mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Christophe De Wagter
128 lines
2.7 KiB
C
128 lines
2.7 KiB
C
/*
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* Copyright (C) 2013 Dino Hensen, Vincent van Hoek
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*
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* This file is part of Paparazzi.
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*
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* Paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* Paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/**
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* @file boards/ardrone/navdata.h
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* ardrone2 navdata aquisition driver.
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*
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* The ardrone2 provides a navdata stream of packets
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* containing info about all sensors at a rate of 200Hz.
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*/
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#ifndef NAVDATA_H_
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#define NAVDATA_H_
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#include <stdint.h>
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#include <sys/types.h>
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typedef struct
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{
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uint16_t taille;
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uint16_t nu_trame;
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uint16_t ax;
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uint16_t ay;
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uint16_t az;
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int16_t vx;
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int16_t vy;
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int16_t vz;
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uint16_t temperature_acc;
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uint16_t temperature_gyro;
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uint16_t ultrasound;
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uint16_t us_debut_echo;
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uint16_t us_fin_echo;
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uint16_t us_association_echo;
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uint16_t us_distance_echo;
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uint16_t us_curve_time;
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uint16_t us_curve_value;
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uint16_t us_curve_ref;
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uint16_t nb_echo;
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uint32_t sum_echo; //unsigned long
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int16_t gradient;
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uint16_t flag_echo_ini;
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int32_t pressure;
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uint16_t temperature_pressure;
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int16_t my;
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int16_t mx;
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int16_t mz;
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uint16_t chksum;
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} __attribute__ ((packed)) measures_t;
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struct bmp180_baro_calibration
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{
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int16_t ac1;
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int16_t ac2;
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int16_t ac3;
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uint16_t ac4;
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uint16_t ac5;
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uint16_t ac6;
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int16_t b1;
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int16_t b2;
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int16_t mb;
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int16_t mc;
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int16_t md;
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// These values are calculated
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int32_t b5;
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};
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#define NAVDATA_BUFFER_SIZE 80
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typedef struct {
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uint8_t isInitialized;
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uint16_t bytesRead;
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uint32_t totalBytesRead;
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uint32_t packetsRead;
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uint32_t checksum_errors;
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uint32_t lost_imu_frames;
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uint16_t last_packet_number;
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uint8_t buffer[NAVDATA_BUFFER_SIZE];
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} navdata_port;
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extern measures_t navdata;
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extern navdata_port nav_port;
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struct bmp180_baro_calibration baro_calibration;
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navdata_port* port;
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uint16_t navdata_cks;
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uint8_t navdata_imu_available;
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uint8_t navdata_baro_available;
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uint8_t baro_calibrated;
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bool_t navdata_init(void);
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void navdata_read(void);
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void navdata_update(void);
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int16_t navdata_height(void);
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ssize_t full_write(int fd, const uint8_t *buf, size_t count);
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ssize_t full_read(int fd, uint8_t *buf, size_t count);
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#endif /* NAVDATA_H_ */
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