initial

vnproglib/c/include/vn/protocol/common.h

@@ -0,0 +1,61 @@
+#ifndef _VNCOMMON_H_
+#define _VNCOMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** \brief Enumeration of the available asynchronous ASCII message types. */
+typedef enum
+{
+	VNOFF	= 0,		/**< Asynchronous output is turned off. */
+	VNYPR	= 1,		/**< Asynchronous output type is Yaw, Pitch, Roll. */
+	VNQTN	= 2,		/**< Asynchronous output type is Quaternion. */
+	#ifdef EXTRA
+	VNQTM	= 3,		/**< Asynchronous output type is Quaternion and Magnetic. */
+	VNQTA	= 4,		/**< Asynchronous output type is Quaternion and Acceleration. */
+	VNQTR	= 5,		/**< Asynchronous output type is Quaternion and Angular Rates. */
+	VNQMA	= 6,		/**< Asynchronous output type is Quaternion, Magnetic and Acceleration. */
+	VNQAR	= 7,		/**< Asynchronous output type is Quaternion, Acceleration and Angular Rates. */
+	#endif
+	VNQMR	= 8,		/**< Asynchronous output type is Quaternion, Magnetic, Acceleration and Angular Rates. */
+	#ifdef EXTRA
+	VNDCM	= 9,		/**< Asynchronous output type is Directional Cosine Orientation Matrix. */
+	#endif
+	VNMAG	= 10,		/**< Asynchronous output type is Magnetic Measurements. */
+	VNACC	= 11,		/**< Asynchronous output type is Acceleration Measurements. */
+	VNGYR	= 12,		/**< Asynchronous output type is Angular Rate Measurements. */
+	VNMAR	= 13,		/**< Asynchronous output type is Magnetic, Acceleration, and Angular Rate Measurements. */
+	VNYMR	= 14,		/**< Asynchronous output type is Yaw, Pitch, Roll, Magnetic, Acceleration, and Angular Rate Measurements. */
+	#ifdef EXTRA
+	VNYCM	= 15,		/**< Asynchronous output type is Yaw, Pitch, Roll, and Calibrated Measurements. */
+	#endif
+	VNYBA	= 16,		/**< Asynchronous output type is Yaw, Pitch, Roll, Body True Acceleration. */
+	VNYIA	= 17,		/**< Asynchronous output type is Yaw, Pitch, Roll, Inertial True Acceleration. */
+	#ifdef EXTRA
+	VNICM	= 18,		/**< Asynchronous output type is Yaw, Pitch, Roll, Inertial Magnetic/Acceleration, and Angular Rate Measurements. */
+	#endif
+	VNIMU	= 19,		/**< Asynchronous output type is Calibrated Inertial Measurements. */
+	VNGPS	= 20,		/**< Asynchronous output type is GPS LLA. */
+	VNGPE	= 21,		/**< Asynchronous output type is GPS ECEF. */
+	VNINS	= 22,		/**< Asynchronous output type is INS LLA solution. */
+	VNINE	= 23,		/**< Asynchronous output type is INS ECEF solution. */
+	VNISL	= 28,		/**< Asynchronous output type is INS LLA 2 solution. */
+	VNISE	= 29,		/**< Asynchronous output type is INS ECEF 2 solution. */
+	VNDTV	= 30,		/**< Asynchronous output type is Delta Theta and Delta Velocity. */
+	VNRTK	= 31		/**< Asynchronous output type is RTK, from the GPS processor. */
+	#ifdef EXTRA
+	,
+	VNRAW	= 252,		/**< Asynchronous output type is Raw Voltage Measurements. */
+	VNCMV	= 253,		/**< Asynchronous output type is Calibrated Measurements. */
+	VNSTV	= 254,		/**< Asynchronous output type is Kalman Filter State Vector. */
+	VNCOV	= 255		/**< Asynchronous output type is Kalman Filter Covariance Matrix Diagonal. */
+	#endif
+} VnAsciiAsync;
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

vnproglib/c/include/vn/protocol/upackf.h

@@ -0,0 +1,129 @@
+#ifndef VNUPACKF_H_INCLUDED
+#define VNUPACKF_H_INCLUDED
+
+#include "vn/protocol/upack.h"
+
+/*#include "vnint.h"*/
+/*#include "vnbool.h"*/
+/*#include "vntypes.h"
+#include "vnerror.h"*/
+
+
+#ifndef VNUART_PROTOCOL_BUFFER_SIZE
+	/** Default internal buffers size for handling received UART data. */
+	#define VNUART_PROTOCOL_BUFFER_SIZE 256
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** \brief Defines signature of functions that can handle callback
+*  notifications of packets successfully received and validated from a
+*  VectorNav sensor. */
+typedef void(*VnUartPacketFinder_PacketFoundHandler)(void *userData, VnUartPacket* packet, size_t runningIndexOfPacketStart);
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4820)
+#endif
+
+/** \brief Data structure holding current parsing status of data received from
+ *  a VectorNav sensor.
+ *
+ * This structure contains a buffer which will hold bytes that are currently
+ * being processed. The size of this buffer can be adjusted by defining the
+ * size using the preprocesser. For example, the size can be adjusted to use
+ * 1024 bytes by defining VNUART_PROTOCOL_BUFFER_SIZE=1024. */
+typedef struct
+{
+	/** \brief Callback for when a packet has been found and validated. */
+	VnUartPacketFinder_PacketFoundHandler packetFoundHandler;
+
+	/** \brief User data for callbacks on the packetFoundHandler. */
+	void *packetFoundHandlerUserData;
+
+	/** \brief Used for correlating the position in the received raw data
+	*   stream where packets are found.	*/
+	size_t runningDataIndex;
+
+	/** \brief Indicates if an ASCII packet is currently being built. */
+	bool asciiCurrentlyBuildingPacket;
+
+	/** \brief Indicates a suspected start of an ASCII packet. */
+	size_t asciiPossibleStartOfPacketIndex;
+
+	/** \brief Index of start of ASCII packet in total running index. */
+	size_t asciiRunningDataIndexOfStart;
+
+	/** \brief Indicates if the first ending character has been found. */
+	bool asciiEndChar1Found;
+
+	/** \brief Indicates if we are currently building a binary packet. */
+	bool binaryCurrentlyBuildingBinaryPacket;
+
+	/** \brief Index of start of binary packet in total running index. */
+	size_t binaryRunningDataIndexOfStart;
+
+	/** \brief Holds the size of the receive buffer. */
+	size_t bufferSize;
+
+	/** \brief The current location to append data into the buffer. */
+	size_t bufferAppendLocation;
+
+	/** \brief Indicates if we have found the groups present data field for a
+	 *  binary packet we are building. */
+	bool binaryGroupsPresentFound;
+
+	/** \brief The groups present found from a binary packet. */
+	uint8_t binaryGroupsPresent;
+
+	/** \brief Indicates the number of bytes remaining to have all group fields
+	 *  for a binary data packet we are processing. */
+	uint8_t binaryNumOfBytesRemainingToHaveAllGroupFields;
+
+	/** \brief Start index of a possible binary packet. */
+	size_t binaryPossibleStartIndex;
+
+	/** \brief Keeps track of the number of bytes remaining for a complete
+	 *  binary packet. */
+	size_t binaryNumberOfBytesRemainingForCompletePacket;
+
+	/** \brief The receive buffer. */
+	uint8_t receiveBuffer[VNUART_PROTOCOL_BUFFER_SIZE];
+
+} VnUartPacketFinder;
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
+/** \brief Initializes the VnUartPacketFinder data structure.
+*
+* \param[in] pf VnUartPacketFinder to init. */
+void VnUartPacketFinder_initialize(VnUartPacketFinder* pf);
+
+/** \brief Processes received data from the UART.
+*
+* \param[in] finder The associated VnUartPacketFinder containing the data
+*     processing state.
+* \param[in] data The received data.
+* \param[in] len The number of bytes to process.
+* \param[in] bootloaderFilter Enable filtering for bootloader messages. */
+VnError VnUartPacketFinder_processData_ex(VnUartPacketFinder* finder, uint8_t* data, size_t len, bool bootloaderFilter);
+VnError VnUartPacketFinder_processData(VnUartPacketFinder* finder, uint8_t* data, size_t len);
+
+
+/** \brief Allows registering for notification of when valid packets are found.
+ *
+ * \param[in] handler The callback function for receiving notifications.
+ * \param[in] userData Pointer to user supplied data which will be sent on all callback notifications.
+ * \return Any errors encountered. */
+VnError VnUartPacketFinder_registerPacketFoundHandler(VnUartPacketFinder* finder, VnUartPacketFinder_PacketFoundHandler handler, void *userData);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif