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LibrePilot/flight/PiOS/inc/pios_opahrs_proto.h

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/**
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @{
*
* @file pios_opahrs_proto.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief PPM Input functions
* @see The GNU Public License (GPL) Version 3
*
*/
#ifndef PIOS_OPAHRS_PROTO_H
#define PIOS_OPAHRS_PROTO_H
#include <stdint.h>
enum opahrs_msg_type {
OPAHRS_MSG_TYPE_LINK = 0x00,
OPAHRS_MSG_TYPE_USER_V0,
OPAHRS_MSG_TYPE_USER_V1,
};
enum opahrs_msg_link_state {
OPAHRS_MSG_LINK_STATE_INACTIVE,
OPAHRS_MSG_LINK_STATE_BUSY,
OPAHRS_MSG_LINK_STATE_READY,
};
#define OPAHRS_MSG_MAGIC_HEAD 0x53524841 /* ASCII "AHRS" */
struct opahrs_msg_link_head {
uint32_t magic; /* Set to OPAHRS_MSG_MAGIC_HEAD */
enum opahrs_msg_type type;
} __attribute__ ((__packed__));
#define OPAHRS_MSG_MAGIC_TAIL 0xFEFE
struct opahrs_msg_link_tail {
uint16_t magic;
uint8_t crc8;
} __attribute__ ((__packed__));
enum opahrs_msg_link_tag {
OPAHRS_MSG_LINK_TAG_NOP,
};
#define SPI_MSG_LINK_ERROR_BADCRC 0x00000001
struct opahrs_msg_link {
enum opahrs_msg_link_state state;
uint16_t errors;
enum opahrs_msg_link_tag t;
union {
} v;
} __attribute__ ((__packed__));
/********
* SPI protocol v0 definitions
*
* This protocol version is NOT to be changed after release since it is the
* protocol used for upgrading the firmware of AHRS boards that are already
* in end user hands.
*
********/
struct opahrs_msg_v0_req_nop {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_versions {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_reset {
uint32_t reset_delay_in_ms;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_boot {
uint32_t boot_delay_in_ms;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_serial {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_fwup_start {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_fwup_status {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_fwup_data {
uint32_t adress;
uint32_t data[14];
uint8_t size;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_mem_map {
} __attribute__ ((__packed__));
struct opahrs_msg_v0_req_fwup_verify {
} __attribute__ ((__packed__));
union opahrs_msg_v0_req {
struct opahrs_msg_v0_req_nop nop;
struct opahrs_msg_v0_req_versions versions;
struct opahrs_msg_v0_req_reset reset;
struct opahrs_msg_v0_req_boot boot;
struct opahrs_msg_v0_req_serial serial;
struct opahrs_msg_v0_req_fwup_status status_req;
struct opahrs_msg_v0_req_mem_map mem_map;
struct opahrs_msg_v0_req_fwup_start fwup_start;
struct opahrs_msg_v0_req_fwup_data fwup_data;
struct opahrs_msg_v0_req_fwup_verify fwup_verify;
} __attribute__ ((__packed__));
struct opahrs_msg_v0_rsp_versions {
uint8_t hw_version;
uint16_t bl_version;
uint32_t fw_version;
uint8_t description[100];
} __attribute__ ((__packed__));
struct opahrs_msg_v0_rsp_serial {
uint8_t serial_bcd[24];
} __attribute__ ((__packed__));
enum bootloader_status { idle, started, start_failed, write_error, outside_dev_capabilities, jump_failed };
struct opahrs_msg_v0_rsp_fwup_status {
enum bootloader_status status;
} __attribute__ ((__packed__));
enum hw_density { high_density, medium_density };
struct opahrs_msg_v0_rsp_mem_map {
uint32_t start_of_user_code;
uint32_t size_of_code_memory;
uint8_t size_of_description;
uint8_t rw_flags;
enum hw_density density;
} __attribute__ ((__packed__));
union opahrs_msg_v0_rsp {
struct opahrs_msg_v0_rsp_versions versions;
struct opahrs_msg_v0_rsp_serial serial;
struct opahrs_msg_v0_rsp_fwup_status fwup_status;
struct opahrs_msg_v0_rsp_mem_map mem_map;
} __attribute__ ((__packed__));
enum opahrs_msg_v0_tag {
OPAHRS_MSG_V0_REQ_NOP = 0x00,
OPAHRS_MSG_V0_REQ_VERSIONS,
OPAHRS_MSG_V0_REQ_RESET,
OPAHRS_MSG_V0_REQ_BOOT,
OPAHRS_MSG_V0_REQ_SERIAL,
OPAHRS_MSG_V0_REQ_MEM_MAP,
OPAHRS_MSG_V0_REQ_FWUP_START,
OPAHRS_MSG_V0_REQ_FWUP_DATA,
OPAHRS_MSG_V0_REQ_FWUP_VERIFY,
OPAHRS_MSG_V0_REQ_FWUP_STATUS,
OPAHRS_MSG_V0_RSP_VERSIONS,
OPAHRS_MSG_V0_RSP_SERIAL,
OPAHRS_MSG_V0_RSP_FWUP_STATUS,
OPAHRS_MSG_V0_RSP_MEM_MAP,
};
struct opahrs_msg_v0_payload {
enum opahrs_msg_v0_tag t;
union {
union opahrs_msg_v0_req req;
union opahrs_msg_v0_rsp rsp;
} v;
} __attribute__ ((__packed__));
struct opahrs_msg_v0 {
struct opahrs_msg_link_head head;
union {
struct opahrs_msg_link link;
struct opahrs_msg_v0_payload user;
} payload;
struct opahrs_msg_link_tail tail;
} __attribute__ ((__packed__));
/********
* SPI protocol v1 definitions
********/
struct opahrs_msg_v1_req_nop {
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_versions {
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_reset {
uint32_t reset_delay_in_ms;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_serial {
} __attribute__ ((__packed__));
enum initialized_mode { AHRS_UNINITIALIZED, AHRS_INITIALIZED, AHRS_INIT_QUERY };
struct opahrs_msg_v1_req_initialized {
enum initialized_mode initialized;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_north {
float Be[3];
} __attribute__ ((__packed__));
enum algorithms { SIMPLE_Algo, INSGPS_Algo };
struct opahrs_msg_v1_req_algorithm {
enum algorithms algorithm;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_update {
struct {
uint8_t updated;
float NED[3];
float groundspeed;
float heading;
float quality;
} gps;
struct {
uint8_t updated;
float altitude;
} barometer;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_req_attituderaw {
} __attribute__ ((__packed__));
enum measure_mode { AHRS_SET, AHRS_MEASURE, AHRS_ECHO };
struct opahrs_msg_v1_req_calibration {
enum measure_mode measure_var;
float accel_bias[3];
float accel_scale[3];
float accel_var[3];
float gyro_bias[3];
float gyro_scale[3];
float gyro_var[3];
float mag_bias[3];
float mag_scale[3];
float mag_var[3];
} __attribute__ ((__packed__));
union opahrs_msg_v1_req {
struct opahrs_msg_v1_req_nop nop;
struct opahrs_msg_v1_req_versions versions;
struct opahrs_msg_v1_req_reset reset;
struct opahrs_msg_v1_req_initialized initialized;
struct opahrs_msg_v1_req_serial serial;
struct opahrs_msg_v1_req_update update;
struct opahrs_msg_v1_req_algorithm algorithm;
struct opahrs_msg_v1_req_north north;
struct opahrs_msg_v1_req_attituderaw attituderaw;
struct opahrs_msg_v1_req_calibration calibration;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_versions {
uint8_t hw_version;
uint16_t bl_version;
uint32_t fw_version;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_serial {
uint8_t serial_bcd[25];
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_initialized {
enum initialized_mode initialized;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_north {
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_algorithm {
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_attituderaw {
struct {
int16_t x;
int16_t y;
int16_t z;
} mags;
struct {
uint16_t x;
uint16_t y;
uint16_t z;
uint16_t xy_temp;
uint16_t z_temp;
} gyros;
struct {
float x;
float y;
float z;
} gyros_filtered;
struct {
uint16_t x;
uint16_t y;
uint16_t z;
} accels;
struct {
float x;
float y;
float z;
} accels_filtered;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_update {
struct {
float q1;
float q2;
float q3;
float q4;
} quaternion;
int32_t NED[3];
int32_t Vel[3];
uint8_t load;
uint8_t idle_time;
uint8_t run_time;
uint8_t dropped_updates;
} __attribute__ ((__packed__));
struct opahrs_msg_v1_rsp_calibration {
float accel_var[3];
float gyro_var[3];
float mag_var[3];
} __attribute__ ((__packed__));
union opahrs_msg_v1_rsp {
struct opahrs_msg_v1_rsp_versions versions;
struct opahrs_msg_v1_rsp_serial serial;
struct opahrs_msg_v1_rsp_initialized initialized;
struct opahrs_msg_v1_rsp_north north;
struct opahrs_msg_v1_rsp_algorithm algorithm;
struct opahrs_msg_v1_rsp_attituderaw attituderaw;
struct opahrs_msg_v1_rsp_update update;
struct opahrs_msg_v1_rsp_calibration calibration;
} __attribute__ ((__packed__));
enum opahrs_msg_v1_tag {
OPAHRS_MSG_V1_REQ_NOP = 0x02000000,
OPAHRS_MSG_V1_REQ_VERSIONS,
OPAHRS_MSG_V1_REQ_RESET,
OPAHRS_MSG_V1_REQ_SERIAL,
OPAHRS_MSG_V1_REQ_INITIALIZED,
OPAHRS_MSG_V1_REQ_NORTH,
OPAHRS_MSG_V1_REQ_ALGORITHM,
OPAHRS_MSG_V1_REQ_UPDATE,
OPAHRS_MSG_V1_REQ_ATTITUDERAW,
OPAHRS_MSG_V1_REQ_CALIBRATION,
OPAHRS_MSG_V1_RSP_VERSIONS,
OPAHRS_MSG_V1_RSP_SERIAL,
OPAHRS_MSG_V1_RSP_INITIALIZED,
OPAHRS_MSG_V1_RSP_NORTH,
OPAHRS_MSG_V1_RSP_ALGORITHM,
OPAHRS_MSG_V1_RSP_UPDATE,
OPAHRS_MSG_V1_RSP_ATTITUDERAW,
OPAHRS_MSG_V1_RSP_CALIBRATION,
};
struct opahrs_msg_v1_payload {
enum opahrs_msg_v1_tag t;
union {
union opahrs_msg_v1_req req;
union opahrs_msg_v1_rsp rsp;
} v;
} __attribute__ ((__packed__));
struct opahrs_msg_v1 {
struct opahrs_msg_link_head head;
union {
struct opahrs_msg_link link;
struct opahrs_msg_v1_payload user;
} payload;
struct opahrs_msg_link_tail tail;
} __attribute__ ((__packed__));
/* Helper functions for setting up messages */
extern void opahrs_msg_v0_init_rx(struct opahrs_msg_v0 *msg);
extern void opahrs_msg_v0_init_user_tx(struct opahrs_msg_v0 *msg, enum opahrs_msg_v0_tag tag);
extern void opahrs_msg_v0_init_link_tx(struct opahrs_msg_v0 *msg, enum opahrs_msg_link_tag tag);
extern void opahrs_msg_v1_init_rx(struct opahrs_msg_v1 *msg);
extern void opahrs_msg_v1_init_user_tx(struct opahrs_msg_v1 *msg, enum opahrs_msg_v1_tag tag);
extern void opahrs_msg_v1_init_link_tx(struct opahrs_msg_v1 *msg, enum opahrs_msg_link_tag tag);
#endif /* PIOS_OPAHRS_PROTO_H */
/**
* @}
* @}
*/