libsbf 0.15.5

A no_std rust crate to parse Septentrio SBF Messages.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164

use alloc::vec::Vec;
use binrw::BinRead;

use super::att_euler::{AttitudeMode, BaselineError};
use super::pvt_geodetic::{
    Datum, DiffCorrType, PvtError, PvtMode, PvtModeFlags, RaimIntegrity, WACorrFlags,
};

// NavCart Block 4272
// Combined PVTCartesian + AttEuler + DOP + ReceiverTime fields.
#[derive(Debug, BinRead)]
pub struct NavCart {
    #[br(map = |x: u32| if x == crate::DO_NOT_USE_U4 { None } else { Some(x) })]
    pub tow: Option<u32>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub wnc: Option<u16>,
    mode_raw: u8,
    #[br(map = |x: u8| PvtError::from(x))]
    pub error: PvtError,
    #[br(map = |x: f64| if x == crate::DO_NOT_USE_F8 { None } else { Some(x) })]
    pub x: Option<f64>,
    #[br(map = |x: f64| if x == crate::DO_NOT_USE_F8 { None } else { Some(x) })]
    pub y: Option<f64>,
    #[br(map = |x: f64| if x == crate::DO_NOT_USE_F8 { None } else { Some(x) })]
    pub z: Option<f64>,
    #[br(map = |x: f32| if x == crate::DO_NOT_USE_F4 { None } else { Some(x) })]
    pub undulation: Option<f32>,
    #[br(map = |x: f32| if x == crate::DO_NOT_USE_F4 { None } else { Some(x) })]
    pub vx: Option<f32>,
    #[br(map = |x: f32| if x == crate::DO_NOT_USE_F4 { None } else { Some(x) })]
    pub vy: Option<f32>,
    #[br(map = |x: f32| if x == crate::DO_NOT_USE_F4 { None } else { Some(x) })]
    pub vz: Option<f32>,
    #[br(map = |x: f32| if x == crate::DO_NOT_USE_F4 { None } else { Some(x) })]
    pub cog: Option<f32>,
    #[br(map = |x: f64| if x == crate::DO_NOT_USE_F8 { None } else { Some(x) })]
    pub rx_clk_bias: Option<f64>,
    #[br(map = |x: f32| if x == crate::DO_NOT_USE_F4 { None } else { Some(x) })]
    pub rx_clk_drift: Option<f32>,
    #[br(map = |x: u8| if x == crate::DO_NOT_USE_U1 { None } else { Some(x) })]
    pub time_system: Option<u8>,
    #[br(map = |x: u8| if x == crate::DO_NOT_USE_U1 { None } else { Some(Datum::from(x)) })]
    pub datum: Option<Datum>,
    #[br(map = |x: u8| if x == crate::DO_NOT_USE_U1 { None } else { Some(x) })]
    pub nr_sv: Option<u8>,
    wa_corr_info_raw: u8,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub reference_id: Option<u16>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub mean_corr_age: Option<u16>,
    /// 64-bit signal tracking info (extended from PVTCartesian's 32-bit field).
    pub signal_info: u64,
    alert_flag_raw: u8,
    pub nr_bases: u8,
    pub ppp_info: u16,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub latency: Option<u16>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub pos_h_acc: Option<u16>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub pos_v_acc: Option<u16>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub vel_h_acc: Option<u16>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub vel_v_acc: Option<u16>,
    pub misc: u8,
    _reserved: u8,
    // Attitude fields (from AttEuler)
    mode_att_raw: u16,
    error_att_raw: u8,
    #[br(map = |x: u8| if x == crate::DO_NOT_USE_U1 { None } else { Some(x) })]
    pub nr_sv_att: Option<u8>,
    #[br(map = |x: f32| if x == crate::DO_NOT_USE_F4 { None } else { Some(x) })]
    pub heading: Option<f32>,
    #[br(map = |x: f32| if x == crate::DO_NOT_USE_F4 { None } else { Some(x) })]
    pub pitch: Option<f32>,
    #[br(map = |x: f32| if x == crate::DO_NOT_USE_F4 { None } else { Some(x) })]
    pub roll: Option<f32>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub heading_acc: Option<u16>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub pitch_acc: Option<u16>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub roll_acc: Option<u16>,
    // DOP field
    #[br(map = |x: u16| if x == 0 { None } else { Some(x) })]
    pub pdop: Option<u16>,
    // UTC time fields
    #[br(map = |x: i8| if x == crate::DO_NOT_USE_I1 { None } else { Some(x) })]
    pub utc_hour: Option<i8>,
    #[br(map = |x: i8| if x == crate::DO_NOT_USE_I1 { None } else { Some(x) })]
    pub utc_min: Option<i8>,
    #[br(map = |x: u16| if x == crate::DO_NOT_USE_U2 { None } else { Some(x) })]
    pub utc_msec: Option<u16>,
    #[br(map = |x: i8| if x == crate::DO_NOT_USE_I1 { None } else { Some(x) })]
    pub utc_year: Option<i8>,
    #[br(map = |x: i8| if x == crate::DO_NOT_USE_I1 { None } else { Some(x) })]
    pub utc_month: Option<i8>,
    #[br(map = |x: i8| if x == crate::DO_NOT_USE_I1 { None } else { Some(x) })]
    pub utc_day: Option<i8>,
    #[br(parse_with = binrw::helpers::until_eof)]
    pub padding: Vec<u8>,
}

impl NavCart {
    // -- PVT accessors --

    /// PVT mode (bits 0-3 of mode).
    pub fn pvt_mode(&self) -> PvtMode {
        PvtMode::from(self.mode_raw)
    }

    /// Mode flags (bits 6-7 of mode).
    pub fn mode_flags(&self) -> PvtModeFlags {
        PvtModeFlags::from_bits_truncate(self.mode_raw)
    }

    /// Wide Area correction flags (bits 0-4).
    pub fn wa_corr_flags(&self) -> WACorrFlags {
        WACorrFlags::from_bits_truncate(self.wa_corr_info_raw)
    }

    /// Differential correction type (bits 5-6).
    pub fn diff_corr_type(&self) -> DiffCorrType {
        DiffCorrType::from(self.wa_corr_info_raw)
    }

    /// RAIM integrity status (bits 0-1 of alert_flag).
    pub fn raim_integrity(&self) -> RaimIntegrity {
        RaimIntegrity::from(self.alert_flag_raw)
    }

    /// Bit 2: Galileo HPCA integrity failed.
    pub fn galileo_hpca_failed(&self) -> bool {
        self.alert_flag_raw & (1 << 2) != 0
    }

    /// Bit 3: Galileo ionospheric storm active.
    pub fn galileo_iono_storm(&self) -> bool {
        self.alert_flag_raw & (1 << 3) != 0
    }

    // -- Attitude accessors --

    /// Attitude mode.
    pub fn attitude_mode(&self) -> AttitudeMode {
        AttitudeMode::from(self.mode_att_raw)
    }

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

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

    /// Bit 7 of error_att: attitude not requested by user.
    pub fn attitude_not_requested(&self) -> bool {
        self.error_att_raw & (1 << 7) != 0
    }
}