mirror of
https://bitbucket.org/librepilot/librepilot.git
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3c4def13cc
into NED reference frame and used in the INSGPS algorithm, although currently this information isn't propagated back to OP. Data structures related to the GPS position into the algorithm and the position estimate out will likely be in flux. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1334 ebee16cc-31ac-478f-84a7-5cbb03baadba
341 lines
8.1 KiB
C
341 lines
8.1 KiB
C
/**
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_OPAHRS OPAHRS Functions
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* @{
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*
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* @file pios_opahrs_proto.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief PPM Input functions
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* @see The GNU Public License (GPL) Version 3
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*
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*/
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#ifndef PIOS_OPAHRS_PROTO_H
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#define PIOS_OPAHRS_PROTO_H
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#include <stdint.h>
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enum opahrs_msg_type {
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OPAHRS_MSG_TYPE_LINK = 0x00,
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OPAHRS_MSG_TYPE_USER_V0,
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OPAHRS_MSG_TYPE_USER_V1,
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};
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enum opahrs_msg_link_state {
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OPAHRS_MSG_LINK_STATE_INACTIVE,
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OPAHRS_MSG_LINK_STATE_BUSY,
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OPAHRS_MSG_LINK_STATE_READY,
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};
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#define OPAHRS_MSG_MAGIC_HEAD 0x53524841 /* ASCII "AHRS" */
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struct opahrs_msg_link_head {
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uint32_t magic; /* Set to OPAHRS_MSG_MAGIC_HEAD */
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enum opahrs_msg_type type;
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} __attribute__((__packed__));
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#define OPAHRS_MSG_MAGIC_TAIL 0xFEFE
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struct opahrs_msg_link_tail {
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uint16_t magic;
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uint8_t crc8;
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} __attribute__((__packed__));
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enum opahrs_msg_link_tag {
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OPAHRS_MSG_LINK_TAG_NOP,
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};
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#define SPI_MSG_LINK_ERROR_BADCRC 0x00000001
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struct opahrs_msg_link {
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enum opahrs_msg_link_state state;
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uint16_t errors;
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enum opahrs_msg_link_tag t;
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union {
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} v;
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} __attribute__((__packed__));
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/********
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* SPI protocol v0 definitions
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*
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* This protocol version is NOT to be changed after release since it is the
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* protocol used for upgrading the firmware of AHRS boards that are already
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* in end user hands.
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*
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********/
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struct opahrs_msg_v0_req_nop {
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_sync {
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uint32_t cookie;
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_serial {
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_reset {
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uint32_t reset_delay_in_ms;
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_switch_proto {
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_fwup_start {
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_fwup_data {
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_fwup_verify {
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} __attribute__((__packed__));
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union opahrs_msg_v0_req {
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/* Mandatory for all bootloader and all application loads */
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struct opahrs_msg_v0_req_nop nop;
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struct opahrs_msg_v0_req_sync sync;
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struct opahrs_msg_v0_req_serial serial;
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struct opahrs_msg_v0_req_reset reset;
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/* Only implemented by the application */
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struct opahrs_msg_v0_req_switch_proto switch_proto;
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/* Only implemented by bootloaders */
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struct opahrs_msg_v0_req_fwup_start fwup_start;
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struct opahrs_msg_v0_req_fwup_data fwup_data;
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struct opahrs_msg_v0_req_fwup_verify fwup_verify;
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} __attribute__((__packed__));
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struct opahrs_msg_v0_rsp_sync {
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uint8_t i_am_a_bootloader;
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uint8_t hw_version;
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uint16_t bl_version;
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uint32_t fw_version;
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uint32_t cookie;
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uint32_t alternate_proto_version;
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} __attribute__((__packed__));
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struct opahrs_msg_v0_rsp_serial {
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uint8_t serial_bcd[24];
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} __attribute__((__packed__));
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struct opahrs_msg_v0_rsp_fwup_status {
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} __attribute__((__packed__));
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union opahrs_msg_v0_rsp {
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/* Mandatory for all bootloader and all application loads */
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struct opahrs_msg_v0_rsp_sync sync;
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struct opahrs_msg_v0_rsp_serial serial;
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/* Only implemented by bootloaders */
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struct opahrs_msg_v0_rsp_fwup_status fwup_status;
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} __attribute__((__packed__));
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enum opahrs_msg_v0_tag {
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OPAHRS_MSG_V0_REQ_NOP = 0x00,
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OPAHRS_MSG_V0_REQ_SYNC,
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OPAHRS_MSG_V0_REQ_RESET,
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OPAHRS_MSG_V0_REQ_SERIAL,
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OPAHRS_MSG_V0_REQ_SWITCH_PROTO,
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OPAHRS_MSG_V0_REQ_FWUP_START,
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OPAHRS_MSG_V0_REQ_FWUP_DATA,
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OPAHRS_MSG_V0_REQ_FWUP_VERIFY,
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OPAHRS_MSG_V0_RSP_SYNC,
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OPAHRS_MSG_V0_RSP_SERIAL,
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OPAHRS_MSG_V0_RSP_FWUP_STATUS,
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};
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struct opahrs_msg_v0_payload {
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enum opahrs_msg_v0_tag t;
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union {
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union opahrs_msg_v0_req req;
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union opahrs_msg_v0_rsp rsp;
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} v;
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} __attribute__((__packed__));
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struct opahrs_msg_v0 {
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struct opahrs_msg_link_head head;
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union {
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struct opahrs_msg_link link;
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struct opahrs_msg_v0_payload user;
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} payload;
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struct opahrs_msg_link_tail tail;
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} __attribute__((__packed__));
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/********
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* SPI protocol v1 definitions
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********/
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struct opahrs_msg_v1_req_nop {
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} __attribute__((__packed__));
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struct opahrs_msg_v1_req_sync {
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uint32_t cookie;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_req_reset {
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uint32_t reset_delay_in_ms;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_req_serial {
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} __attribute__((__packed__));
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struct opahrs_msg_v1_req_altitude {
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float altitude;
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float pressure;
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float temperature;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_req_gps {
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float latitude;
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float longitude;
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float altitude;
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float heading;
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float groundspeed;
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uint8_t status;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_req_attituderaw {
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} __attribute__((__packed__));
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struct opahrs_msg_v1_req_attitude {
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} __attribute__((__packed__));
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union opahrs_msg_v1_req {
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struct opahrs_msg_v1_req_nop nop;
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struct opahrs_msg_v1_req_sync sync;
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struct opahrs_msg_v1_req_reset reset;
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struct opahrs_msg_v1_req_serial serial;
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struct opahrs_msg_v1_req_altitude altitude;
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struct opahrs_msg_v1_req_gps gps;
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struct opahrs_msg_v1_req_attituderaw attituderaw;
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struct opahrs_msg_v1_req_attitude attitude;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_rsp_sync {
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uint8_t i_am_a_bootloader;
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uint8_t hw_version;
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uint16_t bl_version;
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uint32_t fw_version;
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uint32_t cookie;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_rsp_serial {
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uint8_t serial_bcd[25];
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} __attribute__((__packed__));
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struct opahrs_msg_v1_rsp_altitude {
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} __attribute__((__packed__));
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struct opahrs_msg_v1_rsp_gps {
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} __attribute__((__packed__));
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struct opahrs_msg_v1_rsp_attituderaw {
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struct {
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int16_t x;
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int16_t y;
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int16_t z;
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} mags;
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struct {
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uint16_t x;
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uint16_t y;
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uint16_t z;
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uint16_t xy_temp;
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uint16_t z_temp;
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} gyros;
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struct {
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float x;
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float y;
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float z;
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} gyros_filtered;
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struct {
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uint16_t x;
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uint16_t y;
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uint16_t z;
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} accels;
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struct {
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float x;
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float y;
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float z;
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} accels_filtered;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_rsp_attitude {
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struct {
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float q1;
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float q2;
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float q3;
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float q4;
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} quaternion;
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struct {
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float roll;
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float pitch;
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float yaw;
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} euler;
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} __attribute__((__packed__));
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union opahrs_msg_v1_rsp {
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struct opahrs_msg_v1_rsp_sync sync;
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struct opahrs_msg_v1_rsp_serial serial;
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struct opahrs_msg_v1_rsp_altitude altitude;
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struct opahrs_msg_v1_rsp_attituderaw attituderaw;
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struct opahrs_msg_v1_rsp_attitude attitude;
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struct opahrs_msg_v1_rsp_altitude gps;
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} __attribute__((__packed__));
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enum opahrs_msg_v1_tag {
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OPAHRS_MSG_V1_REQ_NOP = 0x02000000,
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OPAHRS_MSG_V1_REQ_SYNC,
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OPAHRS_MSG_V1_REQ_RESET,
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OPAHRS_MSG_V1_REQ_SERIAL,
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OPAHRS_MSG_V1_REQ_ALTITUDE,
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OPAHRS_MSG_V1_REQ_GPS,
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OPAHRS_MSG_V1_REQ_ATTITUDERAW,
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OPAHRS_MSG_V1_REQ_ATTITUDE,
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OPAHRS_MSG_V1_RSP_SYNC,
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OPAHRS_MSG_V1_RSP_SERIAL,
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OPAHRS_MSG_V1_RSP_ALTITUDE,
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OPAHRS_MSG_V1_RSP_GPS,
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OPAHRS_MSG_V1_RSP_ATTITUDERAW,
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OPAHRS_MSG_V1_RSP_ATTITUDE,
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};
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struct opahrs_msg_v1_payload {
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enum opahrs_msg_v1_tag t;
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union {
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union opahrs_msg_v1_req req;
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union opahrs_msg_v1_rsp rsp;
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} v;
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} __attribute__((__packed__));
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struct opahrs_msg_v1 {
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struct opahrs_msg_link_head head;
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union {
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struct opahrs_msg_link link;
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struct opahrs_msg_v1_payload user;
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} payload;
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struct opahrs_msg_link_tail tail;
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} __attribute__((__packed__));
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/* Helper functions for setting up messages */
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extern void opahrs_msg_v0_init_rx (struct opahrs_msg_v0 * msg);
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extern void opahrs_msg_v0_init_user_tx (struct opahrs_msg_v0 * msg, enum opahrs_msg_v0_tag tag);
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extern void opahrs_msg_v0_init_link_tx (struct opahrs_msg_v0 * msg, enum opahrs_msg_link_tag tag);
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extern void opahrs_msg_v1_init_rx (struct opahrs_msg_v1 * msg);
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extern void opahrs_msg_v1_init_user_tx (struct opahrs_msg_v1 * msg, enum opahrs_msg_v1_tag tag);
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extern void opahrs_msg_v1_init_link_tx (struct opahrs_msg_v1 * msg, enum opahrs_msg_link_tag tag);
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#endif /* PIOS_OPAHRS_PROTO_H */
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/**
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* @}
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* @}
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*/
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