navdata.h

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/*
 * Copyright (C) 2016 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
/* Thanks to TU Delft by assigning students Dino Hensen, Vincent van Hoek */
 
#ifndef NAVDATA_H_
#define NAVDATA_H_
 
#include "std.h"
#include <unistd.h>
 
struct navdata_measure_t {
  uint16_t taille;
  uint16_t nu_trame;
 
  uint16_t ax;
  uint16_t ay;
  uint16_t az;
 
  int16_t vx;
  int16_t vy;
  int16_t vz;
  uint16_t temperature_acc;
  uint16_t temperature_gyro;
 
  uint16_t ultrasound;
 
  uint16_t us_debut_echo;
  uint16_t us_fin_echo;
  uint16_t us_association_echo;
  uint16_t us_distance_echo;
 
  uint16_t us_curve_time;
  uint16_t us_curve_value;
  uint16_t us_curve_ref;
 
  uint16_t nb_echo;
 
  uint32_t sum_echo; //unsigned long
  int16_t gradient;
 
  uint16_t flag_echo_ini;
 
  int32_t pressure;
  uint16_t temperature_pressure;
 
  int16_t my;
  int16_t mx;
  int16_t mz;
 
  uint16_t chksum;
 
} __attribute__((packed));
 
/* The baro calibration received from the navboard */
struct bmp180_calib_t {
  int16_t ac1;
  int16_t ac2;
  int16_t ac3;
  uint16_t ac4;
  uint16_t ac5;
  uint16_t ac6;
  int16_t b1;
  int16_t b2;
  int16_t mb;
  int16_t mc;
  int16_t md;
 
  // These values are calculated
  int32_t b5;
};
 
/* Navdata board defines */
#define NAVDATA_PACKET_SIZE       60
#define NAVDATA_START_BYTE        0x3A
#define NAVDATA_CMD_START         0x01
#define NAVDATA_CMD_STOP          0x02
#define NAVDATA_CMD_BARO_CALIB    0x17
 
#define ARDRONE_GPIO_PORT         0x32524
#define ARDRONE_GPIO_PIN_NAVDATA  177
 
/* Main navdata structure */
struct navdata_t {
  bool is_initialized;                  
  int fd;                                 
 
  uint32_t totalBytesRead;
  uint32_t packetsRead;
  uint32_t checksum_errors;
  uint32_t lost_imu_frames;
  uint16_t last_packet_number;
 
  struct navdata_measure_t measure;       
  struct bmp180_calib_t bmp180_calib;     
 
  bool baro_calibrated;                 
  bool baro_available;                  
  bool imu_lost;                        
};
extern struct navdata_t navdata;
 
 
bool navdata_init(void);
void navdata_update(void);
int16_t navdata_height(void);
 
/* FIXME: This should be moved to the uart handling part! */
ssize_t full_write(int fd, const uint8_t *buf, size_t count);
ssize_t full_read(int fd, uint8_t *buf, size_t count);
 
#endif /* NAVDATA_H_ */