commands_base.h

Go to the documentation of this file.

#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_BASE_CMD_DESC_SET                        = 0x01,
    
    MIP_CMD_DESC_BASE_PING                       = 0x01,
    MIP_CMD_DESC_BASE_SET_TO_IDLE                = 0x02,
    MIP_CMD_DESC_BASE_GET_DEVICE_INFO            = 0x03,
    MIP_CMD_DESC_BASE_GET_DEVICE_DESCRIPTORS     = 0x04,
    MIP_CMD_DESC_BASE_BUILT_IN_TEST              = 0x05,
    MIP_CMD_DESC_BASE_RESUME                     = 0x06,
    MIP_CMD_DESC_BASE_GET_EXTENDED_DESCRIPTORS   = 0x07,
    MIP_CMD_DESC_BASE_CONTINUOUS_BIT             = 0x08,
    MIP_CMD_DESC_BASE_COMM_SPEED                 = 0x09,
    MIP_CMD_DESC_BASE_GPS_TIME_UPDATE            = 0x72,
    MIP_CMD_DESC_BASE_SOFT_RESET                 = 0x7E,
    
    MIP_REPLY_DESC_BASE_DEVICE_INFO              = 0x81,
    MIP_REPLY_DESC_BASE_DEVICE_DESCRIPTORS       = 0x82,
    MIP_REPLY_DESC_BASE_BUILT_IN_TEST            = 0x83,
    MIP_REPLY_DESC_BASE_GPS_CORRELATION_WEEK     = 0x84,
    MIP_REPLY_DESC_BASE_GPS_CORRELATION_SECONDS  = 0x85,
    MIP_REPLY_DESC_BASE_GET_EXTENDED_DESCRIPTORS = 0x86,
    MIP_REPLY_DESC_BASE_CONTINUOUS_BIT           = 0x88,
    MIP_REPLY_DESC_BASE_COMM_SPEED               = 0x89,
};
 
// Shared Type Definitions
 
struct mip_base_device_info
{
    uint16_t firmware_version;
    char model_name[16];
    char model_number[16];
    char serial_number[16];
    char lot_number[16];
    char device_options[16];
};
typedef struct mip_base_device_info mip_base_device_info;
 
void insert_mip_base_device_info(microstrain_serializer* serializer, const mip_base_device_info* self);
void extract_mip_base_device_info(microstrain_serializer* serializer, mip_base_device_info* self);
 
enum mip_time_format
{
    MIP_TIME_FORMAT_GPS = 1,  
};
typedef enum mip_time_format mip_time_format;
 
static inline void insert_mip_time_format(microstrain_serializer* serializer, const mip_time_format self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_time_format(microstrain_serializer* serializer, mip_time_format* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_time_format)tmp;
}
 
typedef uint32_t mip_commanded_test_bits_gq7;
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_NONE                   = 0x00000000;
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GENERAL_HARDWARE_FAULT = 0x00000001; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GENERAL_FIRMWARE_FAULT = 0x00000002; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_TIMING_OVERLOAD        = 0x00000004; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_BUFFER_OVERRUN         = 0x00000008; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_RESERVED               = 0x000000F0; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IPC_IMU_FAULT          = 0x00000100; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IPC_NAV_FAULT          = 0x00000200; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IPC_GNSS_FAULT         = 0x00000400; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_COMMS_FAULT            = 0x00000800; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IMU_ACCEL_FAULT        = 0x00001000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IMU_GYRO_FAULT         = 0x00002000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IMU_MAG_FAULT          = 0x00004000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IMU_PRESS_FAULT        = 0x00008000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IMU_RESERVED           = 0x00030000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IMU_CAL_ERROR          = 0x00040000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_IMU_GENERAL_FAULT      = 0x00080000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_FILT_RESERVED          = 0x00300000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_FILT_SOLUTION_FAULT    = 0x00400000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_FILT_GENERAL_FAULT     = 0x00800000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GNSS_RECEIVER1_FAULT   = 0x01000000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GNSS_ANTENNA1_FAULT    = 0x02000000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GNSS_RECEIVER2_FAULT   = 0x04000000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GNSS_ANTENNA2_FAULT    = 0x08000000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GNSS_RTCM_FAILURE      = 0x10000000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GNSS_RTK_FAULT         = 0x20000000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GNSS_SOLUTION_FAULT    = 0x40000000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_GNSS_GENERAL_FAULT     = 0x80000000; 
static const mip_commanded_test_bits_gq7 MIP_COMMANDED_TEST_BITS_GQ7_ALL                    = 0xFFFFFFFF;
static inline void insert_mip_commanded_test_bits_gq7(microstrain_serializer* serializer, const mip_commanded_test_bits_gq7 self)
{
    microstrain_insert_u32(serializer, (uint32_t)(self));
}
static inline void extract_mip_commanded_test_bits_gq7(microstrain_serializer* serializer, mip_commanded_test_bits_gq7* self)
{
    uint32_t tmp = 0;
    microstrain_extract_u32(serializer, &tmp);
    *self = (mip_commanded_test_bits_gq7)tmp;
}
 
 
// Mip Fields
 
 
typedef struct mip_base_ping_command mip_base_ping_command; 
 
mip_cmd_result mip_base_ping(mip_interface* device);
 
 
typedef struct mip_base_set_idle_command mip_base_set_idle_command; 
 
mip_cmd_result mip_base_set_idle(mip_interface* device);
 
 
typedef struct mip_base_get_device_info_command mip_base_get_device_info_command; 
 
struct mip_base_get_device_info_response
{
    mip_base_device_info device_info;
};
typedef struct mip_base_get_device_info_response mip_base_get_device_info_response;
 
void insert_mip_base_get_device_info_response(microstrain_serializer* serializer, const mip_base_get_device_info_response* self);
void extract_mip_base_get_device_info_response(microstrain_serializer* serializer, mip_base_get_device_info_response* self);
 
mip_cmd_result mip_base_get_device_info(mip_interface* device, mip_base_device_info* device_info_out);
 
 
typedef struct mip_base_get_device_descriptors_command mip_base_get_device_descriptors_command; 
 
struct mip_base_get_device_descriptors_response
{
    uint16_t descriptors[253];
    uint8_t descriptors_count;
};
typedef struct mip_base_get_device_descriptors_response mip_base_get_device_descriptors_response;
 
void insert_mip_base_get_device_descriptors_response(microstrain_serializer* serializer, const mip_base_get_device_descriptors_response* self);
void extract_mip_base_get_device_descriptors_response(microstrain_serializer* serializer, mip_base_get_device_descriptors_response* self);
 
mip_cmd_result mip_base_get_device_descriptors(mip_interface* device, uint16_t* descriptors_out, size_t descriptors_out_max, uint8_t* descriptors_out_count);
 
 
typedef struct mip_base_built_in_test_command mip_base_built_in_test_command; 
 
struct mip_base_built_in_test_response
{
    uint32_t result;
};
typedef struct mip_base_built_in_test_response mip_base_built_in_test_response;
 
void insert_mip_base_built_in_test_response(microstrain_serializer* serializer, const mip_base_built_in_test_response* self);
void extract_mip_base_built_in_test_response(microstrain_serializer* serializer, mip_base_built_in_test_response* self);
 
mip_cmd_result mip_base_built_in_test(mip_interface* device, uint32_t* result_out);
 
 
typedef struct mip_base_resume_command mip_base_resume_command; 
 
mip_cmd_result mip_base_resume(mip_interface* device);
 
 
typedef struct mip_base_get_extended_descriptors_command mip_base_get_extended_descriptors_command; 
 
struct mip_base_get_extended_descriptors_response
{
    uint16_t descriptors[253];
    uint8_t descriptors_count;
};
typedef struct mip_base_get_extended_descriptors_response mip_base_get_extended_descriptors_response;
 
void insert_mip_base_get_extended_descriptors_response(microstrain_serializer* serializer, const mip_base_get_extended_descriptors_response* self);
void extract_mip_base_get_extended_descriptors_response(microstrain_serializer* serializer, mip_base_get_extended_descriptors_response* self);
 
mip_cmd_result mip_base_get_extended_descriptors(mip_interface* device, uint16_t* descriptors_out, size_t descriptors_out_max, uint8_t* descriptors_out_count);
 
 
typedef struct mip_base_continuous_bit_command mip_base_continuous_bit_command; 
 
struct mip_base_continuous_bit_response
{
    uint8_t result[16]; 
};
typedef struct mip_base_continuous_bit_response mip_base_continuous_bit_response;
 
void insert_mip_base_continuous_bit_response(microstrain_serializer* serializer, const mip_base_continuous_bit_response* self);
void extract_mip_base_continuous_bit_response(microstrain_serializer* serializer, mip_base_continuous_bit_response* self);
 
mip_cmd_result mip_base_continuous_bit(mip_interface* device, uint8_t* result_out);
 
 
enum { MIP_BASE_COMM_SPEED_COMMAND_ALL_PORTS = 0 };
 
struct mip_base_comm_speed_command
{
    mip_function_selector function;
    uint8_t port; 
    uint32_t baud; 
};
typedef struct mip_base_comm_speed_command mip_base_comm_speed_command;
 
void insert_mip_base_comm_speed_command(microstrain_serializer* serializer, const mip_base_comm_speed_command* self);
void extract_mip_base_comm_speed_command(microstrain_serializer* serializer, mip_base_comm_speed_command* self);
 
struct mip_base_comm_speed_response
{
    uint8_t port; 
    uint32_t baud; 
};
typedef struct mip_base_comm_speed_response mip_base_comm_speed_response;
 
void insert_mip_base_comm_speed_response(microstrain_serializer* serializer, const mip_base_comm_speed_response* self);
void extract_mip_base_comm_speed_response(microstrain_serializer* serializer, mip_base_comm_speed_response* self);
 
mip_cmd_result mip_base_write_comm_speed(mip_interface* device, uint8_t port, uint32_t baud);
mip_cmd_result mip_base_read_comm_speed(mip_interface* device, uint8_t port, uint32_t* baud_out);
mip_cmd_result mip_base_save_comm_speed(mip_interface* device, uint8_t port);
mip_cmd_result mip_base_load_comm_speed(mip_interface* device, uint8_t port);
mip_cmd_result mip_base_default_comm_speed(mip_interface* device, uint8_t port);
 
 
enum mip_base_gps_time_update_command_field_id
{
    MIP_BASE_GPS_TIME_UPDATE_COMMAND_FIELD_ID_WEEK_NUMBER  = 1,  
    MIP_BASE_GPS_TIME_UPDATE_COMMAND_FIELD_ID_TIME_OF_WEEK = 2,  
};
typedef enum mip_base_gps_time_update_command_field_id mip_base_gps_time_update_command_field_id;
 
static inline void insert_mip_base_gps_time_update_command_field_id(microstrain_serializer* serializer, const mip_base_gps_time_update_command_field_id self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_base_gps_time_update_command_field_id(microstrain_serializer* serializer, mip_base_gps_time_update_command_field_id* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_base_gps_time_update_command_field_id)tmp;
}
 
 
struct mip_base_gps_time_update_command
{
    mip_function_selector function;
    mip_base_gps_time_update_command_field_id field_id; 
    uint32_t value; 
};
typedef struct mip_base_gps_time_update_command mip_base_gps_time_update_command;
 
void insert_mip_base_gps_time_update_command(microstrain_serializer* serializer, const mip_base_gps_time_update_command* self);
void extract_mip_base_gps_time_update_command(microstrain_serializer* serializer, mip_base_gps_time_update_command* self);
 
mip_cmd_result mip_base_write_gps_time_update(mip_interface* device, mip_base_gps_time_update_command_field_id field_id, uint32_t value);
 
 
typedef struct mip_base_soft_reset_command mip_base_soft_reset_command; 
 
mip_cmd_result mip_base_soft_reset(mip_interface* device);
 
 
#ifdef __cplusplus
} // extern "C"
} // namespace C
} // namespace mip
#endif // __cplusplus