LPMSMessages.h

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/*
 *  Copyright (C) 2023 Swansea University
 *
 *  This file is part of the SELKIELogger suite of tools.
 *
 *  SELKIELogger is free software: you can redistribute it and/or modify it
 *  under the terms of the GNU General Public License as published by the Free
 *  Software Foundation, either version 3 of the License, or (at your option)
 *  any later version.
 *
 *  SELKIELogger is distributed in the hope that it will be useful, but WITHOUT
 *  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 *  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
 *  more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with this SELKIELogger product.
 *  If not, see <http://www.gnu.org/licenses/>.
*/
 
#ifndef SELKIELoggerLPMS_Messages
#define SELKIELoggerLPMS_Messages
 
#include <stdbool.h>
#include <stdint.h>
 
#include "SELKIELoggerBase.h"
 
#include "LPMSTypes.h"
 
#define LPMS_START                 0x3A 
#define LPMS_END1                  0x0D 
#define LPMS_END2                  0x0A 
 
#define LPMS_MSG_REPLY_ACK         0x00 
#define LPMS_MSG_REPLY_NAK         0x01 
#define LPMS_MSG_SAVE_REG          0x04 
#define LPMS_MSG_FACTORY_RESET     0x05 
#define LPMS_MSG_MODE_CMD          0x06 
#define LPMS_MSG_MODE_STREAM       0x07 
#define LPMS_MSG_GET_SENSORSTATE   0x08 
#define LPMS_MSG_GET_IMUDATA       0x09 
#define LPMS_MSG_GET_SENSORMODEL   0x14 
#define LPMS_MSG_GET_FIRMWAREVER   0x15 
#define LPMS_MSG_GET_SERIALNUM     0x16 
#define LPMS_MSG_GET_FILTERVER     0x17 
#define LPMS_MSG_SET_OUTPUTS       0x1E 
#define LPMS_MSG_GET_OUTPUTS       0x1F 
#define LPMS_MSG_SET_ID            0x20 
#define LPMS_MSG_GET_ID            0x21 
#define LPMS_MSG_SET_FREQ          0x22 
#define LPMS_MSG_GET_FREQ          0x23 
#define LPMS_MSG_SET_RADIANS       0x24 
#define LPMS_MSG_GET_RADIANS       0x25 
#define LPMS_MSG_SET_ACCRANGE      0x32 
#define LPMS_MSG_GET_ACCRANGE      0x33 
#define LPMS_MSG_SET_GYRRANGE      0x3C 
#define LPMS_MSG_GET_GYRRANGE      0x3D 
#define LPMS_MSG_SET_MAGRANGE      0x46 
#define LPMS_MSG_GET_MAGRANGE      0x47 
#define LPMS_MSG_SET_FILTER        0x5A 
#define LPMS_MSG_GET_FILTER        0x5B 
#define LPMS_MSG_SET_UARTBAUD      0x82 
#define LPMS_MSG_GET_UARTBAUD      0x83 
#define LPMS_MSG_SET_UARTFORMAT    0x84 
#define LPMS_MSG_GET_UARTFORMAT    0x85 
#define LPMS_MSG_SET_UARTPRECISION 0x88 
#define LPMS_MSG_GET_UARTPRECISION 0x89 
 
 
bool lpms_from_bytes(const uint8_t *in, const size_t len, lpms_message *msg, size_t *pos);
 
bool lpms_to_bytes(const lpms_message *msg, uint8_t **out, size_t *len);
 
bool lpms_checksum(const lpms_message *msg, uint16_t *csum);
 
bool lpms_imu_set_timestamp(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_accel_raw(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_accel_cal(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_gyro_raw(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_gyro_cal(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_gyro_aligned(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_mag_raw(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_mag_cal(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_omega(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_quaternion(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_euler_angles(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_accel_linear(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_pressure(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_altitude(const lpms_message *msg, lpms_data *d);
bool lpms_imu_set_temperature(const lpms_message *msg, lpms_data *d);
#endif