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https://bitbucket.org/librepilot/librepilot.git
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9b28f2d72c
Calibration should take less time now too (using second moments to estimate variance in one pass). Now need to change to multiple messages to get the calibration in to keep the request message size minimal. Also currently running sensor calibrate doesn't store the gyro bias so if you want to use this you'll have to tweak it manually. I'll fix that step tomorrow. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
386 lines
9.4 KiB
C
386 lines
9.4 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_versions {
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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_boot {
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uint32_t boot_delay_in_ms;
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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_fwup_start {
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_fwup_status {
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_fwup_data {
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uint32_t adress;
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uint32_t data[14];
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uint8_t size;
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} __attribute__((__packed__));
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struct opahrs_msg_v0_req_mem_map {
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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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struct opahrs_msg_v0_req_nop nop;
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struct opahrs_msg_v0_req_versions versions;
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struct opahrs_msg_v0_req_reset reset;
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struct opahrs_msg_v0_req_boot boot;
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struct opahrs_msg_v0_req_serial serial;
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struct opahrs_msg_v0_req_fwup_status status_req;
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struct opahrs_msg_v0_req_mem_map mem_map;
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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_versions {
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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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uint8_t description[100];
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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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enum bootloader_status{idle,started,start_failed,write_error,outside_dev_capabilities,jump_failed};
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struct opahrs_msg_v0_rsp_fwup_status {
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enum bootloader_status status;
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} __attribute__((__packed__));
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enum hw_density {high_density,medium_density};
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struct opahrs_msg_v0_rsp_mem_map {
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uint32_t start_of_user_code;
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uint32_t size_of_code_memory;
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uint8_t size_of_description;
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uint8_t rw_flags;
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enum hw_density density;
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} __attribute__((__packed__));
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union opahrs_msg_v0_rsp {
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struct opahrs_msg_v0_rsp_versions versions;
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struct opahrs_msg_v0_rsp_serial serial;
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struct opahrs_msg_v0_rsp_fwup_status fwup_status;
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struct opahrs_msg_v0_rsp_mem_map mem_map;
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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_VERSIONS,
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OPAHRS_MSG_V0_REQ_RESET,
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OPAHRS_MSG_V0_REQ_BOOT,
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OPAHRS_MSG_V0_REQ_SERIAL,
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OPAHRS_MSG_V0_REQ_MEM_MAP,
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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_REQ_FWUP_STATUS,
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OPAHRS_MSG_V0_RSP_VERSIONS,
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OPAHRS_MSG_V0_RSP_SERIAL,
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OPAHRS_MSG_V0_RSP_FWUP_STATUS,
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OPAHRS_MSG_V0_RSP_MEM_MAP,
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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_versions {
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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_north {
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float Be[3];
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} __attribute__((__packed__));
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enum algorithms {SIMPLE_Algo, INSGPS_Algo};
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struct opahrs_msg_v1_req_algorithm {
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enum algorithms algorithm;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_req_update {
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struct {
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uint8_t updated;
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float NED[3];
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float groundspeed;
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float heading;
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float quality;
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} gps;
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struct {
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uint8_t updated;
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float altitude;
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} barometer;
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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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enum measure_mode {AHRS_SET, AHRS_MEASURE, AHRS_ECHO};
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struct opahrs_msg_v1_req_calibration {
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enum measure_mode measure_var;
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float accel_bias[3];
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float accel_scale[3];
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float accel_var[3];
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float gyro_bias[3];
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float gyro_scale[3];
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float gyro_var[3];
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float mag_bias[3];
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float mag_scale[3];
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float mag_var[3];
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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_versions versions;
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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_update update;
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struct opahrs_msg_v1_req_algorithm algorithm;
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struct opahrs_msg_v1_req_north north;
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struct opahrs_msg_v1_req_attituderaw attituderaw;
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struct opahrs_msg_v1_req_calibration calibration;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_rsp_versions {
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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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} __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_north {
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} __attribute__((__packed__));
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struct opahrs_msg_v1_rsp_algorithm {
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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_update {
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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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float NED[3];
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float Vel[3];
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uint8_t load;
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uint8_t idle_time;
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uint8_t run_time;
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uint8_t dropped_updates;
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} __attribute__((__packed__));
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struct opahrs_msg_v1_rsp_calibration {
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float accel_var[3];
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float gyro_var[3];
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float mag_var[3];
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} __attribute__((__packed__));
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union opahrs_msg_v1_rsp {
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struct opahrs_msg_v1_rsp_versions versions;
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struct opahrs_msg_v1_rsp_serial serial;
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struct opahrs_msg_v1_rsp_north north;
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struct opahrs_msg_v1_rsp_algorithm algorithm;
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struct opahrs_msg_v1_rsp_attituderaw attituderaw;
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struct opahrs_msg_v1_rsp_update update;
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struct opahrs_msg_v1_rsp_calibration calibration;
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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_VERSIONS,
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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_NORTH,
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OPAHRS_MSG_V1_REQ_ALGORITHM,
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OPAHRS_MSG_V1_REQ_UPDATE,
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OPAHRS_MSG_V1_REQ_ATTITUDERAW,
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OPAHRS_MSG_V1_REQ_CALIBRATION,
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OPAHRS_MSG_V1_RSP_VERSIONS,
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OPAHRS_MSG_V1_RSP_SERIAL,
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OPAHRS_MSG_V1_RSP_NORTH,
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OPAHRS_MSG_V1_RSP_ALGORITHM,
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OPAHRS_MSG_V1_RSP_UPDATE,
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OPAHRS_MSG_V1_RSP_ATTITUDERAW,
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OPAHRS_MSG_V1_RSP_CALIBRATION,
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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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