libsbf 0.17.0

A no_std rust crate to parse Septentrio SBF Messages.
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use crate::binrw_util;
use binrw::binrw;

use super::att_euler::BaselineError;

// AttCovEuler Block 5939
#[binrw]
#[derive(Clone, Debug)]
pub struct AttCovEuler {
    #[br(map = binrw_util::map_u4)]
    #[bw(map = binrw_util::unmap_u4)]
    pub tow: Option<u32>,
    #[br(map = binrw_util::map_u2)]
    #[bw(map = binrw_util::unmap_u2)]
    pub wnc: Option<u16>,
    pub reserved: u8,
    error_raw: u8,
    #[br(map = binrw_util::map_f4)]
    #[bw(map = binrw_util::unmap_f4)]
    pub cov_head_head: Option<f32>,
    #[br(map = binrw_util::map_f4)]
    #[bw(map = binrw_util::unmap_f4)]
    pub cov_pitch_pitch: Option<f32>,
    #[br(map = binrw_util::map_f4)]
    #[bw(map = binrw_util::unmap_f4)]
    pub cov_roll_roll: Option<f32>,
    #[br(map = binrw_util::map_f4)]
    #[bw(map = binrw_util::unmap_f4)]
    pub cov_head_pitch: Option<f32>,
    #[br(map = binrw_util::map_f4)]
    #[bw(map = binrw_util::unmap_f4)]
    pub cov_head_roll: Option<f32>,
    #[br(map = binrw_util::map_f4)]
    #[bw(map = binrw_util::unmap_f4)]
    pub cov_pitch_roll: Option<f32>,
}

impl AttCovEuler {
    /// Error code for Main-Aux1 baseline (bits 0-1).
    pub fn main_aux1_error(&self) -> BaselineError {
        BaselineError::from(self.error_raw & 0x03)
    }

    /// Error code for Main-Aux2 baseline (bits 2-3).
    pub fn main_aux2_error(&self) -> BaselineError {
        BaselineError::from((self.error_raw >> 2) & 0x03)
    }

    /// Bit 7: Returns true if attitude was not requested by user.
    pub fn not_requested(&self) -> bool {
        self.error_raw & (1 << 7) != 0
    }
}