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<div class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_ecd2e0ae7771ca42ec0b8bcca2f60ddb.html">gbxnovatelacfr</a> » <a class="el" href="dir_b858eda436958a55ca0a86872cd7f538.html">gbxnovatelutilacfr</a>
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<h1>novatelmessages.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span>
<a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2004-2008 Michael Moser</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span>
<a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span>
<a name="l00008"></a>00008 <span class="comment"> *</span>
<a name="l00009"></a>00009 <span class="comment"> */</span>
<a name="l00010"></a>00010 <span class="preprocessor">#ifndef GBX_NOVATEL_MESSAGES_H</span>
<a name="l00011"></a>00011 <span class="preprocessor"></span><span class="preprocessor">#define GBX_NOVATEL_MESSAGES_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span>
<a name="l00013"></a>00013 <span class="preprocessor">#include <stdint.h></span> <span class="comment">// for uint8_t and friends</span>
<a name="l00014"></a>00014
<a name="l00015"></a>00015 <span class="keyword">namespace </span>gbxnovatelutilacfr{
<a name="l00016"></a>00016 <span class="keyword">enum</span> BinaryLogType{
<a name="l00017"></a>00017 RawImuSBLogType = 325,
<a name="l00018"></a>00018 BestGpsPosBLogType = 423,
<a name="l00019"></a>00019 BestGpsVelBLogType = 506,
<a name="l00020"></a>00020 InsPvaSBLogType = 508,
<a name="l00021"></a>00021 InvalidLogType
<a name="l00022"></a>00022 };
<a name="l00023"></a>00023
<a name="l00024"></a>00024 <span class="preprocessor">#pragma pack(push,1)</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="comment">// binary packet header; long version, mostly used for GPS gear</span>
<a name="l00026"></a>00026 <span class="comment">// according to:</span>
<a name="l00027"></a>00027 <span class="comment">// OEM4 Family Firmware Version 2.300 Command and Log Reference Rev 16; Table 4; Page 17</span>
<a name="l00028"></a>00028 <span class="keyword">typedef</span> <span class="keyword">struct </span>Oem4BinaryHeader{ <span class="comment">//offs, size, comment</span>
<a name="l00029"></a>00029 uint8_t sb1; <span class="comment">//0 1 0xaa</span>
<a name="l00030"></a>00030 uint8_t sb2; <span class="comment">//1 1 0x44</span>
<a name="l00031"></a>00031 uint8_t sb3; <span class="comment">//2 1 0x12/0x13 , depending on long/short format</span>
<a name="l00032"></a>00032 uint8_t headerLength; <span class="comment">//3 1</span>
<a name="l00033"></a>00033 uint16_t msgId; <span class="comment">//4 2 which log we have</span>
<a name="l00034"></a>00034 uint8_t msgType; <span class="comment">//6 1 binary, ascii ...</span>
<a name="l00035"></a>00035 uint8_t portAddress; <span class="comment">//7 1</span>
<a name="l00036"></a>00036 uint16_t msgLength; <span class="comment">//8 2 _without_ header or CRC</span>
<a name="l00037"></a>00037 uint16_t seqNr; <span class="comment">//10 2 for multiple related messages at a time (i.e. one per satellite)</span>
<a name="l00038"></a>00038 uint8_t idleTime; <span class="comment">//12 1</span>
<a name="l00039"></a>00039 uint8_t timeStatus; <span class="comment">//13 1</span>
<a name="l00040"></a>00040 uint16_t gpsWeekNr; <span class="comment">//14 2</span>
<a name="l00041"></a>00041 uint32_t msIntoWeek; <span class="comment">//16 4 milliseconds from beginning of week</span>
<a name="l00042"></a>00042 uint32_t receiverStatus; <span class="comment">//20 4</span>
<a name="l00043"></a>00043 uint16_t reserved; <span class="comment">//24 2</span>
<a name="l00044"></a>00044 uint16_t swVersion; <span class="comment">//26 2</span>
<a name="l00045"></a>00045 }Oem4BinaryHeader;
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="comment">// binary packet header; short version, mostly used for (higher rate) INS gear</span>
<a name="l00048"></a>00048 <span class="comment">// according to:</span>
<a name="l00049"></a>00049 <span class="comment">// SPAN Technology for OEMV User Manual Rev 3; Table 17; Page 74</span>
<a name="l00050"></a>00050 <span class="keyword">typedef</span> <span class="keyword">struct </span>Oem4ShortBinaryHeader{ <span class="comment">//offs, size, comment</span>
<a name="l00051"></a>00051 uint8_t sb1; <span class="comment">//0 1 0xaa</span>
<a name="l00052"></a>00052 uint8_t sb2; <span class="comment">//1 1 0x44</span>
<a name="l00053"></a>00053 uint8_t sb3; <span class="comment">//2 1 0x12</span>
<a name="l00054"></a>00054 uint8_t msgLength; <span class="comment">//3 1 _without_ header or CRC</span>
<a name="l00055"></a>00055 uint16_t msgId; <span class="comment">//4 2 which log we have</span>
<a name="l00056"></a>00056 uint16_t GpsWeekNr; <span class="comment">//6 2</span>
<a name="l00057"></a>00057 uint32_t msIntoWeek; <span class="comment">//8 4 milliseconds from beginning of week</span>
<a name="l00058"></a>00058 }Oem4ShortBinaryHeader;
<a name="l00059"></a>00059
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="keyword">typedef</span> <span class="keyword">struct</span>{ <span class="comment">//offs size comment</span>
<a name="l00062"></a>00062 uint32_t solutionStatus; <span class="comment">//0 4</span>
<a name="l00063"></a>00063 uint32_t positionType; <span class="comment">//4 4</span>
<a name="l00064"></a>00064 <span class="keywordtype">double</span> latitude; <span class="comment">//8 8 [deg] north positive</span>
<a name="l00065"></a>00065 <span class="keywordtype">double</span> longitude; <span class="comment">//16 8 [deg] east positive</span>
<a name="l00066"></a>00066 <span class="keywordtype">double</span> heightAMSL; <span class="comment">//24 8 [m] AMSL == above mean sea level (geoid)</span>
<a name="l00067"></a>00067 <span class="keywordtype">float</span> undulation; <span class="comment">//32 4 [m] aka geoidal seperation: undulation == heigth_ellipsoid - height_geoid/AMSL</span>
<a name="l00068"></a>00068 uint32_t datumId; <span class="comment">//36 4</span>
<a name="l00069"></a>00069 <span class="keywordtype">float</span> sigmaLatitude; <span class="comment">//40 4 [m] 1 standard deviation error estimate</span>
<a name="l00070"></a>00070 <span class="keywordtype">float</span> sigmaLongitude; <span class="comment">//44 4 [m] 1 standard deviation error estimate</span>
<a name="l00071"></a>00071 <span class="keywordtype">float</span> sigmaHeight; <span class="comment">//48 4 [m] 1 standard deviation error estimate</span>
<a name="l00072"></a>00072 int8_t baseStationId[4]; <span class="comment">//52 4</span>
<a name="l00073"></a>00073 <span class="keywordtype">float</span> diffAge; <span class="comment">//56 4 [s]</span>
<a name="l00074"></a>00074 <span class="keywordtype">float</span> solutionAge; <span class="comment">//60 4 [s]</span>
<a name="l00075"></a>00075 uint8_t numObservations; <span class="comment">//64 1 number of observations tracked (?) L1 code/carrier/doppler + L2 code/carrier/doppler?</span>
<a name="l00076"></a>00076 uint8_t numL1Ranges; <span class="comment">//65 1 number of L1 ranges used in computation (?)</span>
<a name="l00077"></a>00077 uint8_t numL1RangesRTK; <span class="comment">//66 1 number of L1 ranges above the RTK mask angle (??) number of L1 carrier ranges used?</span>
<a name="l00078"></a>00078 uint8_t numL2RangesRTK; <span class="comment">//67 1 number of L2 ranges above the RTK mask angle (??) number of L2 carrier ranges used?</span>
<a name="l00079"></a>00079 uint8_t reserved0; <span class="comment">//68 1</span>
<a name="l00080"></a>00080 uint8_t reserved1; <span class="comment">//69 1</span>
<a name="l00081"></a>00081 uint8_t reserved2; <span class="comment">//70 1</span>
<a name="l00082"></a>00082 uint8_t reserved3; <span class="comment">//71 1</span>
<a name="l00083"></a>00083 uint32_t crc; <span class="comment">//72 4</span>
<a name="l00084"></a>00084 }BestGpsPosData;
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="keyword">typedef</span> <span class="keyword">struct</span>{
<a name="l00087"></a>00087 Oem4BinaryHeader header;
<a name="l00088"></a>00088 BestGpsPosData data;
<a name="l00089"></a>00089 }BestGpsPosLogB;
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="keyword">typedef</span> <span class="keyword">struct</span>{ <span class="comment">//offs size comment</span>
<a name="l00092"></a>00092 uint32_t solutionStatus; <span class="comment">//0 4</span>
<a name="l00093"></a>00093 uint32_t velocityType; <span class="comment">//4 4</span>
<a name="l00094"></a>00094 <span class="keywordtype">float</span> latency; <span class="comment">//8 4 [s]</span>
<a name="l00095"></a>00095 <span class="keywordtype">float</span> diffAge; <span class="comment">//12 4 [s]</span>
<a name="l00096"></a>00096 <span class="keywordtype">double</span> horizontalSpeed; <span class="comment">//16 8 [m/s]</span>
<a name="l00097"></a>00097 <span class="keywordtype">double</span> trackOverGround; <span class="comment">//24 8 [deg] w respect to true North</span>
<a name="l00098"></a>00098 <span class="keywordtype">double</span> verticalSpeed; <span class="comment">//32 8 [m/s]</span>
<a name="l00099"></a>00099 <span class="keywordtype">float</span> reserved; <span class="comment">//40 4</span>
<a name="l00100"></a>00100 uint32_t crc; <span class="comment">//44 4</span>
<a name="l00101"></a>00101 }BestGpsVelData;
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="keyword">typedef</span> <span class="keyword">struct</span>{
<a name="l00104"></a>00104 Oem4BinaryHeader header;
<a name="l00105"></a>00105 BestGpsVelData data;
<a name="l00106"></a>00106 }BestGpsVelLogB;
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="keyword">typedef</span> <span class="keyword">struct</span>{ <span class="comment">//offs size comment</span>
<a name="l00109"></a>00109 uint32_t gpsWeekNr; <span class="comment">//0 4</span>
<a name="l00110"></a>00110 <span class="keywordtype">double</span> secIntoWeek; <span class="comment">//4 8</span>
<a name="l00111"></a>00111 <span class="keywordtype">double</span> latitude; <span class="comment">//12 8 [deg] north positive WGS84</span>
<a name="l00112"></a>00112 <span class="keywordtype">double</span> longitude; <span class="comment">//20 8 [deg] east positive WGS84</span>
<a name="l00113"></a>00113 <span class="keywordtype">double</span> height; <span class="comment">//28 8 [m] above ellipsoid WGS84 (heigth_ellipsoid - undulation == height_geoid/AMSL)</span>
<a name="l00114"></a>00114 <span class="keywordtype">double</span> northVelocity; <span class="comment">//36 8 [m/s] south is negative; true north?</span>
<a name="l00115"></a>00115 <span class="keywordtype">double</span> eastVelocity; <span class="comment">//44 8 [m/s] west is negative; true east?</span>
<a name="l00116"></a>00116 <span class="keywordtype">double</span> upVelocity; <span class="comment">//52 8 [m/s] down is negative; geoid/ellipsoid vertical?</span>
<a name="l00117"></a>00117 <span class="comment">//The default IMU axis definitions are:</span>
<a name="l00118"></a>00118 <span class="comment">// Y - forward</span>
<a name="l00119"></a>00119 <span class="comment">// Z - up</span>
<a name="l00120"></a>00120 <span class="comment">// X - right hand side</span>
<a name="l00121"></a>00121 <span class="keywordtype">double</span> roll; <span class="comment">//60 8 [degree] right handed rotation from local level around y-axes</span>
<a name="l00122"></a>00122 <span class="keywordtype">double</span> pitch; <span class="comment">//68 8 [degree] right handed rotation from local level around x-axes</span>
<a name="l00123"></a>00123 <span class="keywordtype">double</span> azimuth; <span class="comment">//60 8 [degree] left handed around z-axes rotation from (true?) north clockwise</span>
<a name="l00124"></a>00124 uint32_t insStatus; <span class="comment">//68 4</span>
<a name="l00125"></a>00125 uint32_t crc; <span class="comment">//72 4</span>
<a name="l00126"></a>00126 }InsPvaData;
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="comment">//binary log with full headers</span>
<a name="l00129"></a>00129 <span class="keyword">typedef</span> <span class="keyword">struct</span>{
<a name="l00130"></a>00130 Oem4BinaryHeader header;
<a name="l00131"></a>00131 InsPvaData data;
<a name="l00132"></a>00132 }InsPvaLogB;
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="comment">//binary log with short header; *preferred*, since this log is usually done at high rate</span>
<a name="l00135"></a>00135 <span class="keyword">typedef</span> <span class="keyword">struct</span>{
<a name="l00136"></a>00136 Oem4ShortBinaryHeader header;
<a name="l00137"></a>00137 InsPvaData data;
<a name="l00138"></a>00138 }InsPvaLogSB;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="keyword">typedef</span> <span class="keyword">struct</span>{ <span class="comment">//offs size comment</span>
<a name="l00141"></a>00141 uint32_t gpsWeekNr; <span class="comment">//0 4</span>
<a name="l00142"></a>00142 <span class="keywordtype">double</span> secIntoWeek; <span class="comment">//4 8</span>
<a name="l00143"></a>00143 uint32_t imuStatus; <span class="comment">//12 4</span>
<a name="l00144"></a>00144 <span class="comment">//The default IMU axis definitions are:</span>
<a name="l00145"></a>00145 <span class="comment">// Y - forward</span>
<a name="l00146"></a>00146 <span class="comment">// Z - up</span>
<a name="l00147"></a>00147 <span class="comment">// X - out the right hand side</span>
<a name="l00148"></a>00148 int32_t zAccelCnt; <span class="comment">//16 4</span>
<a name="l00149"></a>00149 int32_t yNegativAccelCnt ; <span class="comment">//20 4</span>
<a name="l00150"></a>00150 int32_t xAccelCnt; <span class="comment">//24 4</span>
<a name="l00151"></a>00151 int32_t zGyroCnt; <span class="comment">//28 4</span>
<a name="l00152"></a>00152 int32_t yNegativGyroCnt; <span class="comment">//32 4</span>
<a name="l00153"></a>00153 int32_t xGyroCnt; <span class="comment">//36 4</span>
<a name="l00154"></a>00154 int32_t crc; <span class="comment">//40 4</span>
<a name="l00155"></a>00155 }RawImuData;
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="comment">//binary log with full headers</span>
<a name="l00158"></a>00158 <span class="keyword">typedef</span> <span class="keyword">struct</span>{
<a name="l00159"></a>00159 Oem4BinaryHeader header;
<a name="l00160"></a>00160 RawImuData data;
<a name="l00161"></a>00161 }RawImuLogB;
<a name="l00162"></a>00162
<a name="l00163"></a>00163 <span class="comment">//binary log with short header; *preferred*, since this log is done at high rate</span>
<a name="l00164"></a>00164 <span class="keyword">typedef</span> <span class="keyword">struct</span>{
<a name="l00165"></a>00165 Oem4ShortBinaryHeader header;
<a name="l00166"></a>00166 RawImuData data;
<a name="l00167"></a>00167 }RawImuLogSB;
<a name="l00168"></a>00168 <span class="preprocessor">#pragma pack(pop)</span>
<a name="l00169"></a>00169 <span class="preprocessor"></span>} <span class="comment">//namespace</span>
<a name="l00170"></a>00170 <span class="preprocessor">#endif</span>
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