system.h

/*
 * Copyright (C) 2015-2018 Swift Navigation Inc.
 * Contact: Swift Navigation <dev@swiftnav.com>
 *
 * This source is subject to the license found in the file 'LICENSE' which must
 * be be distributed together with this source. All other rights reserved.
 *
 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
 * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 */

/*****************************************************************************
 * Automatically generated from yaml/swiftnav/sbp/system.yaml
 * with generate.py. Please do not hand edit!
 *****************************************************************************/

/** \defgroup system System
 *
 * * Standardized system messages from Swift Navigation devices.
 * \{ */

#ifndef LIBSBP_SYSTEM_MESSAGES_H
#define LIBSBP_SYSTEM_MESSAGES_H

#include "common.h"

/** System start-up message
 *
 * The system start-up message is sent once on system
 * start-up. It notifies the host or other attached devices that
 * the system has started and is now ready to respond to commands
 * or configuration requests.
 */
#define SBP_MSG_STARTUP 0xFF00

typedef struct {
        u8 cause; /**< Cause of startup */
        u8 startup_type; /**< Startup type */
        u16 reserved; /**< Reserved */
} msg_startup_t;

/** Status of received corrections
 *
 * This message provides information about the receipt of Differential
 * corrections.  It is expected to be sent with each receipt of a complete
 * corrections packet.
 */
#define SBP_MSG_DGNSS_STATUS 0xFF02

typedef struct {
        u8 flags; /**< Status flags */
        u16 latency; /**< Latency of observation receipt [deci-seconds] */
        u8 num_signals; /**< Number of signals from base station */
        char source[0]; /**< Corrections source string */
} msg_dgnss_status_t;

/** System heartbeat message
 *
 * The heartbeat message is sent periodically to inform the host
 * or other attached devices that the system is running. It is
 * used to monitor system malfunctions. It also contains status
 * flags that indicate to the host the status of the system and
 * whether it is operating correctly. Currently, the expected
 * heartbeat interval is 1 sec.
 *
 * The system error flag is used to indicate that an error has
 * occurred in the system. To determine the source of the error,
 * the remaining error flags should be inspected.
 */
#define SBP_MSG_HEARTBEAT 0xFFFF

typedef struct {
        u32 flags; /**< Status flags */
} msg_heartbeat_t;

/** Inertial Navigation System status message
 *
 * The INS status message describes the state of the operation
 * and initialization of the inertial navigation system.
 */
#define SBP_MSG_INS_STATUS 0xFF03

typedef struct {
        u32 flags; /**< Status flags */
} msg_ins_status_t;

/** \} */

#endif /* LIBSBP_SYSTEM_MESSAGES_H */