commands_aiding.h

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#pragma once
 
#include <mip/definitions/common.h>
#include <mip/mip_descriptors.h>
#include <mip/mip_result.h>
#include <mip/mip_interface.h>
 
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
 
#ifdef __cplusplus
namespace mip {
namespace C {
extern "C" {
 
#endif // __cplusplus
 
 
// Descriptors
 
enum 
{
    MIP_AIDING_CMD_DESC_SET                    = 0x13,
    
    MIP_CMD_DESC_AIDING_FRAME_CONFIG           = 0x01,
    MIP_CMD_DESC_AIDING_LOCAL_FRAME            = 0x03,
    MIP_CMD_DESC_AIDING_ECHO_CONTROL           = 0x1F,
    MIP_CMD_DESC_AIDING_POS_LOCAL              = 0x20,
    MIP_CMD_DESC_AIDING_POS_ECEF               = 0x21,
    MIP_CMD_DESC_AIDING_POS_LLH                = 0x22,
    MIP_CMD_DESC_AIDING_HEIGHT_ABOVE_ELLIPSOID = 0x23,
    MIP_CMD_DESC_AIDING_HEIGHT_REL             = 0x24,
    MIP_CMD_DESC_AIDING_VEL_ECEF               = 0x28,
    MIP_CMD_DESC_AIDING_VEL_NED                = 0x29,
    MIP_CMD_DESC_AIDING_VEL_BODY_FRAME         = 0x2A,
    MIP_CMD_DESC_AIDING_WHEELSPEED             = 0x2B,
    MIP_CMD_DESC_AIDING_HEADING_TRUE           = 0x31,
    MIP_CMD_DESC_AIDING_MAGNETIC_FIELD         = 0x32,
    MIP_CMD_DESC_AIDING_PRESSURE               = 0x33,
    MIP_CMD_DESC_AIDING_DELTA_POSITION         = 0x38,
    MIP_CMD_DESC_AIDING_DELTA_ATTITUDE         = 0x39,
    MIP_CMD_DESC_AIDING_ANGULAR_RATE_LOCAL     = 0x3A,
    
    MIP_REPLY_DESC_AIDING_FRAME_CONFIG         = 0x81,
    MIP_REPLY_DESC_AIDING_ECHO_CONTROL         = 0x9F,
};
 
// Shared Type Definitions
 
enum mip_time_timebase
{
    MIP_TIME_TIMEBASE_INTERNAL_REFERENCE = 1,  
    MIP_TIME_TIMEBASE_EXTERNAL_TIME      = 2,  
    MIP_TIME_TIMEBASE_TIME_OF_ARRIVAL    = 3,  
};
typedef enum mip_time_timebase mip_time_timebase;
 
static inline void insert_mip_time_timebase(microstrain_serializer* serializer, const mip_time_timebase self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_time_timebase(microstrain_serializer* serializer, mip_time_timebase* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_time
{
    mip_time_timebase timebase; 
    uint8_t reserved; 
    uint64_t nanoseconds; 
};
typedef struct mip_time mip_time;
 
void insert_mip_time(microstrain_serializer* serializer, const mip_time* self);
void extract_mip_time(microstrain_serializer* serializer, mip_time* self);
 
 
// Mip Fields
 
 
enum mip_aiding_frame_config_command_format
{
    MIP_AIDING_FRAME_CONFIG_COMMAND_FORMAT_EULER      = 1,  
    MIP_AIDING_FRAME_CONFIG_COMMAND_FORMAT_QUATERNION = 2,  
};
typedef enum mip_aiding_frame_config_command_format mip_aiding_frame_config_command_format;
 
static inline void insert_mip_aiding_frame_config_command_format(microstrain_serializer* serializer, const mip_aiding_frame_config_command_format self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_aiding_frame_config_command_format(microstrain_serializer* serializer, mip_aiding_frame_config_command_format* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = tmp;
}
 
union mip_aiding_frame_config_command_rotation
{
    mip_vector3f euler;
    mip_quatf quaternion;
};
typedef union mip_aiding_frame_config_command_rotation mip_aiding_frame_config_command_rotation;
 
struct mip_aiding_frame_config_command
{
    mip_function_selector function;
    uint8_t frame_id; 
    mip_aiding_frame_config_command_format format; 
    bool tracking_enabled; 
    mip_vector3f translation; 
    mip_aiding_frame_config_command_rotation rotation; 
};
typedef struct mip_aiding_frame_config_command mip_aiding_frame_config_command;
 
void insert_mip_aiding_frame_config_command(microstrain_serializer* serializer, const mip_aiding_frame_config_command* self);
void extract_mip_aiding_frame_config_command(microstrain_serializer* serializer, mip_aiding_frame_config_command* self);
 
struct mip_aiding_frame_config_response
{
    uint8_t frame_id; 
    mip_aiding_frame_config_command_format format; 
    bool tracking_enabled; 
    mip_vector3f translation; 
    mip_aiding_frame_config_command_rotation rotation; 
};
typedef struct mip_aiding_frame_config_response mip_aiding_frame_config_response;
 
void insert_mip_aiding_frame_config_response(microstrain_serializer* serializer, const mip_aiding_frame_config_response* self);
void extract_mip_aiding_frame_config_response(microstrain_serializer* serializer, mip_aiding_frame_config_response* self);
 
mip_cmd_result mip_aiding_write_frame_config(mip_interface* device, uint8_t frame_id, mip_aiding_frame_config_command_format format, bool tracking_enabled, const float* translation, const mip_aiding_frame_config_command_rotation* rotation);
mip_cmd_result mip_aiding_read_frame_config(mip_interface* device, uint8_t frame_id, mip_aiding_frame_config_command_format format, bool* tracking_enabled_out, float* translation_out, mip_aiding_frame_config_command_rotation* rotation_out);
mip_cmd_result mip_aiding_save_frame_config(mip_interface* device, uint8_t frame_id);
mip_cmd_result mip_aiding_load_frame_config(mip_interface* device, uint8_t frame_id);
mip_cmd_result mip_aiding_default_frame_config(mip_interface* device, uint8_t frame_id);
 
 
enum mip_aiding_echo_control_command_mode
{
    MIP_AIDING_ECHO_CONTROL_COMMAND_MODE_SUPPRESS_ACK = 0,  
    MIP_AIDING_ECHO_CONTROL_COMMAND_MODE_STANDARD     = 1,  
    MIP_AIDING_ECHO_CONTROL_COMMAND_MODE_RESPONSE     = 2,  
};
typedef enum mip_aiding_echo_control_command_mode mip_aiding_echo_control_command_mode;
 
static inline void insert_mip_aiding_echo_control_command_mode(microstrain_serializer* serializer, const mip_aiding_echo_control_command_mode self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_aiding_echo_control_command_mode(microstrain_serializer* serializer, mip_aiding_echo_control_command_mode* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_aiding_echo_control_command
{
    mip_function_selector function;
    mip_aiding_echo_control_command_mode mode; 
};
typedef struct mip_aiding_echo_control_command mip_aiding_echo_control_command;
 
void insert_mip_aiding_echo_control_command(microstrain_serializer* serializer, const mip_aiding_echo_control_command* self);
void extract_mip_aiding_echo_control_command(microstrain_serializer* serializer, mip_aiding_echo_control_command* self);
 
struct mip_aiding_echo_control_response
{
    mip_aiding_echo_control_command_mode mode; 
};
typedef struct mip_aiding_echo_control_response mip_aiding_echo_control_response;
 
void insert_mip_aiding_echo_control_response(microstrain_serializer* serializer, const mip_aiding_echo_control_response* self);
void extract_mip_aiding_echo_control_response(microstrain_serializer* serializer, mip_aiding_echo_control_response* self);
 
mip_cmd_result mip_aiding_write_echo_control(mip_interface* device, mip_aiding_echo_control_command_mode mode);
mip_cmd_result mip_aiding_read_echo_control(mip_interface* device, mip_aiding_echo_control_command_mode* mode_out);
mip_cmd_result mip_aiding_save_echo_control(mip_interface* device);
mip_cmd_result mip_aiding_load_echo_control(mip_interface* device);
mip_cmd_result mip_aiding_default_echo_control(mip_interface* device);
 
 
typedef uint16_t mip_aiding_pos_ecef_command_valid_flags;
static const mip_aiding_pos_ecef_command_valid_flags MIP_AIDING_POS_ECEF_COMMAND_VALID_FLAGS_NONE = 0x0000;
static const mip_aiding_pos_ecef_command_valid_flags MIP_AIDING_POS_ECEF_COMMAND_VALID_FLAGS_X    = 0x0001; 
static const mip_aiding_pos_ecef_command_valid_flags MIP_AIDING_POS_ECEF_COMMAND_VALID_FLAGS_Y    = 0x0002; 
static const mip_aiding_pos_ecef_command_valid_flags MIP_AIDING_POS_ECEF_COMMAND_VALID_FLAGS_Z    = 0x0004; 
static const mip_aiding_pos_ecef_command_valid_flags MIP_AIDING_POS_ECEF_COMMAND_VALID_FLAGS_ALL  = 0x0007;
static inline void insert_mip_aiding_pos_ecef_command_valid_flags(microstrain_serializer* serializer, const mip_aiding_pos_ecef_command_valid_flags self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_aiding_pos_ecef_command_valid_flags(microstrain_serializer* serializer, mip_aiding_pos_ecef_command_valid_flags* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_aiding_pos_ecef_command
{
    mip_time time; 
    uint8_t frame_id; 
    mip_vector3d position; 
    mip_vector3f uncertainty; 
    mip_aiding_pos_ecef_command_valid_flags valid_flags; 
};
typedef struct mip_aiding_pos_ecef_command mip_aiding_pos_ecef_command;
 
void insert_mip_aiding_pos_ecef_command(microstrain_serializer* serializer, const mip_aiding_pos_ecef_command* self);
void extract_mip_aiding_pos_ecef_command(microstrain_serializer* serializer, mip_aiding_pos_ecef_command* self);
 
mip_cmd_result mip_aiding_pos_ecef(mip_interface* device, const mip_time* time, uint8_t frame_id, const double* position, const float* uncertainty, mip_aiding_pos_ecef_command_valid_flags valid_flags);
 
 
typedef uint16_t mip_aiding_pos_llh_command_valid_flags;
static const mip_aiding_pos_llh_command_valid_flags MIP_AIDING_POS_LLH_COMMAND_VALID_FLAGS_NONE      = 0x0000;
static const mip_aiding_pos_llh_command_valid_flags MIP_AIDING_POS_LLH_COMMAND_VALID_FLAGS_LATITUDE  = 0x0001; 
static const mip_aiding_pos_llh_command_valid_flags MIP_AIDING_POS_LLH_COMMAND_VALID_FLAGS_LONGITUDE = 0x0002; 
static const mip_aiding_pos_llh_command_valid_flags MIP_AIDING_POS_LLH_COMMAND_VALID_FLAGS_HEIGHT    = 0x0004; 
static const mip_aiding_pos_llh_command_valid_flags MIP_AIDING_POS_LLH_COMMAND_VALID_FLAGS_ALL       = 0x0007;
static inline void insert_mip_aiding_pos_llh_command_valid_flags(microstrain_serializer* serializer, const mip_aiding_pos_llh_command_valid_flags self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_aiding_pos_llh_command_valid_flags(microstrain_serializer* serializer, mip_aiding_pos_llh_command_valid_flags* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_aiding_pos_llh_command
{
    mip_time time; 
    uint8_t frame_id; 
    double latitude; 
    double longitude; 
    double height; 
    mip_vector3f uncertainty; 
    mip_aiding_pos_llh_command_valid_flags valid_flags; 
};
typedef struct mip_aiding_pos_llh_command mip_aiding_pos_llh_command;
 
void insert_mip_aiding_pos_llh_command(microstrain_serializer* serializer, const mip_aiding_pos_llh_command* self);
void extract_mip_aiding_pos_llh_command(microstrain_serializer* serializer, mip_aiding_pos_llh_command* self);
 
mip_cmd_result mip_aiding_pos_llh(mip_interface* device, const mip_time* time, uint8_t frame_id, double latitude, double longitude, double height, const float* uncertainty, mip_aiding_pos_llh_command_valid_flags valid_flags);
 
 
struct mip_aiding_height_above_ellipsoid_command
{
    mip_time time; 
    uint8_t frame_id; 
    float height; 
    float uncertainty; 
    uint16_t valid_flags;
};
typedef struct mip_aiding_height_above_ellipsoid_command mip_aiding_height_above_ellipsoid_command;
 
void insert_mip_aiding_height_above_ellipsoid_command(microstrain_serializer* serializer, const mip_aiding_height_above_ellipsoid_command* self);
void extract_mip_aiding_height_above_ellipsoid_command(microstrain_serializer* serializer, mip_aiding_height_above_ellipsoid_command* self);
 
mip_cmd_result mip_aiding_height_above_ellipsoid(mip_interface* device, const mip_time* time, uint8_t frame_id, float height, float uncertainty, uint16_t valid_flags);
 
 
typedef uint16_t mip_aiding_vel_ecef_command_valid_flags;
static const mip_aiding_vel_ecef_command_valid_flags MIP_AIDING_VEL_ECEF_COMMAND_VALID_FLAGS_NONE = 0x0000;
static const mip_aiding_vel_ecef_command_valid_flags MIP_AIDING_VEL_ECEF_COMMAND_VALID_FLAGS_X    = 0x0001; 
static const mip_aiding_vel_ecef_command_valid_flags MIP_AIDING_VEL_ECEF_COMMAND_VALID_FLAGS_Y    = 0x0002; 
static const mip_aiding_vel_ecef_command_valid_flags MIP_AIDING_VEL_ECEF_COMMAND_VALID_FLAGS_Z    = 0x0004; 
static const mip_aiding_vel_ecef_command_valid_flags MIP_AIDING_VEL_ECEF_COMMAND_VALID_FLAGS_ALL  = 0x0007;
static inline void insert_mip_aiding_vel_ecef_command_valid_flags(microstrain_serializer* serializer, const mip_aiding_vel_ecef_command_valid_flags self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_aiding_vel_ecef_command_valid_flags(microstrain_serializer* serializer, mip_aiding_vel_ecef_command_valid_flags* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_aiding_vel_ecef_command
{
    mip_time time; 
    uint8_t frame_id; 
    mip_vector3f velocity; 
    mip_vector3f uncertainty; 
    mip_aiding_vel_ecef_command_valid_flags valid_flags; 
};
typedef struct mip_aiding_vel_ecef_command mip_aiding_vel_ecef_command;
 
void insert_mip_aiding_vel_ecef_command(microstrain_serializer* serializer, const mip_aiding_vel_ecef_command* self);
void extract_mip_aiding_vel_ecef_command(microstrain_serializer* serializer, mip_aiding_vel_ecef_command* self);
 
mip_cmd_result mip_aiding_vel_ecef(mip_interface* device, const mip_time* time, uint8_t frame_id, const float* velocity, const float* uncertainty, mip_aiding_vel_ecef_command_valid_flags valid_flags);
 
 
typedef uint16_t mip_aiding_vel_ned_command_valid_flags;
static const mip_aiding_vel_ned_command_valid_flags MIP_AIDING_VEL_NED_COMMAND_VALID_FLAGS_NONE = 0x0000;
static const mip_aiding_vel_ned_command_valid_flags MIP_AIDING_VEL_NED_COMMAND_VALID_FLAGS_X    = 0x0001; 
static const mip_aiding_vel_ned_command_valid_flags MIP_AIDING_VEL_NED_COMMAND_VALID_FLAGS_Y    = 0x0002; 
static const mip_aiding_vel_ned_command_valid_flags MIP_AIDING_VEL_NED_COMMAND_VALID_FLAGS_Z    = 0x0004; 
static const mip_aiding_vel_ned_command_valid_flags MIP_AIDING_VEL_NED_COMMAND_VALID_FLAGS_ALL  = 0x0007;
static inline void insert_mip_aiding_vel_ned_command_valid_flags(microstrain_serializer* serializer, const mip_aiding_vel_ned_command_valid_flags self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_aiding_vel_ned_command_valid_flags(microstrain_serializer* serializer, mip_aiding_vel_ned_command_valid_flags* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_aiding_vel_ned_command
{
    mip_time time; 
    uint8_t frame_id; 
    mip_vector3f velocity; 
    mip_vector3f uncertainty; 
    mip_aiding_vel_ned_command_valid_flags valid_flags; 
};
typedef struct mip_aiding_vel_ned_command mip_aiding_vel_ned_command;
 
void insert_mip_aiding_vel_ned_command(microstrain_serializer* serializer, const mip_aiding_vel_ned_command* self);
void extract_mip_aiding_vel_ned_command(microstrain_serializer* serializer, mip_aiding_vel_ned_command* self);
 
mip_cmd_result mip_aiding_vel_ned(mip_interface* device, const mip_time* time, uint8_t frame_id, const float* velocity, const float* uncertainty, mip_aiding_vel_ned_command_valid_flags valid_flags);
 
 
typedef uint16_t mip_aiding_vel_body_frame_command_valid_flags;
static const mip_aiding_vel_body_frame_command_valid_flags MIP_AIDING_VEL_BODY_FRAME_COMMAND_VALID_FLAGS_NONE = 0x0000;
static const mip_aiding_vel_body_frame_command_valid_flags MIP_AIDING_VEL_BODY_FRAME_COMMAND_VALID_FLAGS_X    = 0x0001; 
static const mip_aiding_vel_body_frame_command_valid_flags MIP_AIDING_VEL_BODY_FRAME_COMMAND_VALID_FLAGS_Y    = 0x0002; 
static const mip_aiding_vel_body_frame_command_valid_flags MIP_AIDING_VEL_BODY_FRAME_COMMAND_VALID_FLAGS_Z    = 0x0004; 
static const mip_aiding_vel_body_frame_command_valid_flags MIP_AIDING_VEL_BODY_FRAME_COMMAND_VALID_FLAGS_ALL  = 0x0007;
static inline void insert_mip_aiding_vel_body_frame_command_valid_flags(microstrain_serializer* serializer, const mip_aiding_vel_body_frame_command_valid_flags self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_aiding_vel_body_frame_command_valid_flags(microstrain_serializer* serializer, mip_aiding_vel_body_frame_command_valid_flags* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_aiding_vel_body_frame_command
{
    mip_time time; 
    uint8_t frame_id; 
    mip_vector3f velocity; 
    mip_vector3f uncertainty; 
    mip_aiding_vel_body_frame_command_valid_flags valid_flags; 
};
typedef struct mip_aiding_vel_body_frame_command mip_aiding_vel_body_frame_command;
 
void insert_mip_aiding_vel_body_frame_command(microstrain_serializer* serializer, const mip_aiding_vel_body_frame_command* self);
void extract_mip_aiding_vel_body_frame_command(microstrain_serializer* serializer, mip_aiding_vel_body_frame_command* self);
 
mip_cmd_result mip_aiding_vel_body_frame(mip_interface* device, const mip_time* time, uint8_t frame_id, const float* velocity, const float* uncertainty, mip_aiding_vel_body_frame_command_valid_flags valid_flags);
 
 
struct mip_aiding_heading_true_command
{
    mip_time time; 
    uint8_t frame_id; 
    float heading; 
    float uncertainty; 
    uint16_t valid_flags;
};
typedef struct mip_aiding_heading_true_command mip_aiding_heading_true_command;
 
void insert_mip_aiding_heading_true_command(microstrain_serializer* serializer, const mip_aiding_heading_true_command* self);
void extract_mip_aiding_heading_true_command(microstrain_serializer* serializer, mip_aiding_heading_true_command* self);
 
mip_cmd_result mip_aiding_heading_true(mip_interface* device, const mip_time* time, uint8_t frame_id, float heading, float uncertainty, uint16_t valid_flags);
 
 
typedef uint16_t mip_aiding_magnetic_field_command_valid_flags;
static const mip_aiding_magnetic_field_command_valid_flags MIP_AIDING_MAGNETIC_FIELD_COMMAND_VALID_FLAGS_NONE = 0x0000;
static const mip_aiding_magnetic_field_command_valid_flags MIP_AIDING_MAGNETIC_FIELD_COMMAND_VALID_FLAGS_X    = 0x0001; 
static const mip_aiding_magnetic_field_command_valid_flags MIP_AIDING_MAGNETIC_FIELD_COMMAND_VALID_FLAGS_Y    = 0x0002; 
static const mip_aiding_magnetic_field_command_valid_flags MIP_AIDING_MAGNETIC_FIELD_COMMAND_VALID_FLAGS_Z    = 0x0004; 
static const mip_aiding_magnetic_field_command_valid_flags MIP_AIDING_MAGNETIC_FIELD_COMMAND_VALID_FLAGS_ALL  = 0x0007;
static inline void insert_mip_aiding_magnetic_field_command_valid_flags(microstrain_serializer* serializer, const mip_aiding_magnetic_field_command_valid_flags self)
{
    microstrain_insert_u16(serializer, (uint16_t)(self));
}
static inline void extract_mip_aiding_magnetic_field_command_valid_flags(microstrain_serializer* serializer, mip_aiding_magnetic_field_command_valid_flags* self)
{
    uint16_t tmp = 0;
    microstrain_extract_u16(serializer, &tmp);
    *self = tmp;
}
 
 
struct mip_aiding_magnetic_field_command
{
    mip_time time; 
    uint8_t frame_id; 
    mip_vector3f magnetic_field; 
    mip_vector3f uncertainty; 
    mip_aiding_magnetic_field_command_valid_flags valid_flags; 
};
typedef struct mip_aiding_magnetic_field_command mip_aiding_magnetic_field_command;
 
void insert_mip_aiding_magnetic_field_command(microstrain_serializer* serializer, const mip_aiding_magnetic_field_command* self);
void extract_mip_aiding_magnetic_field_command(microstrain_serializer* serializer, mip_aiding_magnetic_field_command* self);
 
mip_cmd_result mip_aiding_magnetic_field(mip_interface* device, const mip_time* time, uint8_t frame_id, const float* magnetic_field, const float* uncertainty, mip_aiding_magnetic_field_command_valid_flags valid_flags);
 
 
struct mip_aiding_pressure_command
{
    mip_time time; 
    uint8_t frame_id; 
    float pressure; 
    float uncertainty; 
    uint16_t valid_flags;
};
typedef struct mip_aiding_pressure_command mip_aiding_pressure_command;
 
void insert_mip_aiding_pressure_command(microstrain_serializer* serializer, const mip_aiding_pressure_command* self);
void extract_mip_aiding_pressure_command(microstrain_serializer* serializer, mip_aiding_pressure_command* self);
 
mip_cmd_result mip_aiding_pressure(mip_interface* device, const mip_time* time, uint8_t frame_id, float pressure, float uncertainty, uint16_t valid_flags);
 
 
#ifdef __cplusplus
} // extern "C"
} // namespace C
} // namespace mip
#endif // __cplusplus