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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_GPS/LogStructure_SBP.h
Views: 1798
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#pragma once

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#include <AP_Logger/LogStructure.h>

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#include "AP_GPS_config.h"

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#define LOG_IDS_FROM_GPS_SBP                    \

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    LOG_MSG_SBPHEALTH,                          \

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    LOG_MSG_SBPRAWH,                            \

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    LOG_MSG_SBPRAWM,                            \

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    LOG_MSG_SBPEVENT

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// @LoggerMessage: SBPH

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// @Description: Swift Health Data

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// @Field: TimeUS: Time since system startup

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// @Field: CrcError: Number of packet CRC errors on serial connection

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// @Field: LastInject: Timestamp of last raw data injection to GPS

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// @Field: IARhyp: Current number of integer ambiguity hypotheses

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struct PACKED log_SbpHealth {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint32_t crc_error_counter;

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    uint32_t last_injected_data_ms;

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    uint32_t last_iar_num_hypotheses;

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};

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// @LoggerMessage: SBRH

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// @Description: Swift Raw Message Data

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// @Field: TimeUS: Time since system startup

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// @Field: msg_flag: Swift message type

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// @Field: 1: Sender ID

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// @Field: 2: index; always 1

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// @Field: 3: pages; number of pages received

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// @Field: 4: msg length; number of bytes received

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// @Field: 5: unused; always zero

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// @Field: 6: data received from device

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struct PACKED log_SbpRAWH {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint16_t msg_type;

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    uint16_t sender_id;

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    uint8_t index;

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    uint8_t pages;

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    uint8_t msg_len;

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    uint8_t res;

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    uint8_t data[48];

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};

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struct PACKED log_SbpRAWM {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint16_t msg_type;

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    uint16_t sender_id;

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    uint8_t index;

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    uint8_t pages;

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    uint8_t msg_len;

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    uint8_t res;

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    uint8_t data[104];

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};

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struct PACKED log_SbpEvent {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint16_t wn;

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    uint32_t tow;

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    int32_t ns_residual;

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    uint8_t level;

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    uint8_t quality;

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};

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#if AP_GPS_SBP_ENABLED

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#define LOG_STRUCTURE_FROM_GPS_SBP \

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    { LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \

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      "SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp", "s---", "F---" , true }, \

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    { LOG_MSG_SBPRAWH, sizeof(log_SbpRAWH), \

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      "SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s-------", "F-------" , true }, \

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    { LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \

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      "SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" , true }, \

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    { LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \

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      "SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" },

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#else

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#define LOG_STRUCTURE_FROM_GPS_SBP

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#endif

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