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c3e509c2cb
AttitudeRaw now includes: - magnetometers XYZ (in mG) - gyros XYZ (raw ADC samples) - accelerometers XYZ (raw ADC samples) - placeholder for gyro temp sensors (read as zero for now) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1289 ebee16cc-31ac-478f-84a7-5cbb03baadba
301 lines
7.3 KiB
C
301 lines
7.3 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_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_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_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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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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} __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_attituderaw attituderaw;
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struct opahrs_msg_v1_rsp_attitude attitude;
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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_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_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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