246 lines
8.2 KiB
C
246 lines
8.2 KiB
C
#ifndef _VNCOMPOSITEDATA_H_
|
|
#define _VNCOMPOSITEDATA_H_
|
|
|
|
#include "vn/bool.h"
|
|
#include "vn/xplat/criticalsection.h"
|
|
#include "vn/enum.h"
|
|
#include "vn/int.h"
|
|
#include "vn/math/vector.h"
|
|
#include "vn/math/matrix.h"
|
|
#include "vn/protocol/upack.h"
|
|
#include "vn/math/vector.h"
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#ifdef _WIN32
|
|
#pragma warning(push)
|
|
#pragma warning(disable : 4820)
|
|
#endif
|
|
|
|
/** \brief Composite structure of all available data types from VectorNav sensors. */
|
|
typedef struct
|
|
{
|
|
vec3f yawPitchRoll; /**< Yaw, pitch, roll data. */
|
|
vec4f quaternion; /**< Quaternion data. */
|
|
mat3f directionCosineMatrix; /**< Direction cosine matrix data. */
|
|
vec3d positionGpsLla; /**< GPS latitude, longitude, altitude data. */
|
|
vec3d positionGpsEcef; /**< GPS earth-centered, earth-fixed data. */
|
|
vec3d positionEstimatedLla; /**< Estimated latitude, longitude, altitude data. */
|
|
vec3d positionEstimatedEcef; /**< Estimated earth-centered, earth-fixed position data. */
|
|
VelocityType velocityType; /**< Type of velocity in the struct. */
|
|
vec3f velocityGpsNed; /**< GPS velocity NED data. */
|
|
vec3f velocityGpsEcef; /**< GPS velocity ECEF data. */
|
|
vec3f velocityEstimatedBody; /**< Estimated velocity body data. */
|
|
vec3f velocityEstimatedNed; /**< Estimated velocity NED data. */
|
|
vec3f velocityEstimatedEcef; /**< Estimated velocity ECEF data. */
|
|
vec3f magnetic; /**< Magnetic data. */
|
|
vec3f magneticUncompensated; /**< Magnetic uncompensated data. */
|
|
vec3f magneticNed; /**< Magnetic NED data. */
|
|
vec3f magneticEcef; /**< Magnetic ECEF data. */
|
|
#ifdef EXTRA
|
|
vec3f magneticRaw; /**< Magnetic raw data. */
|
|
#endif
|
|
vec3f acceleration; /**< Acceleration data. */
|
|
vec3f accelerationUncompensated; /**< Acceleration uncompensated data. */
|
|
vec3f accelerationNed; /**< Acceleration NED data. */
|
|
vec3f accelerationEcef; /**< Acceleration ECEF data. */
|
|
vec3f accelerationLinearBody; /**< Acceleration linear body data. */
|
|
vec3f accelerationLinearNed; /**< Acceleration linear NED data. */
|
|
vec3f accelerationLinearEcef; /**< Acceleration linear ECEF data. */
|
|
#ifdef EXTRA
|
|
vec3f accelerationRaw; /**< Acceleration raw data. */
|
|
#endif
|
|
vec3f angularRate; /**< Angular rate data. */
|
|
vec3f angularRateUncompensated; /**< Angular rate uncompensated data. */
|
|
#ifdef EXTRA
|
|
vec3f angularRateRaw; /**< Angular rate raw data. */
|
|
#endif
|
|
float temperature; /**< Temperature data. */
|
|
#ifdef EXTRA
|
|
float temperatureRaw; /**< Temperature raw data. */
|
|
#endif
|
|
float pressure; /**< Pressure data. */
|
|
uint64_t timeStartup; /**< Time startup data. */
|
|
float deltaTime; /**< Delta time data. */
|
|
vec3f deltaTheta; /**< Delta theta data. */
|
|
vec3f deltaVelocity; /**< Delta velocity data. */
|
|
double tow; /**< GPS time of week data. */
|
|
uint16_t week; /**< Week data. */
|
|
uint8_t gpsFix; /**< GPS fix data. */
|
|
uint8_t numSats; /**< NumSats data. */
|
|
uint64_t timeGps; /**< TimeGps data. */
|
|
uint64_t timeGpsPps; /**< TimeGpsPps data. */
|
|
TimeUtc timeUtc; /**< TimeUtc data. */
|
|
uint64_t gpsTow; /**< GpsTow data. */
|
|
vec3f attitudeUncertainty; /**< Attitude uncertainty data. */
|
|
vec3f positionUncertaintyGpsNed; /**< GPS position uncertainty NED data. */
|
|
vec3f positionUncertaintyGpsEcef; /**< GPS position uncertainty ECEF data. */
|
|
float positionUncertaintyEstimated; /**< Estimated position uncertainty data. */
|
|
float velocityUncertaintyGps; /**< GPS velocity uncertainty data. */
|
|
float velocityUncertaintyEstimated; /**< Estimated velocity uncertainty data. */
|
|
uint32_t timeUncertainty; /**< Time uncertainty data. */
|
|
uint16_t vpeStatus; /**< VpeStatus data. */
|
|
uint16_t insStatus; /**< InsStatus data. */
|
|
uint64_t timeSyncIn; /**< TimeSyncIn data. */
|
|
uint32_t syncInCnt; /**< SyncInCnt data. */
|
|
uint32_t syncOutCnt; /**< SyncInCnt data. */
|
|
uint16_t sensSat; /**< SensSat data. */
|
|
#ifdef EXTRA
|
|
vec3f yprRates; /**< YprRates data. */
|
|
#endif
|
|
vec3d positionGps2Lla; /**< GPS2 latitude, longitude, altitude data. */
|
|
vec3d positionGps2Ecef; /**< GPS2 earth-centered, earth-fixed data. */
|
|
vec3f velocityGps2Ned; /**< GPS2 velocity NED data. */
|
|
vec3f velocityGps2Ecef; /**< GPS2 velocity ECEF data. */
|
|
uint16_t weekGps2; /**< GPS2 Week data. */
|
|
uint8_t fixGps2; /**< GPS2 fix data. */
|
|
uint8_t numSatsGps2; /**< GPS2 NumSats data. */
|
|
uint64_t timeGps2; /**< GPS2 TimeGps data. */
|
|
uint64_t timeGps2Pps; /**< GPS2 TimeGpsPps data. */
|
|
uint64_t gps2Tow; /**< GPS2 GpsTow data. */
|
|
float velocityUncertaintyGps2; /**< GPS2velocity uncertainty data. */
|
|
vec3f positionUncertaintyGps2Ned; /**< GPS2 position uncertainty NED data. */
|
|
vec3f positionUncertaintyGps2Ecef; /**< GPS2 position uncertainty ECEF data. */
|
|
uint32_t timeUncertaintyGps2; /**< GPS2 Time uncertainty data. */
|
|
TimeInfo timeInfo;
|
|
GpsDop dop;
|
|
} VnCompositeData;
|
|
#ifdef _WIN32
|
|
#pragma warning(pop)
|
|
#endif
|
|
|
|
/** \brief Indicates if course over ground has valid data
|
|
*
|
|
* \param[in] compositeData The associated VnCompositeData structure.
|
|
* \return Flag indicating if the course over ground data is available. */
|
|
bool VnCompositeData_hasCourseOverGround(VnCompositeData* compositeData);
|
|
|
|
/** \brief Computers the course over ground from any velocity data available
|
|
*
|
|
* \param[in] compositeData The associated VnCompositeData structure.
|
|
* \param[out] courseOverGroundOut The computered course over ground.
|
|
* \return Flag indicating if the calculation was successful. */
|
|
bool VnCompositeData_courseOverGround(VnCompositeData* compositeData, float* courseOverGroundOut);
|
|
|
|
/** \brief Indicates if speed over ground has valid data..
|
|
*
|
|
* \param[in] compositeData The associated VnCompositeData structure.
|
|
* \return Flag indicating if the speed over ground data is available. */
|
|
bool VnCompositeData_hasSpeedOverGround(VnCompositeData* compositeData);
|
|
|
|
/** \brief Computers the speed over ground from any velocity data available
|
|
*
|
|
* \param[in] compositeData The associated VnCompositeData structure.
|
|
* \param[out] speedOverGroundOut The computered course over ground.
|
|
* \return Flag indicating if the calculation was successful. */
|
|
bool VnCompositeData_speedOverGround(VnCompositeData* compositeData, float* speedOverGroundOut);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_initialize(VnCompositeData* compositeData);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_processBinaryPacket(VnCompositeData* compositeData, VnUartPacket* packet, VnCriticalSection* criticalSection);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_processAsciiAsyncPacket(VnCompositeData* compositeData, VnUartPacket* packet, VnCriticalSection* criticalSection);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_processBinaryPacketCommonGroup(
|
|
VnCompositeData* compositeData,
|
|
VnUartPacket* packet,
|
|
CommonGroup groupFlags);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_processBinaryPacketTimeGroup(
|
|
VnCompositeData* compositeData,
|
|
VnUartPacket* packet,
|
|
TimeGroup groupFlags);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_processBinaryPacketImuGroup(
|
|
VnCompositeData* compositeData,
|
|
VnUartPacket* packet,
|
|
ImuGroup groupFlags);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_processBinaryPacketGpsGroup(
|
|
VnCompositeData* compositeData,
|
|
VnUartPacket* packet,
|
|
GpsGroup groupFlags);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_processBinaryPacketAttitudeGroup(
|
|
VnCompositeData* compositeData,
|
|
VnUartPacket* packet,
|
|
AttitudeGroup groupFlags);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_processBinaryPacketInsGroup(
|
|
VnCompositeData* compositeData,
|
|
VnUartPacket* packet,
|
|
InsGroup groupFlags);
|
|
|
|
/** \brief
|
|
*
|
|
* \param[in]
|
|
* \param[out]
|
|
* \return
|
|
*/
|
|
void VnCompositeData_processBinaryPacketGps2Group(
|
|
VnCompositeData* compositeData,
|
|
VnUartPacket* packet,
|
|
GpsGroup groupFlags);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif
|