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_VEL_CONSTRAINTS_USED   (0x00000001u << 12)     
#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_VEL1_USED              (0x00000001u << 21)     
#define SBG_ECOM_SOL_RESERVED_01            (0x00000001u << 22)     
#define SBG_ECOM_SOL_RESERVED_02            (0x00000001u << 23)     
#define SBG_ECOM_SOL_USBL_USED              (0x00000001u << 24)     
#define SBG_ECOM_SOL_AIRSPEED_USED          (0x00000001u << 25)     
#define SBG_ECOM_SOL_ZUPT_USED              (0x00000001u << 26)     
#define SBG_ECOM_SOL_ALIGN_VALID            (0x00000001u << 27)     
#define SBG_ECOM_SOL_VERTICAL_AIDING_USED   (0x00000001u << 28)     
#define SBG_ECOM_SOL_ZARU_USED              (0x00000001u << 29)     
#define SBG_ECOM_SOL_POS1_USED              (0x00000001u << 30)     

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;

typedef struct _SbgEComLogEkfAirData
{
    uint32_t                             timeStamp;                            
    uint16_t                             status;                          
    float                                wind[3];                           
    float                                windStdDev[3];                       
} SbgEComLogEkfAirData;
 
//----------------------------------------------------------------------//
//- 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 methods (SbgEComLogEkfAirData)                              -//
//----------------------------------------------------------------------//

void sbgEComLogEkfAirDataConstruct(SbgEComLogEkfAirData *pLogData);

SbgErrorCode sbgEComLogEkfAirDataReadFromStream(SbgEComLogEkfAirData *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogEkfAirDataWriteToStream(const SbgEComLogEkfAirData *pLogData, SbgStreamBuffer *pStreamBuffer);
 
//----------------------------------------------------------------------//
//- Public setters/getters                                             -//
//----------------------------------------------------------------------//

SbgEComSolutionMode sbgEComLogEkfGetSolutionMode(uint32_t status);

uint32_t sbgEComLogEkfBuildSolutionStatus(SbgEComSolutionMode solutionMode, uint32_t masks);
 
//----------------------------------------------------------------------//
//- DEPRECATED - Used for backward compatibility                       -//
//----------------------------------------------------------------------//
 
#ifdef SBG_ECOM_USE_DEPRECATED_MACROS
    #define SBG_ECOM_SOL_AIR_DATA_USED          (SBG_ECOM_SOL_AIRSPEED_USED)
    #define SBG_ECOM_SOL_DEPTH_USED             (SBG_ECOM_SOL_VERTICAL_AIDING_USED)
#endif
 
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