1 #ifndef VNENUM_H_INCLUDED
2 #define VNENUM_H_INCLUDED
15 BINARYGROUPTYPE_COMMON = 0x01,
16 BINARYGROUPTYPE_TIME = 0x02,
17 BINARYGROUPTYPE_IMU = 0x04,
18 BINARYGROUPTYPE_GPS = 0x08,
19 BINARYGROUPTYPE_ATTITUDE = 0x10,
20 BINARYGROUPTYPE_INS = 0x20
35 COMMONGROUP_NONE = 0x0000,
36 COMMONGROUP_TIMESTARTUP = 0x0001,
37 COMMONGROUP_TIMEGPS = 0x0002,
38 COMMONGROUP_TIMESYNCIN = 0x0004,
39 COMMONGROUP_YAWPITCHROLL = 0x0008,
40 COMMONGROUP_QUATERNION = 0x0010,
41 COMMONGROUP_ANGULARRATE = 0x0020,
42 COMMONGROUP_POSITION = 0x0040,
43 COMMONGROUP_VELOCITY = 0x0080,
44 COMMONGROUP_ACCEL = 0x0100,
45 COMMONGROUP_IMU = 0x0200,
46 COMMONGROUP_MAGPRES = 0x0400,
47 COMMONGROUP_DELTATHETA = 0x0800,
48 COMMONGROUP_INSSTATUS = 0x1000,
49 COMMONGROUP_SYNCINCNT = 0x2000,
50 COMMONGROUP_TIMEGPSPPS = 0x4000
56 TIMEGROUP_NONE = 0x0000,
57 TIMEGROUP_TIMESTARTUP = 0x0001,
58 TIMEGROUP_TIMEGPS = 0x0002,
59 TIMEGROUP_GPSTOW = 0x0004,
60 TIMEGROUP_GPSWEEK = 0x0008,
61 TIMEGROUP_TIMESYNCIN = 0x0010,
62 TIMEGROUP_TIMEGPSPPS = 0x0020,
63 TIMEGROUP_TIMEUTC = 0x0040,
64 TIMEGROUP_SYNCINCNT = 0x0080
70 IMUGROUP_NONE = 0x0000,
71 IMUGROUP_IMUSTATUS = 0x0001,
72 IMUGROUP_UNCOMPMAG = 0x0002,
73 IMUGROUP_UNCOMPACCEL = 0x0004,
74 IMUGROUP_UNCOMPGYRO = 0x0008,
75 IMUGROUP_TEMP = 0x0010,
76 IMUGROUP_PRES = 0x0020,
77 IMUGROUP_DELTATHETA = 0x0040,
78 IMUGROUP_DELTAVEL = 0x0080,
79 IMUGROUP_MAG = 0x0100,
80 IMUGROUP_ACCEL = 0x0200,
81 IMUGROUP_ANGULARRATE = 0x0400,
82 IMUGROUP_SENSSAT = 0x0800
92 GPSGROUP_NONE = 0x0000,
93 GPSGROUP_UTC = 0x0001,
94 GPSGROUP_TOW = 0x0002,
95 GPSGROUP_WEEK = 0x0004,
96 GPSGROUP_NUMSATS = 0x0008,
97 GPSGROUP_FIX = 0x0010,
98 GPSGROUP_POSLLA = 0x0020,
99 GPSGROUP_POSECEF = 0x0040,
100 GPSGROUP_VELNED = 0x0080,
101 GPSGROUP_VELECEF = 0x0100,
102 GPSGROUP_POSU = 0x0200,
103 GPSGROUP_VELU = 0x0400,
104 GPSGROUP_TIMEU = 0x0800
107 GPSGROUP_SVSTAT = 0x1000
114 ATTITUDEGROUP_NONE = 0x0000,
115 ATTITUDEGROUP_VPESTATUS = 0x0001,
116 ATTITUDEGROUP_YAWPITCHROLL = 0x0002,
117 ATTITUDEGROUP_QUATERNION = 0x0004,
118 ATTITUDEGROUP_DCM = 0x0008,
119 ATTITUDEGROUP_MAGNED = 0x0010,
120 ATTITUDEGROUP_ACCELNED = 0x0020,
121 ATTITUDEGROUP_LINEARACCELBODY = 0x0040,
122 ATTITUDEGROUP_LINEARACCELNED = 0x0080,
123 ATTITUDEGROUP_YPRU = 0x0100
126 ATTITUDEGROUP_YPRRATE = 0x0200,
127 ATTITUDEGROUP_STATEAHRS = 0x0400,
128 ATTITUDEGROUP_COVAHRS = 0x0800
135 INSGROUP_NONE = 0x0000,
136 INSGROUP_INSSTATUS = 0x0001,
137 INSGROUP_POSLLA = 0x0002,
138 INSGROUP_POSECEF = 0x0004,
139 INSGROUP_VELBODY = 0x0008,
140 INSGROUP_VELNED = 0x0010,
141 INSGROUP_VELECEF = 0x0020,
142 INSGROUP_MAGECEF = 0x0040,
143 INSGROUP_ACCELECEF = 0x0080,
144 INSGROUP_LINEARACCELECEF = 0x0100,
145 INSGROUP_POSU = 0x0200,
146 INSGROUP_VELU = 0x0400
149 INSGROUP_STATEINS = 0x0800,
150 INSGROUP_COVINS = 0x1000
169 ERR_SERIAL_BUFFER_OVERFLOW = 2,
170 ERR_INVALID_CHECKSUM = 3,
171 ERR_INVALID_COMMAND = 4,
172 ERR_NOT_ENOUGH_PARAMETERS = 5,
173 ERR_TOO_MANY_PARAMETERS = 6,
174 ERR_INVALID_PARAMETER = 7,
175 ERR_INVALID_REGISTER = 8,
176 ERR_UNAUTHORIZED_ACCESS = 9,
177 ERR_WATCHDOG_RESET = 10,
178 ERR_OUTPUT_BUFFER_OVERFLOW = 11,
179 ERR_INSUFFICIENT_BAUD_RATE = 12,
180 ERR_ERROR_BUFFER_OVERFLOW = 255
220 E_MEMORY_NOT_ALLOCATED,
223 E_SENSOR_HARD_FAULT = 1001,
226 E_SENSOR_SERIAL_BUFFER_OVERFLOW = 1002,
229 E_SENSOR_INVALID_CHECKSUM = 1003,
232 E_SENSOR_INVALID_COMMAND = 1004,
235 E_SENSOR_NOT_ENOUGH_PARAMETERS = 1005,
238 E_SENSOR_TOO_MANY_PARAMETERS = 1006,
241 E_SENSOR_INVALID_PARAMETER = 1007,
244 E_SENSOR_INVALID_REGISTER = 1008,
247 E_SENSOR_UNAUTHORIZED_ACCESS = 1009,
250 E_SENSOR_WATCHDOG_RESET = 1010,
253 E_SENSOR_OUTPUT_BUFFER_OVERFLOW = 1011,
256 E_SENSOR_INSUFFICIENT_BAUD_RATE = 1012,
259 E_SENSOR_ERROR_BUFFER_OVERFLOW = 1013,
261 E_DATA_NOT_ELLIPTICAL = 2001,
262 E_ILL_CONDITIONED = 2002,
263 E_EXCEEDED_MAX_ITERATIONS = 2003,
264 E_BAD_FINAL_INTERATION = 2004,
265 E_INSUFFICIENT_DATA = 2005
274 VNERRORDETECTIONMODE_NONE,
277 VNERRORDETECTIONMODE_CHECKSUM,
280 VNERRORDETECTIONMODE_CRC
282 } VnErrorDetectionMode;
291 VNSYNCINMODE_COUNT2 = 0,
295 VNSYNCINMODE_ADC2 = 1,
299 VNSYNCINMODE_ASYNC2 = 2,
303 VNSYNCINMODE_COUNT = 3,
306 VNSYNCINMODE_IMU = 4,
309 VNSYNCINMODE_ASYNC = 5
317 VNSYNCINEDGE_RISING = 0,
320 VNSYNCINEDGE_FALLING = 1
328 VNSYNCOUTMODE_NONE = 0,
331 VNSYNCOUTMODE_ITEMSTART = 1,
334 VNSYNCOUTMODE_IMUREADY = 2,
337 VNSYNCOUTMODE_INS = 3,
340 VNSYNCOUTMODE_GPSPPS = 6
348 VNSYNCOUTPOLARITY_NEGATIVE = 0,
351 VNSYNCOUTPOLARITY_POSITIVE = 1
359 VNCOUNTMODE_NONE = 0,
362 VNCOUNTMODE_SYNCINCOUNT = 1,
365 VNCOUNTMODE_SYNCINTIME = 2,
368 VNCOUNTMODE_SYNCOUTCOUNTER = 3,
371 VNCOUNTMODE_GPSPPS = 4
379 VNSTATUSMODE_OFF = 0,
382 VNSTATUSMODE_VPESTATUS = 1,
385 VNSTATUSMODE_INSSTATUS = 2
393 VNCHECKSUMMODE_OFF = 0,
396 VNCHECKSUMMODE_CHECKSUM = 1,
399 VNCHECKSUMMODE_CRC = 2
407 VNERRORMODE_IGNORE = 0,
410 VNERRORMODE_SEND = 1,
413 VNERRORMODE_SENDANDOFF = 2
421 VNFILTERMODE_NOFILTERING = 0,
424 VNFILTERMODE_ONLYRAW = 1,
427 VNFILTERMODE_ONLYCOMPENSATED = 2,
430 VNFILTERMODE_BOTH = 3
438 VNINTEGRATIONFRAME_BODY = 0,
441 VNINTEGRATIONFRAME_NED = 1
442 } VnIntegrationFrame;
449 VNCOMPENSATIONMODE_NONE = 0,
452 VNCOMPENSATIONMODE_BIAS = 1
453 } VnCompensationMode;
463 VNGPSFIX_TIMEONLY = 1,
477 VNGPSMODE_ONBOARDGPS = 0,
480 VNGPSMODE_EXTERNALGPS = 1,
483 VNGPSMODE_EXTERNALVN200GPS = 2
491 VNPPSSOURCE_GPSPPSRISING = 0,
494 VNPPSSOURCE_GPSPPSFALLING = 1,
497 VNPPSSOURCE_SYNCINRISING = 2,
500 VNPPSSOURCE_SYNCINFALLING = 3
508 VNVPEENABLE_DISABLE = 0,
511 VNVPEENABLE_ENABLE = 1
519 VNHEADINGMODE_ABSOLUTE = 0,
522 VNHEADINGMODE_RELATIVE = 1,
525 VNHEADINGMODE_INDOOR = 2
547 VNSCENARIO_INSWITHPRESSURE = 1,
550 VNSCENARIO_INSWITHOUTPRESSURE = 2,
553 VNSCENARIO_GPSMOVINGBASELINEDYNAMIC = 3,
556 VNSCENARIO_GPSMOVINGBASELINESTATIC = 4
578 VNHSIOUTPUT_NOONBOARD = 1,
581 VNHSIOUTPUT_USEONBOARD = 3
589 VNVELOCITYCOMPENSATIONMODE_DISABLED = 0,
592 VNVELOCITYCOMPENSATIONMODE_BODYMEASUREMENT = 1
593 } VnVelocityCompensationMode;
600 VNMAGNETICMODE_2D = 0,
603 VNMAGNETICMODE_3D = 1
611 VNEXTERNALSENSORMODE_INTERNAL = 0,
614 VNEXTERNALSENSORMODE_EXTERNAL200HZ = 1,
617 VNEXTERNALSENSORMODE_EXTERNALONUPDATE = 2
618 } VnExternalSensorMode;
625 VNFOAMINIT_NOFOAMINIT = 0,
628 VNFOAMINIT_FOAMINITPITCHROLL = 1,
631 VNFOAMINIT_FOAMINITHEADINGPITCHROLL = 2,
634 VNFOAMINIT_FOAMINITPITCHROLLCOVARIANCE = 3,
637 VNFOAMINIT_FOAMINITHEADINGPITCHROLLCOVARIANCE = 4