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gbxnovatelacfr/driver.h
1/*
2 * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
3 * http://gearbox.sf.net/
4 * Copyright (c) 2004-2010 Matthew Ridley, Ben Upcroft, Michael Moser
5 *
6 * This distribution is licensed to you under the terms described in
7 * the LICENSE file included in this distribution.
8 *
9 */
10
11#ifndef GBXNOVATELACFR_DRIVER_H
12#define GBXNOVATELACFR_DRIVER_H
13
14#include <cstdlib>
15#include <string>
16#include <memory>
17#include <vector>
18
19// forward declarations
20// users don't need to know about serial devices or Tracers or imu decoders
21namespace gbxserialacfr{
22 class Serial;
23}
24namespace gbxutilacfr{
25 class Tracer;
26}
27namespace gbxnovatelutilacfr{
28 class ImuDecoder;
29}
30
33namespace gbxnovatelacfr{
34
37public:
40 SimpleConfig(std::string serialDevice, int baudRate, std::string imuType, std::vector<double > &imuToGpsOffset):
41 serialDevice_(serialDevice),
42 baudRate_(baudRate),
43 imuType_(imuType),
44 imuToGpsOffset_(imuToGpsOffset) {};
45
47 //
53 bool isValid() const;
55 std::string toString() const;
56
57 std::string serialDevice_;
58 int baudRate_;
59 std::string imuType_;
60 std::vector<double > imuToGpsOffset_;
61};
62
64class GpsOnlyConfig{
65public:
66 GpsOnlyConfig(std::string serialDevice, int baudRate):
67 serialDevice_(serialDevice),
68 baudRate_(baudRate) {};
69
71 //
75 bool isValid() const;
76 std::string toString() const;
77
78 std::string serialDevice_;
79 int baudRate_;
80};
81
83//
87class Config{
88public:
90 //
92 Config(const SimpleConfig &simpleCfg);
94 //
96 Config(const GpsOnlyConfig &gpsOnlyCfg);
98 Config();
99
101 //
109 bool isValid();
111 std::string toString() const;
112
114 //
116 std::string serialDevice_;
117 int baudRate_;
119
121 //
123 bool enableImu_;
124 std::string imuType_;
126
129 //
131 bool enableInsPva_;
132 bool enableGpsPos_;
133 bool enableGpsVel_;
134 bool enableRawImu_;
136
138
143 //
145 double dtInsPva_;
146 double dtGpsPos_;
147 double dtGpsVel_;
149
151
153 //
155 std::vector<double > imuToGpsOffset_;
156 std::vector<double > imuToGpsOffsetUncertainty_;
157 bool enableInsOffset_;
158 std::vector<double > insOffset_;
160
162
164 //
170
172
178 //
180 bool enableSetImuOrientation_;
181 int setImuOrientation_;
182 bool enableVehicleBodyRotation_;
183 std::vector<double > vehicleBodyRotation_;
184 std::vector<double > vehicleBodyRotationUncertainty_;
185
187private:
188};
189
198
200std::string toString( StatusMessageType type );
201
202
204//
229
231std::string toString( GpsSolutionStatusType type );
232
234//
286
288std::string toString( GpsPosVelType type );
289
301
304 public:
305 virtual ~GenericData(){};
306 virtual DataType type() const=0;
307 virtual std::string toString() const=0;
308 private:
309};
310
312class InsPvaData : public GenericData {
313 public:
314 DataType type() const {
315 return InsPva;
316 }
317 std::string toString() const;
319 double secIntoWeek;
320 double latitude;
321 double longitude;
322 double height;
323
326 //
330 double upVelocity;
331
333
336 //
338 double roll;
339 double pitch;
340 double azimuth;
341
343
344 StatusMessageType statusMessageType;
345 std::string statusMessage;
346
349};
350
353 public:
354 DataType type() const {
355 return BestGpsPos;
356 }
357 std::string toString() const;
359 unsigned int msIntoWeek;
360 GpsSolutionStatusType solutionStatus; //
361 GpsPosVelType positionType; //
362 double latitude;
363 double longitude;
364 double heightAMSL;
366 unsigned int datumId; //
370 char baseStationId[4]; //
371 float diffAge;
377
378 StatusMessageType statusMessageType;
379 std::string statusMessage;
380
383};
384
387 public:
388 DataType type() const {
389 return BestGpsVel;
390 }
391 std::string toString() const;
393 unsigned int msIntoWeek;
394 GpsSolutionStatusType solutionStatus; //
395 GpsPosVelType velocityType; //
396 float latency;
397 float diffAge;
401
402 StatusMessageType statusMessageType;
403 std::string statusMessage;
404
407};
408
410class RawImuData : public GenericData {
411 public:
412 DataType type() const {
413 return RawImu;
414 }
415 std::string toString() const;
417 double secIntoWeek;
421 //
423 double zDeltaV;
424 double yDeltaV;
425 double xDeltaV;
426
428
432 //
434 double zDeltaAng;
435 double yDeltaAng;
436 double xDeltaAng;
437
439
440 StatusMessageType statusMessageType;
441 std::string statusMessage;
442
445};
446
449class Driver {
450public:
451
454 //
456
458 //
460 Driver( const Config &cfg);
463 Driver( const Config &cfg, gbxutilacfr::Tracer &tracer);
465 ~Driver();
466
472 std::auto_ptr<GenericData> read();
473
474private:
475
476 // does the leg-work for the constructor (via the following guys)
477 void configure();
478 // establish a serial connection to the receiver
479 void connectToHardware();
480 // set parameters related to the IMU
481 void configureImu();
482 // set parameters related to the INS
483 void configureIns();
484 // set parameters related to GPS
485 void configureGps();
486 // turn on data messages we are interested in
487 void requestData();
488
489 std::auto_ptr<gbxnovatelutilacfr::ImuDecoder> imuDecoder_;
490
491 std::auto_ptr<gbxserialacfr::Serial> serial_;
492 int baud_;
493
494 Config config_;
495 std::auto_ptr<gbxutilacfr::Tracer> tracerInternal_;
496 gbxutilacfr::Tracer& tracer_;
497};
498
499
500} // namespace
502#endif
Gps position information.
Definition gbxnovatelacfr/driver.h:352
int timeStampUSec
in Computer time, beginning of message at serial port
Definition gbxnovatelacfr/driver.h:382
float undulation
[m] aka geoidal seperation: undulation == heigth_ellipsoid - height_geoid/AMSL
Definition gbxnovatelacfr/driver.h:365
int numL1Ranges
number of L1 ranges used in computation (?)
Definition gbxnovatelacfr/driver.h:374
float sigmaLatitude
[m] 1 standard deviation error estimate
Definition gbxnovatelacfr/driver.h:367
int numL2RangesRTK
number of L2 ranges above the RTK mask angle (??) number of L2 carrier ranges used?
Definition gbxnovatelacfr/driver.h:376
double longitude
[deg] east positive
Definition gbxnovatelacfr/driver.h:363
float sigmaHeight
[m] 1 standard deviation error estimate
Definition gbxnovatelacfr/driver.h:369
int numObservations
number of observations tracked (?) L1 code/carrier/doppler + L2 code/carrier/doppler?
Definition gbxnovatelacfr/driver.h:373
int timeStampSec
in Computer time, beginning of message at serial port
Definition gbxnovatelacfr/driver.h:381
int gpsWeekNr
number of full weeks since midnight 05/Jan/1980 (UTC)
Definition gbxnovatelacfr/driver.h:358
int numL1RangesRTK
number of L1 ranges above the RTK mask angle (??) number of L1 carrier ranges used?
Definition gbxnovatelacfr/driver.h:375
float diffAge
[s] how old the correction info from the basestation is
Definition gbxnovatelacfr/driver.h:371
float solutionAge
[s]
Definition gbxnovatelacfr/driver.h:372
double heightAMSL
[m] AMSL == above mean sea level (geoid)
Definition gbxnovatelacfr/driver.h:364
double latitude
[deg] north positive
Definition gbxnovatelacfr/driver.h:362
float sigmaLongitude
[m] 1 standard deviation error estimate
Definition gbxnovatelacfr/driver.h:368
unsigned int msIntoWeek
yields GPS-time (together with gpsWeekNr); continous (contrary to UTC which uses leapseconds)
Definition gbxnovatelacfr/driver.h:359
Gps velocity information.
Definition gbxnovatelacfr/driver.h:386
unsigned int msIntoWeek
yields GPS-time (together with gpsWeekNr); continous (contrary to UTC which uses leapseconds)
Definition gbxnovatelacfr/driver.h:393
int gpsWeekNr
number of full weeks since midnight 05/Jan/1980 (UTC)
Definition gbxnovatelacfr/driver.h:392
float diffAge
[s]
Definition gbxnovatelacfr/driver.h:397
int timeStampSec
in Computer time, beginning of message at serial port
Definition gbxnovatelacfr/driver.h:405
double horizontalSpeed
[m/s]
Definition gbxnovatelacfr/driver.h:398
double trackOverGround
[deg] "heading" of the speed vector w. respect to true North
Definition gbxnovatelacfr/driver.h:399
int timeStampUSec
in Computer time, beginning of message at serial port
Definition gbxnovatelacfr/driver.h:406
float latency
[s] gps speed can be calculated from instantanious or integrated doppler. The latter refers to the av...
Definition gbxnovatelacfr/driver.h:396
double verticalSpeed
[m/s]
Definition gbxnovatelacfr/driver.h:400
All the information needed to configure the driver.
Definition gbxnovatelacfr/driver.h:87
bool enableSBAS_
code-differential corrections over satellite on GPS frequencies (WAAS/EGNOS)
Definition gbxnovatelacfr/driver.h:167
bool enableInsPhaseUpdate_
tightly coupled (phase based vs position based) filter; Chance of better performance in adverse condi...
Definition gbxnovatelacfr/driver.h:159
double dtGpsVel_
20Hz max, 5Hz max if RawImu or InsPva is enabled
Definition gbxnovatelacfr/driver.h:147
Config()
disables everything, so you can (and must) set just the options you need.
Definition gbxnovatelacfr/driver.cpp:610
bool enableUseOfOmniStarCarrier_
carrier-differential corrections OMNIStarXP/HP (you need to get a subscription with them)
Definition gbxnovatelacfr/driver.h:169
std::string imuType_
as expected by the "SETIMUTYPE" command (SPAN Technology for OEMV User Manual Rev 3,...
Definition gbxnovatelacfr/driver.h:124
bool enableCDGPS_
code-differential corrections over satellite (North America/Canada)
Definition gbxnovatelacfr/driver.h:166
std::string toString() const
Dumps the config in human readable form.
Definition gbxnovatelacfr/driver.cpp:744
std::vector< double > insOffset_
report INS position/velocity offset (xyz [m] in IMU coordinates) from the IMU center; useful e....
Definition gbxnovatelacfr/driver.h:158
std::vector< double > imuToGpsOffsetUncertainty_
optional (size 3 or 0) xyz; !it is unclear to me whether these are factors, or absolute values (in [m...
Definition gbxnovatelacfr/driver.h:156
bool ignoreUnknownMessages_
normally we throw an exception, set this to "true" if you want to enable some other message permanent...
Definition gbxnovatelacfr/driver.h:135
bool fixInvalidRateSettings_
Don't bitch about wrong rates, change them to something sensible.
Definition gbxnovatelacfr/driver.h:148
double dtGpsPos_
20Hz max, 5Hz max if RawImu or InsPva is enabled
Definition gbxnovatelacfr/driver.h:146
Config(const SimpleConfig &simpleCfg)
Shortcut to set up a Configuration for INS operation.
Definition gbxnovatelacfr/driver.cpp:568
std::vector< double > vehicleBodyRotationUncertainty_
optional (size 3 or 0)
Definition gbxnovatelacfr/driver.h:184
double dtInsPva_
100Hz max, if RawImu is enabled 50Hz max
Definition gbxnovatelacfr/driver.h:145
std::vector< double > imuToGpsOffset_
vector (xyz [m]) from IMU center to Antenna Phase Center, in IMU coordinates, vital for INS performan...
Definition gbxnovatelacfr/driver.h:155
bool isValid()
Returns true if the configuration is sane.
Definition gbxnovatelacfr/driver.cpp:641
bool enableRTK_
carrier-differential corrections (you need to set up your own base-station and wireless link),...
Definition gbxnovatelacfr/driver.h:168
std::auto_ptr< GenericData > read()
Blocking read, returns one message.
Definition gbxnovatelacfr/driver.cpp:515
Driver(const Config &cfg)
dumps tracing messages to the console
Definition gbxnovatelacfr/driver.cpp:97
Generic (base) type returned by a read.
Definition gbxnovatelacfr/driver.h:303
Minimum information needed to configure the receiver in GPS only mode.
Definition gbxnovatelacfr/driver.h:64
bool isValid() const
Returns true if the configuration is sane.
Definition gbxnovatelacfr/driver.cpp:800
INS position/velocity/attitude information.
Definition gbxnovatelacfr/driver.h:312
double height
[m] above ellipsoid WGS84 (heigth_ellipsoid - undulation == height_geoid (aka AMSL)
Definition gbxnovatelacfr/driver.h:322
double roll
[degree] right handed rotation from local level around y-axes
Definition gbxnovatelacfr/driver.h:338
int timeStampSec
in Computer time, beginning of message at serial port
Definition gbxnovatelacfr/driver.h:347
int timeStampUSec
in Computer time, beginning of message at serial port
Definition gbxnovatelacfr/driver.h:348
double azimuth
[degree] left handed around z-axes rotation from (true?) north clockwise
Definition gbxnovatelacfr/driver.h:340
double latitude
[deg] north positive WGS84
Definition gbxnovatelacfr/driver.h:320
double secIntoWeek
yields GPS-time (together with gpsWeekNr); continous (contrary to UTC which uses leapseconds)
Definition gbxnovatelacfr/driver.h:319
int gpsWeekNr
number of full weeks since midnight 05/Jan/1980 (UTC)
Definition gbxnovatelacfr/driver.h:318
double northVelocity
[m/s] south is negative
Definition gbxnovatelacfr/driver.h:328
double longitude
[deg] east positive WGS84
Definition gbxnovatelacfr/driver.h:321
double pitch
[degree] right handed rotation from local level around x-axes
Definition gbxnovatelacfr/driver.h:339
double eastVelocity
[m/s] west is negative
Definition gbxnovatelacfr/driver.h:329
double upVelocity
[m/s] down is negative
Definition gbxnovatelacfr/driver.h:330
Raw IMU information.
Definition gbxnovatelacfr/driver.h:410
double yDeltaV
[m/s] forward positive
Definition gbxnovatelacfr/driver.h:424
int timeStampSec
in Computer time, beginning of message at serial port
Definition gbxnovatelacfr/driver.h:443
int gpsWeekNr
number of full weeks since midnight 05/Jan/1980 (UTC)
Definition gbxnovatelacfr/driver.h:416
double zDeltaV
[m/s] up positive
Definition gbxnovatelacfr/driver.h:423
double yDeltaAng
[rad] right handed around y
Definition gbxnovatelacfr/driver.h:435
double secIntoWeek
Definition gbxnovatelacfr/driver.h:417
double zDeltaAng
[rad] right handed around z
Definition gbxnovatelacfr/driver.h:434
int timeStampUSec
in Computer time, beginning of message at serial port
Definition gbxnovatelacfr/driver.h:444
double xDeltaV
[m/s] right positive
Definition gbxnovatelacfr/driver.h:425
double xDeltaAng
[rad] right handed around x
Definition gbxnovatelacfr/driver.h:436
Minimum information to configure the receiver in INS mode.
Definition gbxnovatelacfr/driver.h:36
SimpleConfig(std::string serialDevice, int baudRate, std::string imuType, std::vector< double > &imuToGpsOffset)
Definition gbxnovatelacfr/driver.h:40
std::string toString() const
Dumps the config in human readable form.
Definition gbxnovatelacfr/driver.cpp:790
bool isValid() const
Returns true if the configuration is sane.
Definition gbxnovatelacfr/driver.cpp:777
Encapsulates a serial port.
Definition serial.h:44
Local and remote tracing.
Definition tracer.h:112
Novatel GPS/INS driver.
Definition gbxnovatelacfr/driver.cpp:96
std::string toString(StatusMessageType type)
Convert a StatusMessageType into a string.
Definition gbxnovatelacfr/driver.cpp:911
GpsPosVelType
Novatel's different fix types.
Definition gbxnovatelacfr/driver.h:236
@ Propagated
Propagated by a Kalman filter without new observations.
Definition gbxnovatelacfr/driver.h:256
@ ReservedGpsPosVelType3
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:240
@ FixedPos
Position has been fixed by the FIX POSITION command or by position averaging.
Definition gbxnovatelacfr/driver.h:238
@ ReservedGpsPosVelType23
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:260
@ ReservedGpsPosVelType11
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:248
@ ReservedGpsPosVelType15
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:252
@ ReservedGpsPosVelType10
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:247
@ ReservedGpsPosVelType7
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:244
@ ReservedGpsPosVelType9
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:246
@ L1Int
Integer L1 ambiguity solution.
Definition gbxnovatelacfr/driver.h:272
@ NarrowFloat
Floating narrow-lane ambiguity solution.
Definition gbxnovatelacfr/driver.h:271
@ PsrDiff
Pseudorange differential solution.
Definition gbxnovatelacfr/driver.h:254
@ L1Float
Floating L1 ambiguity solution.
Definition gbxnovatelacfr/driver.h:269
@ CdGps
Position solution using CDGPS corrections.
Definition gbxnovatelacfr/driver.h:283
@ ReservedGpsPosVelType27
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:264
@ ReservedGpsPosVelType21
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:258
@ ReservedGpsPosVelType26
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:263
@ ReservedGpsPosVelType12
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:249
@ InsRtkFixed
INS RTK fixed ambiguities solution b.
Definition gbxnovatelacfr/driver.h:280
@ Omnistar
OmniSTAR VBS position (L1 sub-meter) a.
Definition gbxnovatelacfr/driver.h:257
@ ReservedGpsPosVelType28
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:265
@ WideLane
Solution from wide-lane ambiguities.
Definition gbxnovatelacfr/driver.h:242
@ NarrowLane
Solution from narrow-lane ambiguities.
Definition gbxnovatelacfr/driver.h:243
@ InsRtkFloat
INS RTK floating point ambiguities solution b.
Definition gbxnovatelacfr/driver.h:279
@ InsPsrDiff
INS pseudorange differential solution b.
Definition gbxnovatelacfr/driver.h:278
@ DopplerVelocity
Velocity computed using instantaneous Doppler.
Definition gbxnovatelacfr/driver.h:245
@ ReservedGpsPosVelType30
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:267
@ WideInt
Integer wide-lane ambiguity solution.
Definition gbxnovatelacfr/driver.h:273
@ None
No solution.
Definition gbxnovatelacfr/driver.h:237
@ FixedHeight
Position has been fixed by the FIX HEIGHT, or FIX AUTO, command or by position averaging.
Definition gbxnovatelacfr/driver.h:239
@ FloatConv
Solution from floating point carrier phase ambiguities.
Definition gbxnovatelacfr/driver.h:241
@ OmniStarXp
OmniSTAR extra precision a.
Definition gbxnovatelacfr/driver.h:282
@ ReservedGpsPosVelType14
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:251
@ NarrowInt
Integer narrow-lane ambiguity solution.
Definition gbxnovatelacfr/driver.h:274
@ ReservedGpsPosVelType31
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:268
@ Ins
INS calculated position corrected for the antenna b.
Definition gbxnovatelacfr/driver.h:276
@ OmniStarHp
OmniSTAR high precision a.
Definition gbxnovatelacfr/driver.h:281
@ ReservedGpsPosVelType29
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:266
@ ReservedGpsPosVelType25
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:262
@ ReservedGpsPosVelType13
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:250
@ ReservedGpsPosVelType24
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:261
@ Waas
Solution calculated using corrections from an SBAS.
Definition gbxnovatelacfr/driver.h:255
@ RtkDirectIns
RTK status where the RTK filter is directly initialized from the INS filter. b.
Definition gbxnovatelacfr/driver.h:275
@ InsPsrSp
INS pseudorange single point solution - no DGPS corrections b.
Definition gbxnovatelacfr/driver.h:277
@ Single
Single point position.
Definition gbxnovatelacfr/driver.h:253
@ ReservedGpsPosVelType22
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:259
@ IonoFreeFloat
Floating ionospheric-free ambiguity solution.
Definition gbxnovatelacfr/driver.h:270
GpsSolutionStatusType
Novatel's different solution status types.
Definition gbxnovatelacfr/driver.h:206
@ VHLimit
Height or velocity limits exceeded (in accordance with COCOM export licensing restrictions)
Definition gbxnovatelacfr/driver.h:214
@ TestDist
Test distance exceeded (maximum of 3 rejections if distance > 10 km)
Definition gbxnovatelacfr/driver.h:212
@ InsAligning
INS doing its coarse alignment.
Definition gbxnovatelacfr/driver.h:222
@ Pending
When a FIX POSITION command is entered, the receiver computes its own position and determines if the ...
Definition gbxnovatelacfr/driver.h:225
@ InsBad
INS position is bad.
Definition gbxnovatelacfr/driver.h:223
@ NegativeVar
Negative variance.
Definition gbxnovatelacfr/driver.h:218
@ CovTrace
Covariance trace exceeds maximum (trace > 1000 m)
Definition gbxnovatelacfr/driver.h:211
@ SolComputed
Solution computed.
Definition gbxnovatelacfr/driver.h:207
@ ImuUnplugged
No IMU detected.
Definition gbxnovatelacfr/driver.h:224
@ NoConvergence
No convergence.
Definition gbxnovatelacfr/driver.h:209
@ Residuals
Residuals are too large.
Definition gbxnovatelacfr/driver.h:216
@ Variance
Variance exceeds limits.
Definition gbxnovatelacfr/driver.h:215
@ InsInactive
INS has not started yet.
Definition gbxnovatelacfr/driver.h:221
@ InsufficientObs
Insufficient observations.
Definition gbxnovatelacfr/driver.h:208
@ ReservedGpsSolutionStatusType12
Value Reserved for future use.
Definition gbxnovatelacfr/driver.h:219
@ Singularity
Singularity at parameters matrix.
Definition gbxnovatelacfr/driver.h:210
@ IntegrityWarning
Large residuals make position unreliable.
Definition gbxnovatelacfr/driver.h:220
@ DeltaPos
Delta position is too large.
Definition gbxnovatelacfr/driver.h:217
@ InvalidFix
The fixed position, entered using the FIX POSITION command, is not valid.
Definition gbxnovatelacfr/driver.h:226
@ ColdStart
Not yet converged from cold start.
Definition gbxnovatelacfr/driver.h:213
DataType
possible types GenericData can contain
Definition gbxnovatelacfr/driver.h:291
@ BestGpsVel
GenericData is really BestGpsVelData.
Definition gbxnovatelacfr/driver.h:297
@ InsPva
GenericData is really InsPvaData.
Definition gbxnovatelacfr/driver.h:293
@ BestGpsPos
GenericData is really BestGpsPosData.
Definition gbxnovatelacfr/driver.h:295
@ RawImu
GenericData is really RawImuData.
Definition gbxnovatelacfr/driver.h:299
StatusMessageType
possible Status Messages GenericData can contain
Definition gbxnovatelacfr/driver.h:191
@ Ok
All good, but something to say.
Definition gbxnovatelacfr/driver.h:194
@ NoMsg
Nothing new, no message.
Definition gbxnovatelacfr/driver.h:192
@ Fault
Problem, probably fatal.
Definition gbxnovatelacfr/driver.h:196
@ Warning
Problem, likely to go away.
Definition gbxnovatelacfr/driver.h:195
@ Initialising
Nothing wrong, just not quite ready.
Definition gbxnovatelacfr/driver.h:193
Simple serial port interface.
Definition gbxnovatelacfr/driver.h:21
ACFR utilities.
Definition gbxnovatelacfr/driver.h:24
 

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