mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.4 KiB
C
85 lines
2.4 KiB
C
#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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