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header.h
00001 /* 00002 * Orca-Robotics Project: Components for robotics 00003 * http://orca-robotics.sf.net/ 00004 * Copyright (c) 2004-2009 NovAtel Inc. 00005 * 00006 * This copy of Orca is licensed to you under the terms described in 00007 * the LICENSE file included in this distribution. 00008 * 00009 */ 00010 00011 #ifndef _HEADER_H_ 00012 #define _HEADER_H_ 00013 00014 // This structure defines the binary header on every OEM4 log 00015 namespace hydronovatelutil { 00016 00017 #pragma pack(push,1) 00018 typedef struct OEM4_BINARY_HEADER // Standard binary header 00019 { 00020 unsigned char sop1; // start of packet first byte (0xaa) 00021 unsigned char sop2; // start of packet second byte (0x44) 00022 unsigned char sop3; // start of packet third byte (0x12) 00023 unsigned char header_length; // Length of the header 00024 unsigned short number; // Message number 00025 unsigned char type; // Message type 00026 unsigned char port_address; // Address of the data port the log was received on 00027 unsigned short length; // Message length 00028 unsigned short sequence; // Sequence # 00029 unsigned char idle; // Idle time 00030 unsigned char gps_stat; // GPS Time Status 00031 unsigned short gps_week; // GPS Week number 00032 unsigned long millisecs; // Milliseconds into week 00033 unsigned long status; // Receiver status word 00034 unsigned short crc; // The 16bit CRC check sum 00035 unsigned short version; // Receiver software version 00036 }OEM4_BINARY_HEADER; 00037 00038 typedef struct OEM4_SHORT_BINARY_HEADER // Short binary header 00039 { 00040 unsigned char sop1; // start of packet first byte (0xaa) 00041 unsigned char sop2; // start of packet second byte (0x44) 00042 unsigned char sop3; // start of packet third byte (0x13) 00043 unsigned char length; // Message length 00044 unsigned short number; // Message Number 00045 unsigned short gps_week; // GPS Week number 00046 unsigned long millisecs; // Milliseconds into week 00047 }OEM4_SHORT_BINARY_HEADER; 00048 #pragma pack(pop) 00049 00050 enum TIME_STATUS 00051 { 00052 GPSTIME_UNKNOWN = 0, 00053 GPSTIME_USER, 00054 GPSTIME_USERADJUSTING, 00055 GPSTIME_COARSEADJUSTING, 00056 GPSTIME_COARSE, 00057 GPSTIME_COARSESTEERING, 00058 GPSTIME_FINEADJUSTING, 00059 GPSTIME_FINE, 00060 GPSTIME_FINESTEERING, 00061 GPSTIME_FREEWHEELING, 00062 GPSTIME_SATTIME, 00063 }; 00064 00065 enum PORT_NAME 00066 { 00067 NO_PORTS = 0, 00068 COM1_ALL = 1, 00069 COM2_ALL = 2, 00070 COM3_ALL = 3, 00071 USB_ALL = 4, 00072 THISPORT_ALL = 6, 00073 ALLPORTS = 8, 00074 COM1 = 32, 00075 COM1_1, 00076 COM1_2, 00077 COM1_3, 00078 COM1_4, 00079 COM1_5, 00080 COM1_6, 00081 COM1_7, 00082 COM1_8, 00083 COM1_9, 00084 COM1_10, 00085 COM1_11, 00086 COM1_12, 00087 COM1_13, 00088 COM1_14, 00089 COM1_15, 00090 COM1_16, 00091 COM1_17, 00092 COM1_18, 00093 COM1_19, 00094 COM1_20, 00095 COM1_21, 00096 COM1_22, 00097 COM1_23, 00098 COM1_24, 00099 COM1_25, 00100 COM1_26, 00101 COM1_27, 00102 COM1_28, 00103 COM1_29, 00104 COM1_30, 00105 COM1_31, 00106 COM2 = 64, 00107 COM2_1, 00108 COM2_2, 00109 COM2_3, 00110 COM2_4, 00111 COM2_5, 00112 COM2_6, 00113 COM2_7, 00114 COM2_8, 00115 COM2_9, 00116 COM2_10, 00117 COM2_11, 00118 COM2_12, 00119 COM2_13, 00120 COM2_14, 00121 COM2_15, 00122 COM2_16, 00123 COM2_17, 00124 COM2_18, 00125 COM2_19, 00126 COM2_20, 00127 COM2_21, 00128 COM2_22, 00129 COM2_23, 00130 COM2_24, 00131 COM2_25, 00132 COM2_26, 00133 COM2_27, 00134 COM2_28, 00135 COM2_29, 00136 COM2_30, 00137 COM2_31, 00138 COM3 = 96, 00139 COM3_1, 00140 COM3_2, 00141 COM3_3, 00142 COM3_4, 00143 COM3_5, 00144 COM3_6, 00145 COM3_7, 00146 COM3_8, 00147 COM3_9, 00148 COM3_10, 00149 COM3_11, 00150 COM3_12, 00151 COM3_13, 00152 COM3_14, 00153 COM3_15, 00154 COM3_16, 00155 COM3_17, 00156 COM3_18, 00157 COM3_19, 00158 COM3_20, 00159 COM3_21, 00160 COM3_22, 00161 COM3_23, 00162 COM3_24, 00163 COM3_25, 00164 COM3_26, 00165 COM3_27, 00166 COM3_28, 00167 COM3_29, 00168 COM3_30, 00169 COM3_31, 00170 USB = 128, 00171 USB_1, 00172 USB_2, 00173 USB_3, 00174 USB_4, 00175 USB_5, 00176 USB_6, 00177 USB_7, 00178 USB_8, 00179 USB_9, 00180 USB_10, 00181 USB_11, 00182 USB_12, 00183 USB_13, 00184 USB_14, 00185 USB_15, 00186 USB_16, 00187 USB_17, 00188 USB_18, 00189 USB_19, 00190 USB_20, 00191 USB_21, 00192 USB_22, 00193 USB_23, 00194 USB_24, 00195 USB_25, 00196 USB_26, 00197 USB_27, 00198 USB_28, 00199 USB_29, 00200 USB_30, 00201 USB_31, 00202 THISPORT = 192, 00203 THISPORT_1, 00204 THISPORT_2, 00205 THISPORT_3, 00206 THISPORT_4, 00207 THISPORT_5, 00208 THISPORT_6, 00209 THISPORT_7, 00210 THISPORT_8, 00211 THISPORT_9, 00212 THISPORT_10, 00213 THISPORT_11, 00214 THISPORT_12, 00215 THISPORT_13, 00216 THISPORT_14, 00217 THISPORT_15, 00218 THISPORT_16, 00219 THISPORT_17, 00220 THISPORT_18, 00221 THISPORT_19, 00222 THISPORT_20, 00223 THISPORT_21, 00224 THISPORT_22, 00225 THISPORT_23, 00226 THISPORT_24, 00227 THISPORT_25, 00228 THISPORT_26, 00229 THISPORT_27, 00230 THISPORT_28, 00231 THISPORT_29, 00232 THISPORT_30, 00233 THISPORT_31, 00234 MAX_PORT 00235 }; 00236 00237 00238 }//namespace hydronovatelutil 00239 00240 #endif
