sbgEComLogEkfStatus.h

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#ifndef SBG_ECOM_LOG_EKF_STATUS_H
#define SBG_ECOM_LOG_EKF_STATUS_H
 
// sbgCommonLib headers
#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
//----------------------------------------------------------------------//
//- EKF status definitions                                             -//
//----------------------------------------------------------------------//
 
#define SBG_EKF_STATUS_ROLL_PITCH_VALID                 (0x0001u << 0)          
#define SBG_EKF_STATUS_HEADING_VALID                    (0x0001u << 1)          
#define SBG_EKF_STATUS_VELOCITY_VALID                   (0x0001u << 2)          
#define SBG_EKF_STATUS_POSITION_VALID                   (0x0001u << 3)          
#define SBG_EKF_STATUS_ALIGN_VALID                      (0x0001u << 4)          
 
#define SBG_EKF_STATUS_GNSS_SPOOFING_SRC_TIME           (0x0001u << 3)          
#define SBG_EKF_STATUS_GNSS_SPOOFING_SRC_BEHAVIOR       (0x0001u << 4)          
#define SBG_EKF_STATUS_GNSS_SPOOFING_SRC_SOLUTION       (0x0001u << 5)          
 
#define SBG_EKF_STATUS_AIDING_VERTICAL_REF_USED         (0x00000001u << 0)      
#define SBG_EKF_STATUS_AIDING_ZUPT_USED                 (0x00000001u << 1)      
#define SBG_EKF_STATUS_AIDING_ZARU_USED                 (0x00000001u << 2)      
#define SBG_EKF_STATUS_AIDING_MOTION_CONSTRAINT_USED    (0x00000001u << 3)      
#define SBG_EKF_STATUS_AIDING_MAGNETOMETER_USED         (0x00000001u << 4)      
#define SBG_EKF_STATUS_AIDING_GNSS1_VEL_USED            (0x00000001u << 5)      
#define SBG_EKF_STATUS_AIDING_GNSS1_POS_USED            (0x00000001u << 6)      
#define SBG_EKF_STATUS_AIDING_GNSS1_HDT_USED            (0x00000001u << 7)      
#define SBG_EKF_STATUS_AIDING_GNSS2_VEL_USED            (0x00000001u << 8)      
#define SBG_EKF_STATUS_AIDING_GNSS2_POS_USED            (0x00000001u << 9)      
#define SBG_EKF_STATUS_AIDING_GNSS2_HDT_USED            (0x00000001u << 10)     
#define SBG_EKF_STATUS_AIDING_ODO_USED                  (0x00000001u << 11)     
#define SBG_EKF_STATUS_AIDING_DVL_BT_USED               (0x00000001u << 12)     
#define SBG_EKF_STATUS_AIDING_DVL_WT_USED               (0x00000001u << 13)     
#define SBG_EKF_STATUS_AIDING_USBL_USED                 (0x00000001u << 14)     
#define SBG_EKF_STATUS_AIDING_DEPTH_USED                (0x00000001u << 15)     
#define SBG_EKF_STATUS_AIDING_AIRSPEED_USED             (0x00000001u << 16)     
#define SBG_EKF_STATUS_AIDING_BARO_USED                 (0x00000001u << 17)     
#define SBG_EKF_STATUS_AIDING_GENERIC_VEL1_USED         (0x00000001u << 18)     
#define SBG_EKF_STATUS_AIDING_GENERIC_POS1_USED         (0x00000001u << 19)     
 
//----------------------------------------------------------------------//
//- Structure definitions                                              -//
//----------------------------------------------------------------------//

typedef enum _SbgEComEkfStatusSolutionType
{
    SBG_EKF_STATUS_SOLUTION_TYPE_INVALID                = 0,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_VG                      = 1,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_AHRS                  = 2,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_INERTIAL          = 3,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_MOTION_CONSTRAINT    = 4,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_ZUPT              = 5,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_GNSS_VEL          = 6,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_GNSS_UNKNOWN      = 7,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_SINGLE_POINT      = 8,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_DGPS              = 9,                    
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_SBAS              = 10,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_RTK_FLOAT            = 11,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_RTK_FIXED            = 12,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_PPP_FLOAT            = 13,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_PPP_FIXED            = 14,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_ODO                = 15,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_DVL                = 16,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_USBL              = 17,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_AIRSPEED          = 18,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_VEL1              = 19,                   
    SBG_EKF_STATUS_SOLUTION_TYPE_NAV_POS1              = 20,                   
} SbgEComEkfStatusSolutionType;

typedef enum _SbgEComEkfStatusNavSafety
{
    SBG_EKF_STATUS_NAV_SAFETY_UNKNOWN      = 0,                                
    SBG_EKF_STATUS_NAV_NOMINAL                = 1,                                
    SBG_EKF_STATUS_NAV_MITIGATED            = 2,                                
    SBG_EKF_STATUS_NAV_UNPROTECTED            = 3,                                
} SbgEComEkfStatusNavSafety;

typedef enum _SbgEComEkfStatusSpoofing
{
    SBG_EKF_STATUS_SPOOFING_UNKNOWN          = 0,                                
    SBG_EKF_STATUS_SPOOFING_RELIABLE        = 1,                                
    SBG_EKF_STATUS_SPOOFING_INDICATED      = 2,                                
    SBG_EKF_STATUS_SPOOFING_CONFIRMED      = 3,                                
} SbgEComEkfStatusSpoofing;

typedef struct _SbgEComLogEkfStatus
{
    uint32_t                             timeStamp;                                
    uint32_t                             ekfStatus;                                
    uint8_t                              solutionType;                          
    uint8_t                              alignmentProgress;                        
    uint16_t                             gnss1SpoofingStatus;                    
    uint16_t                             gnss2SpoofingStatus;                    
    uint32_t                             aidingsUsed;                            
} SbgEComLogEkfStatus;
 
//----------------------------------------------------------------------//
//- Public methods                                                     -//
//----------------------------------------------------------------------//

SbgErrorCode sbgEComLogEkfStatusReadFromStream(SbgEComLogEkfStatus *pLogData, SbgStreamBuffer *pStreamBuffer);

SbgErrorCode sbgEComLogEkfStatusWriteToStream(const SbgEComLogEkfStatus *pLogData, SbgStreamBuffer *pStreamBuffer);
 
//----------------------------------------------------------------------//
//- Public getters & helpers                                           -//
//----------------------------------------------------------------------//

void sbgEComLogEkfStatusConstruct(SbgEComLogEkfStatus *pLogData);

void sbgEComLogEkfStatusSetNavSafety(SbgEComLogEkfStatus *pLogData, SbgEComEkfStatusNavSafety navSafety);

SbgEComEkfStatusNavSafety sbgEComLogEkfStatusGetNavSafety(const SbgEComLogEkfStatus *pLogData);

void sbgEComLogEkfStatusSetGnss1SpoofingIndicator(SbgEComLogEkfStatus *pLogData, SbgEComEkfStatusSpoofing spoofing);

SbgEComEkfStatusSpoofing sbgEComLogEkfStatusGetGnss1SpoofingIndicator(const SbgEComLogEkfStatus *pLogData);

void sbgEComLogEkfStatusSetGnss2SpoofingIndicator(SbgEComLogEkfStatus *pLogData, SbgEComEkfStatusSpoofing spoofing);

SbgEComEkfStatusSpoofing sbgEComLogEkfStatusGetGnss2SpoofingIndicator(const SbgEComLogEkfStatus *pLogData);
 
#ifdef __cplusplus
}
#endif
 
#endif // SBG_ECOM_LOG_EKF_STATUS_H