# Copyright (C) 2015-2021 Swift Navigation Inc. # Contact: https://support.swiftnav.com # # This source is subject to the license found in the file 'LICENSE' which must # be distributed together with this source. All other rights reserved. # # THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. package: swiftnav.sbp.piksi description: > System health, configuration, and diagnostic messages specific to the Piksi L1 receiver, including a variety of legacy messages that may no longer be used. stable: False public: True include: - types.yaml - gnss.yaml definitions: - MSG_ALMANAC: id: 0x0069 short_desc: Legacy message to load satellite almanac (host => Piksi) desc: > This is a legacy message for sending and loading a satellite alamanac onto the Piksi's flash memory from the host. - MSG_SET_TIME: id: 0x0068 short_desc: Send GPS time from host (host => Piksi) desc: > This message sets up timing functionality using a coarse GPS time estimate sent by the host. - MSG_RESET: id: 0x00B6 short_desc: Reset the device (host => Piksi) desc: > This message from the host resets the Piksi back into the bootloader. fields: - flags: type: u32 desc: Reset flags fields: - 1-31: desc: Reserved - 0: desc: Default settings. values: - 0: Preserve existing settings. - 1: Resore default settings. - MSG_RESET_DEP: id: 0x00B2 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_RESET - MSG_CW_RESULTS: id: 0x00C0 short_desc: Legacy message for CW interference channel (Piksi => host) desc: > This is an unused legacy message for result reporting from the CW interference channel on the SwiftNAP. This message will be removed in a future release. - MSG_CW_START: id: 0x00C1 short_desc: Legacy message for CW interference channel (host => Piksi) desc: > This is an unused legacy message from the host for starting the CW interference channel on the SwiftNAP. This message will be removed in a future release. - MSG_RESET_FILTERS: id: 0x0022 short_desc: Reset IAR filters (host => Piksi) desc: > This message resets either the DGNSS Kalman filters or Integer Ambiguity Resolution (IAR) process. fields: - filter: type: u8 desc: Filter flags fields: - 2-7: desc: Reserved - 0-1: desc: Filter or process to reset values: - 0: DGNSS filter - 1: IAR process - 2: Inertial filter - MSG_INIT_BASE_DEP: id: 0x0023 short_desc: Deprecated desc: Deprecated. public: false - MSG_THREAD_STATE: id: 0x0017 short_desc: State of an RTOS thread desc: > The thread usage message from the device reports real-time operating system (RTOS) thread usage statistics for the named thread. The reported percentage values must be normalized. fields: - name: type: string encoding: null_terminated size: 20 desc: Thread name (NULL terminated) - cpu: type: u16 desc: > Percentage cpu use for this thread. Values range from 0 - 1000 and needs to be renormalized to 100 - stack_free: type: u32 units: bytes desc: Free stack space for this thread - UARTChannel: short_desc: State of the UART channel desc: > Throughput, utilization, and error counts on the RX/TX buffers of this UART channel. The reported percentage values must be normalized. fields: - tx_throughput: type: float units: kB/s desc: UART transmit throughput - rx_throughput: type: float units: kB/s desc: UART receive throughput - crc_error_count: type: u16 desc: UART CRC error count - io_error_count: type: u16 desc: UART IO error count - tx_buffer_level: type: u8 desc: > UART transmit buffer percentage utilization (ranges from 0 to 255) - rx_buffer_level: type: u8 desc: > UART receive buffer percentage utilization (ranges from 0 to 255) - Period: short_desc: base station observation message receipt period desc: > Statistics on the period of observations received from the base station. As complete observation sets are received, their time of reception is compared with the prior set''s time of reception. This measurement provides a proxy for link quality as incomplete or missing sets will increase the period. Long periods can cause momentary RTK solution outages. fields: - avg: type: s32 units: ms desc: Average period - pmin: type: s32 units: ms desc: Minimum period - pmax: type: s32 units: ms desc: Maximum period - current: type: s32 units: ms desc: Smoothed estimate of the current period - Latency: short_desc: Receiver-to-base station latency desc: > Statistics on the latency of observations received from the base station. As observation packets are received their GPS time is compared to the current GPS time calculated locally by the receiver to give a precise measurement of the end-to-end communication latency in the system. fields: - avg: type: s32 units: ms desc: Average latency - lmin: type: s32 units: ms desc: Minimum latency - lmax: type: s32 units: ms desc: Maximum latency - current: type: s32 units: ms desc: Smoothed estimate of the current latency - MSG_UART_STATE: id: 0x001D short_desc: State of the UART channels desc: > The UART message reports data latency and throughput of the UART channels providing SBP I/O. On the default Piksi configuration, UARTs A and B are used for telemetry radios, but can also be host access ports for embedded hosts, or other interfaces in future. The reported percentage values must be normalized. Observations latency and period can be used to assess the health of the differential corrections link. Latency provides the timeliness of received base observations while the period indicates their likelihood of transmission. fields: - uart_a: type: UARTChannel desc: State of UART A - uart_b: type: UARTChannel desc: State of UART B - uart_ftdi: type: UARTChannel desc: State of UART FTDI (USB logger) - latency: type: Latency desc: UART communication latency - obs_period: type: Period desc: Observation receipt period - MSG_UART_STATE_DEPA: id: 0x0018 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_UART_STATE fields: - uart_a: type: UARTChannel desc: State of UART A - uart_b: type: UARTChannel desc: State of UART B - uart_ftdi: type: UARTChannel desc: State of UART FTDI (USB logger) - latency: type: Latency desc: UART communication latency - MSG_IAR_STATE: id: 0x0019 short_desc: State of the Integer Ambiguity Resolution (IAR) process desc: > This message reports the state of the Integer Ambiguity Resolution (IAR) process, which resolves unknown integer ambiguities from double-differenced carrier-phase measurements from satellite observations. fields: - num_hyps: type: u32 desc: Number of integer ambiguity hypotheses remaining - MSG_MASK_SATELLITE: id: 0x002B short_desc: Mask a satellite from use in Piksi subsystems desc: > This message allows setting a mask to prevent a particular satellite from being used in various Piksi subsystems. fields: - mask: type: u8 desc: Mask of systems that should ignore this satellite. fields: - 2-7: desc: Reserved - 1: desc: Tracking channels values: - 0: Enabled - 1: Drop this PRN if currently tracking - 0: desc: Acquisition channel values: - 0: Enabled - 1: Skip this satellite on future acquisitions - sid: type: GnssSignal desc: GNSS signal for which the mask is applied - MSG_MASK_SATELLITE_DEP: id: 0x001B short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_MASK_SATELLITE fields: - mask: type: u8 desc: Mask of systems that should ignore this satellite. fields: - 2-7: desc: Reserved - 1: desc: Tracking channels values: - 0: Enabled - 1: Drop this PRN if currently tracking - 0: desc: Acquisition channel values: - 0: Enabled - 1: Skip this satellite on future acquisitions - sid: type: GnssSignalDep desc: GNSS signal for which the mask is applied - MSG_DEVICE_MONITOR: id: 0x00B5 short_desc: Device temperature and voltage levels desc: > This message contains temperature and voltage level measurements from the processor's monitoring system and the RF frontend die temperature if available. fields: - dev_vin: type: s16 units: V / 1000 desc: Device V_in - cpu_vint: type: s16 units: V / 1000 desc: Processor V_int - cpu_vaux: type: s16 units: V / 1000 desc: Processor V_aux - cpu_temperature: type: s16 units: degrees C / 100 desc: Processor temperature - fe_temperature: type: s16 units: degrees C / 100 desc: Frontend temperature (if available) - MSG_COMMAND_REQ: id: 0x00B8 short_desc: Execute a command (host => device) desc: > Request the recipient to execute an command. Output will be sent in MSG_LOG messages, and the exit code will be returned with MSG_COMMAND_RESP. fields: - sequence: type: u32 desc: Sequence number - command: type: string encoding: null_terminated desc: Command line to execute - MSG_COMMAND_RESP: id: 0x00B9 short_desc: Exit code from executed command (device => host) desc: > The response to MSG_COMMAND_REQ with the return code of the command. A return code of zero indicates success. fields: - sequence: type: u32 desc: Sequence number - code: type: s32 desc: Exit code - MSG_COMMAND_OUTPUT: id: 0x00BC short_desc: Command output desc: > Returns the standard output and standard error of the command requested by MSG_COMMAND_REQ. The sequence number can be used to filter for filtering the correct command. fields: - sequence: type: u32 desc: Sequence number - line: type: string encoding: unterminated desc: Line of standard output or standard error - MSG_NETWORK_STATE_REQ: id: 0x00BA short_desc: Request state of Piksi network interfaces desc: > Request state of Piksi network interfaces. Output will be sent in MSG_NETWORK_STATE_RESP messages. - MSG_NETWORK_STATE_RESP: id: 0x00BB short_desc: State of network interface desc: > The state of a network interface on the Piksi. Data is made to reflect output of ifaddrs struct returned by getifaddrs in c. fields: - ipv4_address: type: array size: 4 fill: u8 desc: IPv4 address (all zero when unavailable) - ipv4_mask_size: type: u8 desc: IPv4 netmask CIDR notation - ipv6_address: type: array size: 16 fill: u8 desc: IPv6 address (all zero when unavailable) - ipv6_mask_size: type: u8 desc: IPv6 netmask CIDR notation - rx_bytes: type: u32 desc: Number of Rx bytes - tx_bytes: type: u32 desc: Number of Tx bytes - interface_name: type: string size: 16 desc: Interface Name - flags: type: u32 desc: Interface flags from SIOCGIFFLAGS fields: - 16-31: desc: Reserved - 15: desc: IFF_MULTICAST - supports multicast - 14: desc: IFF_LINK2 - per link layer defined bit - 13: desc: IFF_LINK1 - per link layer defined bit - 12: desc: IFF_LINK0 - per link layer defined bit - 11: desc: IFF_SIMPLEX - can't hear own transmissions - 10: desc: IFF_OACTIVE - transmission in progress - 9: desc: IFF_ALLMULTI - receive all multicast packets - 8: desc: IFF_PROMISC - receive all packets - 7: desc: IFF_NOARP - no address resolution protocol - 6: desc: IFF_RUNNING - resources allocated - 5: desc: IFF_NOTRAILERS - avoid use of trailers - 4: desc: IFF_POINTOPOINT - interface is point-to-point link - 3: desc: IFF_LOOPBACK - is a loopback net - 2: desc: IFF_DEBUG - broadcast address valid - 1: desc: IFF_BROADCAST - broadcast address valid - 0: desc: IFF_UP - interface is up - NetworkUsage: short_desc: Bandwidth usage measurement for a single interface desc: > The bandwidth usage for each interface can be reported within this struct and utilize multiple fields to fully specify the type of traffic that is being tracked. As either the interval of collection or the collection time may vary, both a timestamp and period field is provided, though may not necessarily be populated with a value. fields: - duration: type: u64 units: ms desc: Duration over which the measurement was collected - total_bytes: type: u64 desc: Number of bytes handled in total within period - rx_bytes: type: u32 desc: Number of bytes transmitted within period - tx_bytes: type: u32 desc: Number of bytes received within period - interface_name: type: string size: 16 desc: Interface Name - MSG_NETWORK_BANDWIDTH_USAGE: id: 0x00BD short_desc: Bandwidth usage reporting message desc: The bandwidth usage, a list of usage by interface. fields: - interfaces: type: array fill: NetworkUsage desc: Usage measurement array - MSG_CELL_MODEM_STATUS: id: 0x00BE short_desc: Cell modem information update message desc: > If a cell modem is present on a piksi device, this message will be send periodically to update the host on the status of the modem and its various parameters. fields: - signal_strength: type: s8 units: dBm desc: Received cell signal strength in dBm, zero translates to unknown - signal_error_rate: type: float desc: BER as reported by the modem, zero translates to unknown - reserved: type: array fill: u8 desc: Unspecified data TBD for this schema - MSG_SPECAN_DEP: id: 0x0050 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SPECAN fields: - channel_tag: type: u16 desc: Channel ID - t: type: GPSTimeDep desc: Receiver time of this observation - freq_ref: type: float units: MHz desc: > Reference frequency of this packet - freq_step: type: float units: MHz desc: > Frequency step of points in this packet - amplitude_ref: type: float units: dB desc: > Reference amplitude of this packet - amplitude_unit: type: float units: dB desc: > Amplitude unit value of points in this packet - amplitude_value: type: array fill: u8 desc: > Amplitude values (in the above units) of points in this packet - MSG_SPECAN: id: 0x0051 friendly_name: SPECTRUM ANALYZER short_desc: Spectrum analyzer desc: > Spectrum analyzer packet. fields: - channel_tag: type: u16 desc: Channel ID - t: type: GPSTime desc: Receiver time of this observation - freq_ref: type: float units: MHz desc: > Reference frequency of this packet - freq_step: type: float units: MHz desc: > Frequency step of points in this packet - amplitude_ref: type: float units: dB desc: > Reference amplitude of this packet - amplitude_unit: type: float units: dB desc: > Amplitude unit value of points in this packet - amplitude_value: type: array fill: u8 desc: > Amplitude values (in the above units) of points in this packet - MSG_FRONT_END_GAIN: id: 0x00BF short_desc: RF AGC status desc: > This message describes the gain of each channel in the receiver frontend. Each gain is encoded as a non-dimensional percentage relative to the maximum range possible for the gain stage of the frontend. By convention, each gain array has 8 entries and the index of the array corresponding to the index of the rf channel in the frontend. A gain of 127 percent encodes that rf channel is not present in the hardware. A negative value implies an error for the particular gain stage as reported by the frontend. fields: - rf_gain: type: array size: 8 fill: s8 units: percent desc: RF gain for each frontend channel - if_gain: type: array size: 8 units: percent fill: s8 desc: Intermediate frequency gain for each frontend channel