDETECTIONMODE_CRC
75 BINARYGROUP_COMMON = 0x01,
76 BINARYGROUP_TIME = 0x02,
77 BINARYGROUP_IMU = 0x04,
78 BINARYGROUP_GPS = 0x08,
79 BINARYGROUP_ATTITUDE = 0x10,
80 BINARYGROUP_INS = 0x20
86 COMMONGROUP_NONE = 0x0000,
87 COMMONGROUP_TIMESTARTUP = 0x0001,
88 COMMONGROUP_TIMEGPS = 0x0002,
89 COMMONGROUP_TIMESYNCIN = 0x0004,
90 COMMONGROUP_YAWPITCHROLL = 0x0008,
91 COMMONGROUP_QUATERNION = 0x0010,
92 COMMONGROUP_ANGULARRATE = 0x0020,
93 COMMONGROUP_POSITION = 0x0040,
94 COMMONGROUP_VELOCITY = 0x0080,
95 COMMONGROUP_ACCEL = 0x0100,
96 COMMONGROUP_IMU = 0x0200,
97 COMMONGROUP_MAGPRES = 0x0400,
98 COMMONGROUP_DELTATHETA = 0x0800,
99 COMMONGROUP_INSSTATUS = 0x1000,
100 COMMONGROUP_SYNCINCNT = 0x2000,
101 COMMONGROUP_TIMEGPSPPS = 0x4000
107 TIMEGROUP_NONE = 0x0000,
108 TIMEGROUP_TIMESTARTUP = 0x0001,
109 TIMEGROUP_TIMEGPS = 0x0002,
110 TIMEGROUP_GPSTOW = 0x0004,
111 TIMEGROUP_GPSWEEK = 0x0008,
112 TIMEGROUP_TIMESYNCIN = 0x0010,
113 TIMEGROUP_TIMEGPSPPS = 0x0020,
114 TIMEGROUP_TIMEUTC = 0x0040,
115 TIMEGROUP_SYNCINCNT = 0x0080
121 IMUGROUP_NONE = 0x0000,
122 IMUGROUP_IMUSTATUS = 0x0001,
123 IMUGROUP_UNCOMPMAG = 0x0002,
124 IMUGROUP_UNCOMPACCEL = 0x0004,
125 IMUGROUP_UNCOMPGYRO = 0x0008,
126 IMUGROUP_TEMP = 0x0010,
127 IMUGROUP_PRES = 0x0020,
128 IMUGROUP_DELTATHETA = 0x0040,
129 IMUGROUP_DELTAVEL = 0x0080,
130 IMUGROUP_MAG = 0x0100,
131 IMUGROUP_ACCEL = 0x0200,
132 IMUGROUP_ANGULARRATE = 0x0400,
133 IMUGROUP_SENSSAT = 0x0800,
139 GPSGROUP_NONE = 0x0000,
140 GPSGROUP_UTC = 0x0001,
141 GPSGROUP_TOW = 0x0002,
142 GPSGROUP_WEEK = 0x0004,
143 GPSGROUP_NUMSATS = 0x0008,
144 GPSGROUP_FIX = 0x0010,
145 GPSGROUP_POSLLA = 0x0020,
146 GPSGROUP_POSECEF = 0x0040,
147 GPSGROUP_VELNED = 0x0080,
148 GPSGROUP_VELECEF = 0x0100,
149 GPSGROUP_POSU = 0x0200,
150 GPSGROUP_VELU = 0x0400,
151 GPSGROUP_TIMEU = 0x0800,
157 ATTITUDEGROUP_NONE = 0x0000,
158 ATTITUDEGROUP_VPESTATUS = 0x0001,
159 ATTITUDEGROUP_YAWPITCHROLL = 0x0002,
160 ATTITUDEGROUP_QUATERNION = 0x0004,
161 ATTITUDEGROUP_DCM = 0x0008,
162 ATTITUDEGROUP_MAGNED = 0x0010,
163 ATTITUDEGROUP_ACCELNED = 0x0020,
164 ATTITUDEGROUP_LINEARACCELBODY = 0x0040,
165 ATTITUDEGROUP_LINEARACCELNED = 0x0080,
166 ATTITUDEGROUP_YPRU = 0x0100,
172 INSGROUP_NONE = 0x0000,
173 INSGROUP_INSSTATUS = 0x0001,
174 INSGROUP_POSLLA = 0x0002,
175 INSGROUP_POSECEF = 0x0004,
176 INSGROUP_VELBODY = 0x0008,
177 INSGROUP_VELNED = 0x0010,
178 INSGROUP_VELECEF = 0x0020,
179 INSGROUP_MAGECEF = 0x0040,
180 INSGROUP_ACCELECEF = 0x0080,
181 INSGROUP_LINEARACCELECEF = 0x0100,
182 INSGROUP_POSU = 0x0200,
183 INSGROUP_VELU = 0x0400,
190 ERR_SERIAL_BUFFER_OVERFLOW = 2,
191 ERR_INVALID_CHECKSUM = 3,
192 ERR_INVALID_COMMAND = 4,
193 ERR_NOT_ENOUGH_PARAMETERS = 5,
194 ERR_TOO_MANY_PARAMETERS = 6,
195 ERR_INVALID_PARAMETER = 7,
196 ERR_INVALID_REGISTER = 8,
197 ERR_UNAUTHORIZED_ACCESS = 9,
198 ERR_WATCHDOG_RESET = 10,
199 ERR_OUTPUT_BUFFER_OVERFLOW = 11,
200 ERR_INSUFFICIENT_BAUD_RATE = 12,
201 ERR_ERROR_BUFFER_OVERFLOW = 255
208 SYNCINMODE_COUNT2 = 0,
216 SYNCINMODE_ASYNC2 = 2,
218 SYNCINMODE_COUNT = 3,
230 SYNCINEDGE_RISING = 0,
232 SYNCINEDGE_FALLING = 1
239 SYNCOUTMODE_NONE = 0,
241 SYNCOUTMODE_ITEMSTART = 1,
243 SYNCOUTMODE_IMUREADY = 2,
247 SYNCOUTMODE_GPSPPS = 6
254 SYNCOUTPOLARITY_NEGATIVE = 0,
256 SYNCOUTPOLARITY_POSITIVE = 1
265 COUNTMODE_SYNCINCOUNT = 1,
267 COUNTMODE_SYNCINTIME = 2,
269 COUNTMODE_SYNCOUTCOUNTER = 3,
280 STATUSMODE_VPESTATUS = 1,
282 STATUSMODE_INSSTATUS = 2
289 CHECKSUMMODE_OFF = 0,
291 CHECKSUMMODE_CHECKSUM = 1,
300 ERRORMODE_IGNORE = 0,
304 ERRORMODE_SENDANDOFF = 2
311 FILTERMODE_NOFILTERING = 0,
313 FILTERMODE_ONLYRAW = 1,
315 FILTERMODE_ONLYCOMPENSATED = 2,
321 enum IntegrationFrame
324 INTEGRATIONFRAME_BODY = 0,
326 INTEGRATIONFRAME_NED = 1
330 enum CompensationMode
333 COMPENSATIONMODE_NONE = 0,
335 COMPENSATIONMODE_BIAS = 1
355 GPSMODE_ONBOARDGPS = 0,
357 GPSMODE_EXTERNALGPS = 1,
359 GPSMODE_EXTERNALVN200GPS = 2
366 PPSSOURCE_GPSPPSRISING = 0,
368 PPSSOURCE_GPSPPSFALLING = 1,
370 PPSSOURCE_SYNCINRISING = 2,
372 PPSSOURCE_SYNCINFALLING = 3
379 VPEENABLE_DISABLE = 0,
388 HEADINGMODE_ABSOLUTE = 0,
390 HEADINGMODE_RELATIVE = 1,
392 HEADINGMODE_INDOOR = 2
410 SCENARIO_INSWITHPRESSURE = 1,
412 SCENARIO_INSWITHOUTPRESSURE = 2,
414 SCENARIO_GPSMOVINGBASELINEDYNAMIC = 3,
416 SCENARIO_GPSMOVINGBASELINESTATIC = 4
434 HSIOUTPUT_NOONBOARD = 1,
436 HSIOUTPUT_USEONBOARD = 3
440 enum VelocityCompensationMode
443 VELOCITYCOMPENSATIONMODE_DISABLED = 0,
445 VELOCITYCOMPENSATIONMODE_BODYMEASUREMENT = 1
458 enum ExternalSensorMode
461 EXTERNALSENSORMODE_INTERNAL = 0,
463 EXTERNALSENSORMODE_EXTERNAL200HZ = 1,
465 EXTERNALSENSORMODE_EXTERNALONUPDATE = 2
472 FOAMINIT_NOFOAMINIT = 0,
474 FOAMINIT_FOAMINITPITCHROLL = 1,
476 FOAMINIT_FOAMINITHEADINGPITCHROLL = 2,
478 FOAMINIT_FOAMINITPITCHROLLCOVARIANCE = 3,
480 FOAMINIT_FOAMINITHEADINGPITCHROLLCOVARIANCE = 4
486 SENSSAT_MAGX = 0x0001,
487 SENSSAT_MAGY = 0x0002,
488 SENSSAT_MAGZ = 0x0004,
489 SENSSAT_ACCX = 0x0008,
490 SENSSAT_ACCY = 0x0010,
491 SENSSAT_ACCZ = 0x0020,
492 SENSSAT_GYROX = 0x0040,
493 SENSSAT_GYROY = 0x0080,
494 SENSSAT_GYROZ = 0x0100,
495 SENSSAT_PRES = 0x0200
539 INSSTATUS_NOT_TRACKING = 0x00,
540 INSSTATUS_SUFFICIENT_DYNAMIC_MOTION = 0x01,
541 INSSTATUS_TRACKING = 0x02,
542 INSSTATUS_GPS_FIX = 0x04,
543 INSSTATUS_TIME_ERROR = 0x08,
544 INSSTATUS_IMU_ERROR = 0x10,
545 INSSTATUS_MAG_PRES_ERROR = 0x20,
546 INSSTATUS_GPS_ERROR = 0x40
569 CommonGroup operator|(CommonGroup lhs, CommonGroup rhs);
576 TimeGroup operator|(TimeGroup lhs, TimeGroup rhs);
583 ImuGroup operator|(ImuGroup lhs, ImuGroup rhs);
590 GpsGroup operator|(GpsGroup lhs, GpsGroup rhs);
597 AttitudeGroup operator|(AttitudeGroup lhs, AttitudeGroup rhs);
604 InsGroup operator|(InsGroup lhs, InsGroup rhs);
uint8_t sec
Sec field.
Definition: types.h:557
uint8_t accDisturbance
AccDisturbance field.
Definition: types.h:517
bool accSaturation
AccSaturation field.
Definition: types.h:520
uint8_t magDisturbance
MagDistrubance field.
Definition: types.h:511
uint8_t hour
Hour field.
Definition: types.h:555
int8_t year
Year field.
Definition: types.h:552
bool magSaturation
MagSaturation field.
Definition: types.h:514
uint8_t ms
Ms field.
Definition: types.h:558
bool knownMagDisturbance
KnownMagDisturbance field.
Definition: types.h:523
uint8_t min
Min field.
Definition: types.h:556
bool knownAccelDisturbance
KnownAccelDisturbance field.
Definition: types.h:526
uint8_t attitudeQuality
AttitudeQuality field.
Definition: types.h:502
VpeStatus()
Default constructor.
uint8_t day
Day field.
Definition: types.h:554
UTC time as represented by the VectorNav sensor.
Definition: types.h:550
bool gyroSaturation
GyroSaturation field.
Definition: types.h:505
Status indicators for VPE.
Definition: types.h:499
uint8_t month
Month field.
Definition: types.h:553
bool gyroSaturationRecovery
GyroSaturationRecovery field.
Definition: types.h:508