Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
Paparazzi is a free software Unmanned Aircraft System.
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navdata.h
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1 /*
2  * Copyright (C) 2016 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
21 /* Thanks to TU Delft by assigning students Dino Hensen, Vincent van Hoek */
22 
33 #ifndef NAVDATA_H_
34 #define NAVDATA_H_
35 
36 #include "std.h"
37 #include <unistd.h>
38 
43 struct navdata_measure_t {
44  uint16_t taille;
45  uint16_t nu_trame;
46 
47  uint16_t ax;
48  uint16_t ay;
49  uint16_t az;
50 
51  int16_t vx;
52  int16_t vy;
53  int16_t vz;
54  uint16_t temperature_acc;
55  uint16_t temperature_gyro;
56 
57  uint16_t ultrasound;
58 
59  uint16_t us_debut_echo;
60  uint16_t us_fin_echo;
61  uint16_t us_association_echo;
62  uint16_t us_distance_echo;
63 
64  uint16_t us_curve_time;
65  uint16_t us_curve_value;
66  uint16_t us_curve_ref;
67 
68  uint16_t nb_echo;
69 
70  uint32_t sum_echo; //unsigned long
71  int16_t gradient;
72 
73  uint16_t flag_echo_ini;
74 
75  int32_t pressure;
76  uint16_t temperature_pressure;
77 
78  int16_t my;
79  int16_t mx;
80  int16_t mz;
81 
82  uint16_t chksum;
83 
84 } __attribute__((packed));
85 
86 /* The baro calibration received from the navboard */
87 struct bmp180_calib_t {
88  int16_t ac1;
89  int16_t ac2;
90  int16_t ac3;
91  uint16_t ac4;
92  uint16_t ac5;
93  uint16_t ac6;
94  int16_t b1;
95  int16_t b2;
96  int16_t mb;
97  int16_t mc;
98  int16_t md;
99 
100  // These values are calculated
101  int32_t b5;
102 };
103 
104 /* Navdata board defines */
105 #define NAVDATA_PACKET_SIZE 60
106 #define NAVDATA_START_BYTE 0x3A
107 #define NAVDATA_CMD_START 0x01
108 #define NAVDATA_CMD_STOP 0x02
109 #define NAVDATA_CMD_BARO_CALIB 0x17
110 
111 #define ARDRONE_GPIO_PORT 0x32524
112 #define ARDRONE_GPIO_PIN_NAVDATA 177
113 
114 /* Main navdata structure */
115 struct navdata_t {
116  bool is_initialized;
117  int fd;
118 
119  uint32_t totalBytesRead;
120  uint32_t packetsRead;
121  uint32_t checksum_errors;
122  uint32_t lost_imu_frames;
123  uint16_t last_packet_number;
124 
125  struct navdata_measure_t measure;
126  struct bmp180_calib_t bmp180_calib;
127 
128  bool baro_calibrated;
129  bool baro_available;
130  bool imu_lost;
131 };
132 extern struct navdata_t navdata;
133 
134 
135 bool navdata_init(void);
136 void navdata_update(void);
137 int16_t navdata_height(void);
138 
139 /* FIXME: This should be moved to the uart handling part! */
140 ssize_t full_write(int fd, const uint8_t *buf, size_t count);
141 ssize_t full_read(int fd, uint8_t *buf, size_t count);
142 
143 #endif /* NAVDATA_H_ */
uint16_t
unsigned short uint16_t
Definition: types.h:16
bmp180_calib_t
Definition: navdata.h:87
uint32_t
unsigned long uint32_t
Definition: types.h:18
int16_t
signed short int16_t
Definition: types.h:17
navdata_measure_t
Main navdata structure from the navdata board This is received from the navdata board at ~200Hz...
Definition: navdata.h:43
navdata_t
Definition: navdata.h:115
int32_t
signed long int32_t
Definition: types.h:19
uint8_t
unsigned char uint8_t
Definition: types.h:14
fd
int fd
Definition: serial.c:26