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79 lines
2.3 KiB
79 lines
2.3 KiB
#pragma once |
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#include <AP_Logger/LogStructure.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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#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--b----", "F--0----" , 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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