Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
px4flow_i2c.h
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
3  * 2016 Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  *
22  */
23 
30 #ifndef PX4FLOW_I2C_H
31 #define PX4FLOW_I2C_H
32 
33 #include "std.h"
34 #include "mcu_periph/i2c.h"
35 
42 };
43 
45 {
46  uint16_t frame_count;// counts created I2C frames [#frames]
47  int16_t pixel_flow_x_sum;// latest x flow measurement in pixels*10 [pixels]
48  int16_t pixel_flow_y_sum;// latest y flow measurement in pixels*10 [pixels]
49  int16_t flow_comp_m_x;// x velocity*1000 [meters/sec]
50  int16_t flow_comp_m_y;// y velocity*1000 [meters/sec]
51  int16_t qual;// Optical flow quality / confidence [0: bad, 255: maximum quality]
52  int16_t gyro_x_rate; // latest gyro x rate [rad/sec]
53  int16_t gyro_y_rate; // latest gyro y rate [rad/sec]
54  int16_t gyro_z_rate; // latest gyro z rate [rad/sec]
55  uint8_t gyro_range; // gyro range [0 .. 7] equals [50 deg/sec .. 2000 deg/sec]
56  uint8_t sonar_timestamp;// time since last sonar update [milliseconds]
57  int16_t ground_distance;// Ground distance in meters*1000 [meters]. Positive value: distance known. Negative value: Unknown distance
58 };
59 
61 {
62  uint16_t frame_count_since_last_readout;//number of flow measurements since last I2C readout [#frames]
63  int16_t pixel_flow_x_integral;//accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000]
64  int16_t pixel_flow_y_integral;//accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000]
65  int16_t gyro_x_rate_integral;//accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000]
66  int16_t gyro_y_rate_integral;//accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000]
67  int16_t gyro_z_rate_integral;//accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000]
68  uint32_t integration_timespan;//accumulation timespan in microseconds since last I2C readout [microseconds]
69  uint32_t sonar_timestamp;// time since last sonar update [microseconds]
70  int16_t ground_distance;// Ground distance in meters*1000 [meters*1000]
71  int16_t gyro_temperature;// Temperature * 100 in centi-degrees Celsius [degcelsius*100]
72  uint8_t qual;// averaged quality of accumulated flow values [0:bad quality;255: max quality]
73 };
74 
76 {
81  float stddev;
83  bool update_agl;
85 };
86 
87 extern struct px4flow_data px4flow;
88 
89 extern void px4flow_i2c_init(void);
90 extern void px4flow_i2c_periodic(void);
91 extern void px4flow_i2c_downlink(void);
92 
93 
94 #endif /* PX4FLOW_I2C_H */
95 
px4flow_i2c_integral_frame::frame_count_since_last_readout
uint16_t frame_count_since_last_readout
Definition: px4flow_i2c.h:62
uint32_t
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
px4flow_i2c_frame::gyro_x_rate
int16_t gyro_x_rate
Definition: px4flow_i2c.h:52
px4flow_i2c_integral_frame::qual
uint8_t qual
Definition: px4flow_i2c.h:72
PX4FLOW_INT_FRAME_REC_OK
@ PX4FLOW_INT_FRAME_REC_OK
Definition: px4flow_i2c.h:41
px4flow_i2c_integral_frame::sonar_timestamp
uint32_t sonar_timestamp
Definition: px4flow_i2c.h:69
px4flow_data
Definition: px4flow_i2c.h:75
px4flow_i2c_integral_frame
Definition: px4flow_i2c.h:60
px4flow_i2c_frame::qual
int16_t qual
Definition: px4flow_i2c.h:51
px4flow_data::trans
struct i2c_transaction trans
Definition: px4flow_i2c.h:79
px4flow_i2c_integral_frame::ground_distance
int16_t ground_distance
Definition: px4flow_i2c.h:70
px4flow_i2c_integral_frame::pixel_flow_y_integral
int16_t pixel_flow_y_integral
Definition: px4flow_i2c.h:64
px4flow_data::addr
uint8_t addr
Definition: px4flow_i2c.h:80
px4flow_data::stddev
float stddev
Definition: px4flow_i2c.h:81
px4flow_i2c_integral_frame::gyro_x_rate_integral
int16_t gyro_x_rate_integral
Definition: px4flow_i2c.h:65
px4flow_i2c_frame::frame_count
uint16_t frame_count
Definition: px4flow_i2c.h:46
px4flow_i2c_frame::pixel_flow_y_sum
int16_t pixel_flow_y_sum
Definition: px4flow_i2c.h:48
px4flow_data::compensate_rotation
bool compensate_rotation
Definition: px4flow_i2c.h:84
px4flow_i2c_integral_frame::pixel_flow_x_integral
int16_t pixel_flow_x_integral
Definition: px4flow_i2c.h:63
int16_t
short int16_t
Typedef defining 16 bit short type.
Definition: vl53l1_types.h:93
std.h
px4flow_i2c_integral_frame::gyro_temperature
int16_t gyro_temperature
Definition: px4flow_i2c.h:71
PX4FLOW_FRAME_REQ
@ PX4FLOW_FRAME_REQ
Definition: px4flow_i2c.h:37
px4flow_data::update_agl
bool update_agl
Definition: px4flow_i2c.h:83
px4flow
struct px4flow_data px4flow
Definition: px4flow_i2c.c:52
px4flow_i2c_init
void px4flow_i2c_init(void)
Initialization function.
Definition: px4flow_i2c.c:134
px4flow_i2c_frame::flow_comp_m_x
int16_t flow_comp_m_x
Definition: px4flow_i2c.h:49
PX4FLOW_FRAME_REC
@ PX4FLOW_FRAME_REC
Definition: px4flow_i2c.h:38
i2c_transaction
I2C transaction structure.
Definition: i2c.h:93
px4flow_i2c_frame::sonar_timestamp
uint8_t sonar_timestamp
Definition: px4flow_i2c.h:56
PX4FLOW_INT_FRAME_REC
@ PX4FLOW_INT_FRAME_REC
Definition: px4flow_i2c.h:40
px4flow_i2c_frame::flow_comp_m_y
int16_t flow_comp_m_y
Definition: px4flow_i2c.h:50
Px4FlowStatus
Px4FlowStatus
Definition: px4flow_i2c.h:36
px4flow_i2c_frame::gyro_y_rate
int16_t gyro_y_rate
Definition: px4flow_i2c.h:53
px4flow_i2c_integral_frame::integration_timespan
uint32_t integration_timespan
Definition: px4flow_i2c.h:68
PX4FLOW_INT_FRAME_REQ
@ PX4FLOW_INT_FRAME_REQ
Definition: px4flow_i2c.h:39
px4flow_i2c_frame::pixel_flow_x_sum
int16_t pixel_flow_x_sum
Definition: px4flow_i2c.h:47
px4flow_i2c_integral_frame::gyro_z_rate_integral
int16_t gyro_z_rate_integral
Definition: px4flow_i2c.h:67
px4flow_data::i2c_int_frame
struct px4flow_i2c_integral_frame i2c_int_frame
Definition: px4flow_i2c.h:78
px4flow_i2c_frame
Definition: px4flow_i2c.h:44
px4flow_data::i2c_frame
struct px4flow_i2c_frame i2c_frame
Definition: px4flow_i2c.h:77
px4flow_i2c_frame::gyro_z_rate
int16_t gyro_z_rate
Definition: px4flow_i2c.h:54
uint16_t
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
Definition: vl53l1_types.h:88
px4flow_i2c_periodic
void px4flow_i2c_periodic(void)
Poll px4flow for data 152 i2c frames are created per second, so the PX4FLOW can be polled at up to 15...
Definition: px4flow_i2c.c:155
px4flow_i2c_frame::ground_distance
int16_t ground_distance
Definition: px4flow_i2c.h:57
i2c.h
px4flow_i2c_frame::gyro_range
uint8_t gyro_range
Definition: px4flow_i2c.h:55
px4flow_data::status
enum Px4FlowStatus status
Definition: px4flow_i2c.h:82
px4flow_i2c_integral_frame::gyro_y_rate_integral
int16_t gyro_y_rate_integral
Definition: px4flow_i2c.h:66
px4flow_i2c_downlink
void px4flow_i2c_downlink(void)
Downlink message for debug Copy volatile variables from the px4_i2c_frame for safety.
Definition: px4flow_i2c.c:264