Merge pull request #32 from mookerji/11-c-headers

libsbp C headers and test stubs.

c/include/libsbp/acquisition.h

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2015 Swift Navigation Inc.
+ * Contact: Fergus Noble <fergus@swift-nav.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 piksi/yaml/
+ * with generate.py at 2015-03-13 13:32:04.122183. Please do not hand edit!
+ *****************************************************************************/
+
+#ifndef LIBSBP_ACQUISITION_MESSAGES_H
+#define LIBSBP_ACQUISITION_MESSAGES_H
+
+#include "common.h"
+
+
+/** None
+  * Results of an attempted GPS signal acquisition. Contains the
+ * parameters of the point in the acquisition search space with the
+ * best signal-to-noise ratio.
+ */
+#define SBP_MSG_ACQ_RESULT 0x0015
+typedef struct __attribute__((packed)) {
+  float snr;    /**< SNR of best point. */
+  float cp;     /**< Code phase. [chips] */
+  float cf;     /**< Carrier frequency. [hz] */
+  u8 prn;    /**< PRN identifier of the satellite signal for which
+acquisition was attempted.
+ */
+} msg_acq_result_t;
+
+
+#endif /* LIBSBP_ACQUISITION_MESSAGES_H */

c/include/libsbp/lib.h

@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2015 Swift Navigation Inc.
+ * Contact: Fergus Noble <fergus@swift-nav.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 piksi/yaml/
+ * with generate.py at 2015-03-13 13:32:04.091582. Please do not hand edit!
+ *****************************************************************************/
+
+#ifndef LIBSBP_LIB_MESSAGES_H
+#define LIBSBP_LIB_MESSAGES_H
+
+#include "common.h"
+
+
+/** None
+  * Statistics on the latency of observations received from the base
+ * station. As observation packets are received their GPS time is
+ * compared to the current GPS time calculated locally by the
+ * receiver to give a precise measurement of the end-to-end
+ * communication latency in the system.
+ */
+typedef struct __attribute__((packed)) {
+  s32 avg;        /**< Average latency. [ms] */
+  s32 lmin;       /**< Minimum latency. [ms] */
+  s32 lmax;       /**< Maximum latency. [ms] */
+  s32 current;    /**< Smoothed estimate of the current latency. [ms] */
+} latency_t;
+
+
+/** None
+  * Carrier phase measurement in cycles represented as a 40-bit
+ * fixed point number with Q32.8 layout, i.e. 32-bits of whole
+ * cycles and 8-bits of fractional cycles.
+ */
+typedef struct __attribute__((packed)) {
+  u32 i;    /**< Carrier phase whole cycles. [cycles] */
+  u8 f;    /**< Carrier phase fractional part. [cycles / 255] */
+} carrier_phase_t;
+
+
+#endif /* LIBSBP_LIB_MESSAGES_H */

c/include/libsbp/navigation.h

@@ -0,0 +1,144 @@
+/*
+ * Copyright (C) 2015 Swift Navigation Inc.
+ * Contact: Fergus Noble <fergus@swift-nav.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 piksi/yaml/
+ * with generate.py at 2015-03-13 13:32:04.124636. Please do not hand edit!
+ *****************************************************************************/
+
+#ifndef LIBSBP_NAVIGATION_MESSAGES_H
+#define LIBSBP_NAVIGATION_MESSAGES_H
+
+#include "common.h"
+
+
+/** GPS Time
+  * GPS Time.
+ */
+#define SBP_MSG_GPS_TIME      0x0100
+typedef struct __attribute__((packed)) {
+  u16 wn;       /**< GPS week number [weeks] */
+  u32 tow;      /**< GPS Time of Week rounded to the nearest ms [ms] */
+  s32 ns;       /**< Nanosecond remainder of rounded tow [ns] */
+  u8 flags;    /**< Status flags (reserved) */
+} msg_gps_time_t;
+
+
+/** Dilution of Precision
+  * Dilution of Precision.
+ */
+#define SBP_MSG_DOPS          0x0206
+typedef struct __attribute__((packed)) {
+  u32 tow;     /**< GPS Time of Week [ms] */
+  u16 gdop;    /**< Geometric Dilution of Precision [0.01] */
+  u16 pdop;    /**< Position Dilution of Precision [0.01] */
+  u16 tdop;    /**< Time Dilution of Precision [0.01] */
+  u16 hdop;    /**< Horizontal Dilution of Precision [0.01] */
+  u16 vdop;    /**< Vertical Dilution of Precision [0.01] */
+} msg_dops_t;
+
+
+/** Position in ECEF
+  * Position solution in absolute Earth Centered Earth Fixed (ECEF)
+ * coordinates.
+ */
+#define SBP_MSG_POS_ECEF      0x0200
+typedef struct __attribute__((packed)) {
+  u32 tow;         /**< GPS Time of Week [ms] */
+  double x;           /**< ECEF X coordinate [m] */
+  double y;           /**< ECEF Y coordinate [m] */
+  double z;           /**< ECEF Z coordinate [m] */
+  u16 accuracy;    /**< Position accuracy estimate [mm] */
+  u8 n_sats;      /**< Number of satellites used in solution */
+  u8 flags;       /**< Status flags */
+} msg_pos_ecef_t;
+
+
+/** Geodetic Position
+  * Geodetic position solution.
+ */
+#define SBP_MSG_POS_LLH       0x0201
+typedef struct __attribute__((packed)) {
+  u32 tow;           /**< GPS Time of Week [ms] */
+  double lat;           /**< Latitude [deg] */
+  double lon;           /**< Longitude [deg] */
+  double height;        /**< Height [m] */
+  u16 h_accuracy;    /**< Horizontal position accuracy estimate [mm] */
+  u16 v_accuracy;    /**< Vertical position accuracy estimate [mm] */
+  u8 n_sats;        /**< Number of satellites used in solution */
+  u8 flags;         /**< Status flags */
+} msg_pos_llh_t;
+
+
+/** Baseline in ECEF
+  * Baseline in Earth Centered Earth Fixed (ECEF) coordinates.
+ */
+#define SBP_MSG_BASELINE_ECEF 0x0202
+typedef struct __attribute__((packed)) {
+  u32 tow;         /**< GPS Time of Week [ms] */
+  s32 x;           /**< Baseline ECEF X coordinate [mm] */
+  s32 y;           /**< Baseline ECEF Y coordinate [mm] */
+  s32 z;           /**< Baseline ECEF Z coordinate [mm] */
+  u16 accuracy;    /**< Position accuracy estimate [mm] */
+  u8 n_sats;      /**< Number of satellites used in solution */
+  u8 flags;       /**< Status flags */
+} msg_baseline_ecef_t;
+
+
+/** Baseline in NED
+  * Baseline in local North East Down (NED) coordinates.
+ */
+#define SBP_MSG_BASELINE_NED  0x0203
+typedef struct __attribute__((packed)) {
+  u32 tow;           /**< GPS Time of Week [ms] */
+  s32 n;             /**< Baseline North coordinate [mm] */
+  s32 e;             /**< Baseline East coordinate [mm] */
+  s32 d;             /**< Baseline Down coordinate [mm] */
+  u16 h_accuracy;    /**< Horizontal position accuracy estimate [mm] */
+  u16 v_accuracy;    /**< Vertical position accuracy estimate [mm] */
+  u8 n_sats;        /**< Number of satellites used in solution */
+  u8 flags;         /**< Status flags */
+} msg_baseline_ned_t;
+
+
+/** Velocity in ECEF
+  * Velocity in Earth Centered Earth Fixed (ECEF) coordinates.
+ */
+#define SBP_MSG_VEL_ECEF      0x0204
+typedef struct __attribute__((packed)) {
+  u32 tow;         /**< GPS Time of Week [ms] */
+  s32 x;           /**< Velocity ECEF X coordinate [mm/s] */
+  s32 y;           /**< Velocity ECEF Y coordinate [mm/s] */
+  s32 z;           /**< Velocity ECEF Z coordinate [mm/s] */
+  u16 accuracy;    /**< Velocity accuracy estimate [mm/s] */
+  u8 n_sats;      /**< Number of satellites used in solution */
+  u8 flags;       /**< Status flags (reserved) */
+} msg_vel_ecef_t;
+
+
+/** Velocity in NED
+  * Velocity in local North East Down (NED) coordinates.
+ */
+#define SBP_MSG_VEL_NED       0x0205
+typedef struct __attribute__((packed)) {
+  u32 tow;           /**< GPS Time of Week [ms] */
+  s32 n;             /**< Velocity North coordinate [mm/s] */
+  s32 e;             /**< Velocity East coordinate [mm/s] */
+  s32 d;             /**< Velocity Down coordinate [mm/s] */
+  u16 h_accuracy;    /**< Horizontal velocity accuracy estimate [mm/s] */
+  u16 v_accuracy;    /**< Vertical velocity accuracy estimate [mm/s] */
+  u8 n_sats;        /**< Number of satellites used in solution */
+  u8 flags;         /**< Status flags (reserved) */
+} msg_vel_ned_t;
+
+
+#endif /* LIBSBP_NAVIGATION_MESSAGES_H */

c/include/libsbp/observation.h

@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) 2015 Swift Navigation Inc.
+ * Contact: Fergus Noble <fergus@swift-nav.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 piksi/yaml/
+ * with generate.py at 2015-03-13 13:32:04.128822. Please do not hand edit!
+ *****************************************************************************/
+
+#ifndef LIBSBP_OBSERVATION_MESSAGES_H
+#define LIBSBP_OBSERVATION_MESSAGES_H
+
+#include "common.h"
+#include "lib.h"
+
+
+/** None
+  * GPS time, defined as the number of milliseconds since the
+ * beginning of the week on the Saturday/Sunday transition.
+ */
+typedef struct __attribute__((packed)) {
+  u32 tow;    /**< Milliseconds since start of GPS week [ms] */
+  u16 wn;     /**< GPS week number [week] */
+} gps_time_t;
+
+
+/** None
+ 
+ */
+typedef struct __attribute__((packed)) {
+  gps_time_t t;        /**< GPS time of this observation. */
+  u8 n_obs;    /**< Total number of observations. First nibble is the size
+of the sequence (n), second nibble is the zero-indexed
+counter (ith packet of n)
+ */
+} observation_header_t;
+
+
+/** None
+ 
+ */
+typedef struct __attribute__((packed)) {
+  u32 P;       /**< Pseudorange observation. [cm] */
+  carrier_phase_t L;       /**< Carrier phase observation. */
+  u8 cn0;     /**< Carrier-to-Noise density [dB Hz] */
+  u16 lock;    /**< Lock indicator. This value changes whenever a satellite
+signal has lost and regained lock, indicating that the
+carrier phase ambiguity may have changed. There is no
+significance to the value of the lock indicator.
+ */
+  u8 prn;     /**< PRN identifier of the satellite signal */
+} packed_obs_content_t;
+
+
+#define SBP_MSG_OBS      0x0045
+typedef struct __attribute__((packed)) {
+  observation_header_t header;    /**< Header of a GPS observation message */
+  packed_obs_content_t obs[0];       /**< Observations */
+} msg_obs_t;
+
+
+#define SBP_MSG_BASE_POS 0x0044
+typedef struct __attribute__((packed)) {
+  double lat;       /**< Latitude [deg] */
+  double lon;       /**< Longitude [deg] */
+  double height;    /**< Height [m] */
+} msg_base_pos_t;
+
+
+#endif /* LIBSBP_OBSERVATION_MESSAGES_H */