FaSTTUBe/INS-VN-200
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Saved working stuff

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This commit is contained in:
r.koeppe
2024-05-16 00:40:22 +02:00
parent 2d22ccd2d6
commit a02331451d
54 changed files with 3452 additions and 13 deletions
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66
vn-interface/CMakeLists.txt Normal file
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project(vn-interface)
include_directories(${CMAKE_SOURCE_DIR}/include)
set(CMAKE_TOOLCHAIN_FILE gcc-arm-none-eabi.cmake)
# include for standard directories
include(GNUInstallDirs)
# include for creating config.cmake
include(CMakePackageConfigHelpers)
set(SOURCES src/vn200.cpp)
set(CPU_PARAMETERS
-mcpu=cortex-m4
-mthumb
-mfpu=fpv4-sp-d16
-mfloat-abi=hard)
add_library(${PROJECT_NAME} STATIC ${SOURCES})
target_compile_options(${PROJECT_NAME} PRIVATE
${CPU_PARAMETERS}
-Wall
-Wextra
-Wpedantic
-Wno-unused-parameter
$<$<COMPILE_LANGUAGE:CXX>:
-Wno-volatile
-Wsuggest-override
-Wno-missing-field-initializers>
$<$<CONFIG:Debug>:-Og -g3 -ggdb>
$<$<CONFIG:Release>:-Og -g0>)
# Link the desire include directories of the library - different for build and install
target_include_directories(${PROJECT_NAME}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>"
"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
)
install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}Targets
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)
install(DIRECTORY include/${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
install(EXPORT ${PROJECT_NAME}Targets
FILE ${PROJECT_NAME}Targets.cmake
NAMESPACE vn-interface::
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
)
configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/Config.cmake.in
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
)
install(FILES
"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
)

4
vn-interface/Config.cmake.in Normal file
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@PACKAGE_INIT@
include("${CMAKE_CURRENT_LIST_DIR}/vn-interfaceTargets.cmake")

23
vn-interface/gcc-arm-none-eabi.cmake Normal file
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set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_PROCESSOR arm)
# Some default GCC settings
set(TOOLCHAIN_PREFIX arm-none-eabi-)
set(FLAGS
"-fdata-sections -ffunction-sections \
--specs=nano.specs -Wl,--gc-sections")
set(CPP_FLAGS
"-fno-rtti -fno-exceptions \
-fno-threadsafe-statics")
set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc ${FLAGS})
set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++ ${FLAGS} ${CPP_FLAGS})
set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy)
set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size)
set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_C ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf")
set(CMAKE_LINK_LIBRARY_SUFFIX ".elf")
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

206
vn-interface/include/vn-interface/vn200.h Normal file
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#ifndef _VN200_
#define _VN200_
#include <map>
#include <stdint.h>
#include <vector>
#define VN200_SPI_READ 0x01
#define VN200_SPI_WRITE 0x02
namespace VN200 {
namespace SPI {
namespace BinaryGroups {
typedef uint8_t bit_offset_t;
namespace Group1 {
// /* The bit offset of group 1 */
// const bit_offset_t BitOffset = 0;
// /* The output fields of group 1 */
// enum OutputFields {
// TimeStartup = 0,
// TimeGps,
// TimeSyncIn,
// YawPitchRoll,
// Quaternion,
// AngularRate,
// Position,
// Velocity,
// Accel,
// Imu,
// MagPres,
// DeltaTheta,
// InsStatus,
// SyncInCnt,
// TimeGpsPps,
// EMPTY15
// };
// /* TODO */
// const uint8_t payload_sizes[16] = {8, 8, 8, 12, 16, 12, 24, 12, 12, 24, 20, 28, 2, 4, 8, 0};
} // namespace Group1
} // namespace BinaryGroups
// /* Abstract base class for all packages. */
// struct binary_package_t {
// /* TODO */
// binary_package_t(){};
// /* TODO */
// virtual uint16_t size() = 0;
// /* TODO */
// virtual uint8_t *to_array() = 0;
// std::vector<uint8_t> v;
// };
/* TODO */
union header_t {
struct request_t {
uint8_t Cmd = 0; /* Defined in VN200_SPI_READ - set in standard constructor */
uint8_t ID = 0; /* Register ID */
uint16_t Empty = 0; /* Spacer */
request_t(uint8_t ID, uint8_t Cmd) {
this->ID = ID;
this->Cmd = Cmd;
};
};
struct response_t {
uint8_t Empty1 = 0; /* Spacer */
uint8_t Cmd = 0; /* Defined in VN200_SPI_READ - set in standard constructor */
uint8_t ID = 0; /* Register ID */
uint8_t Empty2 = 0; /* Spacer */
response_t(){};
response_t(uint8_t ID, uint8_t Cmd) {
this->ID = ID;
this->Cmd = Cmd;
};
};
};
/* TODO */
// struct configuration_t : binary_package_t {
// uint16_t AsyncMode;
// uint16_t RateDivisor;
// uint16_t OutputGroup;
// uint8_t NumOutputFields;
// uint16_t *OutputFields; /* Array with unknown size. Set in constructor. */
// /* TODO */
// configuration_t(uint8_t NumOutputFields = 1 /* TODO */) {
// OutputFields = new uint16_t[NumOutputFields];
// this->NumOutputFields = NumOutputFields;
// };
// /* TODO */
// ~configuration_t() {
// delete OutputFields;
// OutputFields = nullptr;
// }
// /* TODO */
// uint16_t size() override;
// /* TODO */
// uint8_t *to_array() override;
// /* TODO */
// void setBinaryGroups(std::vector<SPI::BinaryGroups::bit_offset_t> desired_groups);
// /* TODO */
// void setOutputFields(SPI::BinaryGroups::bit_offset_t group_bit_offset, std::vector<int> desired_output_fields);
// };
/* Writes the desired payload into the specified register */
template <typename payload_t> struct pkg_request_write_t {
struct header_t::request_t header;
payload_t payload;
/* TODO */
pkg_request_write_t(uint8_t ID) : header(ID, VN200_SPI_WRITE){};
};
/* Writes the desired payload into the specified register */
struct pkg_request_read_t {
struct header_t::request_t header;
/* TODO */
pkg_request_read_t(uint8_t ID) : header(ID, VN200_SPI_READ){};
};
/* Writes the desired payload into the specified register */
template <typename payload_t> struct pkg_response_t {
struct header_t::response_t header;
payload_t payload;
/* TODO */
pkg_response_t() : header(){};
};
namespace IMU {
const uint8_t ID = 54;
struct imu_t {
float MagX = 0.0;
float MagY = 0.0;
float MagZ = 0.0;
float AccelX = 0.0;
float AccelY = 0.0;
float AccelZ = 0.0;
float GyroX = 0.0;
float GyroY = 0.0;
float GyroZ = 0.0;
float Pressure = 0.0;
};
} // namespace IMU
namespace ATT {
const uint8_t ID = 239;
struct attitude_t {
float Yaw = 0.0;
float Pitch = 0.0;
float Roll = 0.0;
float BodyAccelX = 0.0;
float BodyAccelY = 0.0;
float BodyAccelZ = 0.0;
float GyroX = 0.0;
float GyroY = 0.0;
float GyroZ = 0.0;
};
} // namespace ATT
namespace INS {
namespace LLA {
const uint8_t ID = 63;
struct lla_t {
float Yaw = 0.0;
float Pitch = 0.0;
float Roll = 0.0;
double Lattitude = 0.0;
double Longitude = 0.0;
double Altitude = 0.0;
float VelocityX = 0.0;
float VelocityY = 0.0;
float VelocityZ = 0.0;
float AccelX = 0.0;
float AccelY = 0.0;
float AccelZ = 0.0;
float AngularRateX = 0.0;
float AngularRateY = 0.0;
float AngularRateZ = 0.0;
};
} // namespace LLA
} // namespace INS
namespace GPS {
namespace LLA {
const uint8_t ID = 58;
struct lla_t {
double Time = 0.0;
uint16_t Week = 0;
uint8_t GpsFix = 0;
uint8_t NumSats = 0;
uint32_t PADDING = 0;
double Latitude = 0.0;
double Longitude = 0.0;
double Altitude = 0.0;
float NedVelX = 0.0;
float NedVelY = 0.0;
float NedVelZ = 0.0;
float NorthAcc = 0.0;
float EastAcc = 0.0;
float VertAcc = 0.0;
float SpeedAcc = 0.0;
float TimeAcc = 0.0;
};
} // namespace LLA
} // namespace GPS
} // namespace SPI
} // namespace VN200
#endif

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vn-interface/src/vn200.cpp Normal file
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#include "vn-interface/vn200.h"
namespace VN200 {
namespace SPI {
// payload_size_t::payload_size_t() {
// group1 = {{BinaryGroups::Group1::TimeStartup, 8}, {BinaryGroups::Group1::TimeGps, 8}, {BinaryGroups::Group1::TimeSyncIn, 8},
// {BinaryGroups::Group1::YawPitchRoll, 12}, {BinaryGroups::Group1::Quaternion, 16}, {BinaryGroups::Group1::AngularRate, 12},
// {BinaryGroups::Group1::Position, 24}, {BinaryGroups::Group1::Velocity, 12}, {BinaryGroups::Group1::Accel, 12},
// {BinaryGroups::Group1::Imu, 24}, {BinaryGroups::Group1::MagPres, 20}, {BinaryGroups::Group1::DeltaTheta, 28},
// {BinaryGroups::Group1::InsStatus, 2}, {BinaryGroups::Group1::SyncInCnt, 4}, {BinaryGroups::Group1::TimeGpsPps, 8},
// {BinaryGroups::Group1::EMPTY15, 0}};
// }
// uint16_t configuration_t::size() { return sizeof(AsyncMode) + sizeof(RateDivisor) + sizeof(OutputGroup) + NumOutputFields * sizeof(uint16_t); }
// uint8_t *configuration_t::to_array() {
// v.clear();
// v.push_back(AsyncMode && 0xFF);
// v.push_back(AsyncMode >> 8);
// v.push_back(RateDivisor && 0xFF);
// v.push_back(RateDivisor >> 8);
// v.push_back(OutputGroup && 0xFF);
// v.push_back(OutputGroup >> 8);
// for (uint8_t i = 0; i < NumOutputFields; i++) {
// v.push_back(OutputFields[i] && 0xFF);
// v.push_back(OutputFields[i] >> 8);
// }
// return &v[0];
// }
// void configuration_t::setBinaryGroups(std::vector<SPI::BinaryGroups::bit_offset_t> desired_groups) {
// bool hit = false;
// /* Iterate over every bit of the OutputGroup */
// for (uint8_t i = 0; i < 8; i++) {
// for (auto desired_group : desired_groups) {
// if (desired_group == i) {
// hit = true;
// break;
// }
// }
// if (hit) {
// OutputGroup++;
// hit = false;
// }
// OutputGroup = OutputGroup << 1;
// }
// }
// void configuration_t::setOutputFields(SPI::BinaryGroups::bit_offset_t group_bit_offset, std::vector<int> desired_output_fields) {
// bool hit = false;
// /* Iterate over every bit of the OutputGroup */
// for (uint8_t i = 0; i < 16; i++) {
// for (auto desired_output_field : desired_output_fields) {
// if (desired_output_field == i) {
// hit = true;
// break;
// }
// }
// if (hit) {
// OutputFields[group_bit_offset]++;
// hit = false;
// }
// OutputFields[group_bit_offset] = OutputFields[group_bit_offset] << 1;
// }
// }
} // namespace SPI
// namespace SPI
} // namespace VN200