sbgEComLogEkf.h

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#ifndef SBG_ECOM_LOG_EKF_H
#define SBG_ECOM_LOG_EKF_H
 
// sbgCommonLib headers
#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
//----------------------------------------------------------------------//
//- Solution status definitions                                        -//
//----------------------------------------------------------------------//

#define SBG_ECOM_SOL_ATTITUDE_VALID         (0x00000001u << 4)      
#define SBG_ECOM_SOL_HEADING_VALID          (0x00000001u << 5)      
#define SBG_ECOM_SOL_VELOCITY_VALID         (0x00000001u << 6)      
#define SBG_ECOM_SOL_POSITION_VALID         (0x00000001u << 7)      
#define SBG_ECOM_SOL_VERT_REF_USED          (0x00000001u << 8)      
#define SBG_ECOM_SOL_MAG_REF_USED           (0x00000001u << 9)      
#define SBG_ECOM_SOL_GPS1_VEL_USED          (0x00000001u << 10)     
#define SBG_ECOM_SOL_GPS1_POS_USED          (0x00000001u << 11)     
#define SBG_ECOM_SOL_GPS1_HDT_USED          (0x00000001u << 13)     
#define SBG_ECOM_SOL_GPS2_VEL_USED          (0x00000001u << 14)     
#define SBG_ECOM_SOL_GPS2_POS_USED          (0x00000001u << 15)     
#define SBG_ECOM_SOL_GPS2_HDT_USED          (0x00000001u << 17)     
#define SBG_ECOM_SOL_ODO_USED               (0x00000001u << 18)     
#define SBG_ECOM_SOL_DVL_BT_USED            (0x00000001u << 19)     
#define SBG_ECOM_SOL_DVL_WT_USED            (0x00000001u << 20)     
#define SBG_ECOM_SOL_USER_POS_USED          (0x00000001u << 21)     
#define SBG_ECOM_SOL_USER_VEL_USED          (0x00000001u << 22)     
#define SBG_ECOM_SOL_USER_HEADING_USED      (0x00000001u << 23)     
#define SBG_ECOM_SOL_USBL_USED              (0x00000001u << 24)     
#define SBG_ECOM_SOL_AIR_DATA_USED          (0x00000001u << 25)     
#define SBG_ECOM_SOL_ZUPT_USED              (0x00000001u << 26)     
#define SBG_ECOM_SOL_ALIGN_VALID            (0x00000001u << 27)     
#define SBG_ECOM_SOL_DEPTH_USED             (0x00000001u << 28)     
#define SBG_ECOM_SOL_ZARU_USED              (0x00000001u << 29)     
typedef enum _SbgEComSolutionMode
{
    SBG_ECOM_SOL_MODE_UNINITIALIZED          = 0,                    
    SBG_ECOM_SOL_MODE_VERTICAL_GYRO          = 1,                    
    SBG_ECOM_SOL_MODE_AHRS                    = 2,                    
    SBG_ECOM_SOL_MODE_NAV_VELOCITY            = 3,                    
    SBG_ECOM_SOL_MODE_NAV_POSITION            = 4                     
} SbgEComSolutionMode;
 
//----------------------------------------------------------------------//
//- Log structure definitions                                          -//
//----------------------------------------------------------------------//

typedef struct _SbgEComLogEkfEuler
{
    uint32_t    timeStamp;             
    float       euler[3];              
    float       eulerStdDev[3];          
    uint32_t    status;                   
    float       magDeclination;           
    float       magInclination;           
} SbgEComLogEkfEuler;

typedef struct _SbgEComLogEkfQuat
{
    uint32_t    timeStamp;             
    float       quaternion[4];            
    float       eulerStdDev[3];          
    uint32_t    status;                   
    float       magDeclination;           
    float       magInclination;           
} SbgEComLogEkfQuat;

typedef struct _SbgEComLogEkfNav
{
    uint32_t    timeStamp;             
    float       velocity[3];            
    float       velocityStdDev[3];        
    double      position[3];            
    float       undulation;               
    float       positionStdDev[3];        
    uint32_t    status;                   
} SbgEComLogEkfNav;

typedef struct _SbgEComLogEkfVelBody
{
    uint32_t    timeStamp;             
    uint32_t    status;                   
    float       velocity[3];            
    float       velocityStdDev[3];        
} SbgEComLogEkfVelBody;
 
//----------------------------------------------------------------------//
//- Public methods (SbgEComLogEkfEuler)                                -//
//----------------------------------------------------------------------//

float sbgEComLogEkfEulerGetMagneticHeading(const SbgEComLogEkfEuler *pEkfEuler);

SbgErrorCode sbgEComLogEkfEulerReadFromStream(SbgEComLogEkfEuler *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogEkfEulerWriteToStream(const SbgEComLogEkfEuler *pLogData, SbgStreamBuffer *pStreamBuffer);
 
//----------------------------------------------------------------------//
//- Public methods (SbgEComLogEkfQuat)                                 -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComLogEkfQuatReadFromStream(SbgEComLogEkfQuat *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogEkfQuatWriteToStream(const SbgEComLogEkfQuat *pLogData, SbgStreamBuffer *pStreamBuffer);
 
//----------------------------------------------------------------------//
//- Public methods (SbgEComLogEkfNav)                                  -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComLogEkfNavReadFromStream(SbgEComLogEkfNav *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogEkfNavWriteToStream(const SbgEComLogEkfNav *pLogData, SbgStreamBuffer *pStreamBuffer);
 
//----------------------------------------------------------------------//
//- Public methods (SbgEComLogEkfVelBody)                              -//
//----------------------------------------------------------------------//

void sbgEComLogEkfVelBodyConstruct(SbgEComLogEkfVelBody *pLogData);
 
SbgErrorCode sbgEComLogEkfVelBodyReadFromStream(SbgEComLogEkfVelBody *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogEkfVelBodyWriteToStream(const SbgEComLogEkfVelBody *pLogData, SbgStreamBuffer *pStreamBuffer);
 
//----------------------------------------------------------------------//
//- Public setters/getters                                             -//
//----------------------------------------------------------------------//

SbgEComSolutionMode sbgEComLogEkfGetSolutionMode(uint32_t status);

uint32_t sbgEComLogEkfBuildSolutionStatus(SbgEComSolutionMode solutionMode, uint32_t masks);
 
//----------------------------------------------------------------------//
//- DEPRECATED - Used for backward compatibility                       -//
//----------------------------------------------------------------------//
 
SBG_DEPRECATED_TYPEDEF(typedef struct _SbgEComLogEkfEuler  SbgLogEkfEulerData);
SBG_DEPRECATED_TYPEDEF(typedef struct _SbgEComLogEkfQuat    SbgLogEkfQuatData);
SBG_DEPRECATED_TYPEDEF(typedef struct _SbgEComLogEkfNav      SbgLogEkfNavData);
 
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogParseEkfEulerData(SbgStreamBuffer *pStreamBuffer, SbgEComLogEkfEuler *pLogData));
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogWriteEkfEulerData(SbgStreamBuffer *pStreamBuffer, const SbgEComLogEkfEuler *pLogData));
 
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogParseEkfQuatData(SbgStreamBuffer *pStreamBuffer, SbgEComLogEkfQuat *pLogData));
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogWriteEkfQuatData(SbgStreamBuffer *pStreamBuffer, const SbgEComLogEkfQuat *pLogData));
 
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogParseEkfNavData(SbgStreamBuffer *pStreamBuffer, SbgEComLogEkfNav *pLogData));
SBG_DEPRECATED(SbgErrorCode sbgEComBinaryLogWriteEkfNavData(SbgStreamBuffer *pStreamBuffer, const SbgEComLogEkfNav *pLogData));
 
 
#ifdef __cplusplus
}
#endif
 
#endif // SBG_ECOM_LOG_EKF_H