added libs
This commit is contained in:
parent
b5623b4580
commit
8282be62b8
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@ -0,0 +1,7 @@
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[submodule "Libs/cantools"]
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path = Libs/cantools
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url = https://github.com/rimakoe/cantools.git
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branch = extend_codegen
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||||
[submodule "Libs/can-transceiver-lib"]
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||||
path = Libs/can-transceiver-lib
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||||
url = https://github.com/rimakoe/can-transceiver-lib.git
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||||
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@ -41,8 +41,8 @@ add_executable(${CMAKE_PROJECT_NAME})
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|||
# Add STM32CubeMX generated sources
|
||||
add_subdirectory(cmake/stm32cubemx)
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||||
|
||||
find_package(vn-interface)
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||||
find_package(can-transceiver-lib)
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||||
#find_package(vn-interface)
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||||
#find_package(can-transceiver-lib)
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||||
|
||||
# Link directories setup
|
||||
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
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||||
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@ -58,6 +58,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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|||
# Add include paths
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||||
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
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||||
Converter/Inc
|
||||
Libs/can-transceiver-lib/include
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||||
Libs/vn-interface/include
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||||
)
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||||
|
||||
# Add project symbols (macros)
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||||
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@ -66,9 +68,11 @@ target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
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|||
)
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||||
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||||
# Add linked libraries
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||||
# We want to link them very explicitly from our build folder in this repo for the case of multiple repos and different MCUs.
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||||
# Linking the usual way in /usr/local could cause difficulties in designing such libraries due to different compiler flags for different MCU types.
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||||
target_link_libraries(${CMAKE_PROJECT_NAME}
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stm32cubemx
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||||
vn-interface::vn-interface
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||||
canlib::can-transceiver-lib
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||||
# Add user defined libraries
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||||
${CMAKE_SOURCE_DIR}/Libs/can-transceiver-lib/build/libcan-transceiver-lib.a
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||||
${CMAKE_SOURCE_DIR}/Libs/vn-interface/build/libvn-interface.a
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||||
)
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|
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@ -0,0 +1 @@
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Subproject commit 05e78474582768dc685d5b6ece94e34f3853c5d8
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@ -0,0 +1 @@
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|||
Subproject commit f26224f423408ca663956379637de2f00ceb9013
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@ -0,0 +1,69 @@
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set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/gcc-arm-none-eabi.cmake)
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||||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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||||
set(BUILD_TYPE Debug)
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||||
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project(vn-interface)
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include_directories(${CMAKE_SOURCE_DIR}/include)
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# include for standard directories
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include(GNUInstallDirs)
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# include for creating config.cmake
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include(CMakePackageConfigHelpers)
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set(SOURCES src/helper.cpp)
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||||
set(CPU_PARAMETERS
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-mcpu=cortex-m4
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||||
-mthumb
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||||
-mfpu=fpv4-sp-d16
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-mfloat-abi=hard)
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||||
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||||
add_library(${PROJECT_NAME} STATIC ${SOURCES})
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||||
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||||
target_compile_options(${PROJECT_NAME} PRIVATE
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${CPU_PARAMETERS}
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-Wall
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-Wextra
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-Wpedantic
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-Wno-unused-parameter
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$<$<COMPILE_LANGUAGE:CXX>:
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-Wno-volatile
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||||
-Wsuggest-override
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-Wno-missing-field-initializers>
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||||
$<$<CONFIG:Debug>:-Og -g3 -ggdb>
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$<$<CONFIG:Release>:-Og -g0>)
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||||
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||||
# Link the desire include directories of the library - different for build and install
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||||
target_include_directories(${PROJECT_NAME}
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PUBLIC
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||||
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>"
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"$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>"
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||||
)
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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}Targets
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||||
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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||||
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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||||
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
|
||||
INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
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||||
)
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||||
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||||
install(DIRECTORY include/${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
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||||
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||||
install(EXPORT ${PROJECT_NAME}Targets
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FILE ${PROJECT_NAME}Targets.cmake
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||||
NAMESPACE vn-interface::
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||||
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
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||||
)
|
||||
|
||||
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"
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||||
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
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||||
)
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||||
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@ -0,0 +1,4 @@
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|||
@PACKAGE_INIT@
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include("${CMAKE_CURRENT_LIST_DIR}/vn-interfaceTargets.cmake")
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||||
|
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@ -0,0 +1,23 @@
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|||
set(CMAKE_SYSTEM_NAME Generic)
|
||||
set(CMAKE_SYSTEM_PROCESSOR arm)
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||||
|
||||
# Some default GCC settings
|
||||
set(TOOLCHAIN_PREFIX arm-none-eabi-)
|
||||
set(FLAGS
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||||
"-fdata-sections -ffunction-sections \
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||||
--specs=nano.specs -Wl,--gc-sections")
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||||
set(CPP_FLAGS
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||||
"-fno-rtti -fno-exceptions \
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||||
-fno-threadsafe-statics")
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||||
|
||||
set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc ${FLAGS})
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||||
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)
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||||
|
|
@ -0,0 +1,670 @@
|
|||
#ifndef VNENUM_H_INCLUDED
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||||
#define VNENUM_H_INCLUDED
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||||
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||||
/** \brief The different types of UART packets. */
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||||
typedef enum
|
||||
{
|
||||
PACKETTYPE_BINARY, /**< Binary packet. */
|
||||
PACKETTYPE_ASCII, /**< ASCII packet. */
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||||
PACKETTYPE_UNKNOWN /**< Unknown packet type. */
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||||
} PacketType;
|
||||
|
||||
/** \brief The available binary output groups. */
|
||||
typedef enum
|
||||
{
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||||
BINARYGROUPTYPE_COMMON = 0x01, /**< Common group. */
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||||
BINARYGROUPTYPE_TIME = 0x02, /**< Time group. */
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||||
BINARYGROUPTYPE_IMU = 0x04, /**< IMU group. */
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||||
BINARYGROUPTYPE_GPS = 0x08, /**< GPS group. */
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||||
BINARYGROUPTYPE_ATTITUDE = 0x10, /**< Attitude group. */
|
||||
BINARYGROUPTYPE_INS = 0x20, /**< INS group. */
|
||||
BINARYGROUPTYPE_GPS2 = 0x40 /**< GPS2 group. */
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||||
} BinaryGroupType;
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||||
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||||
/** \brief Async modes for the Binary Output registers. */
|
||||
typedef enum
|
||||
{
|
||||
ASYNCMODE_NONE = 0, /**< None. */
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||||
ASYNCMODE_PORT1 = 1, /**< Serial port 1. */
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||||
ASYNCMODE_PORT2 = 2, /**< Serial port 2. */
|
||||
ASYNCMODE_BOTH = 3 /**< Both serial ports. */
|
||||
} AsyncMode;
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||||
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||||
/** \brief Flags for the binary group 1 'Common' in the binary output registers. */
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||||
typedef enum
|
||||
{
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||||
COMMONGROUP_NONE = 0x0000, /**< None. */
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||||
COMMONGROUP_TIMESTARTUP = 0x0001, /**< TimeStartup. */
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||||
COMMONGROUP_TIMEGPS = 0x0002, /**< TimeGps. */
|
||||
COMMONGROUP_TIMESYNCIN = 0x0004, /**< TimeSyncIn. */
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||||
COMMONGROUP_YAWPITCHROLL = 0x0008, /**< YawPitchRoll. */
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||||
COMMONGROUP_QUATERNION = 0x0010, /**< Quaternion. */
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||||
COMMONGROUP_ANGULARRATE = 0x0020, /**< AngularRate. */
|
||||
COMMONGROUP_POSITION = 0x0040, /**< Position. */
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||||
COMMONGROUP_VELOCITY = 0x0080, /**< Velocity. */
|
||||
COMMONGROUP_ACCEL = 0x0100, /**< Accel. */
|
||||
COMMONGROUP_IMU = 0x0200, /**< Imu. */
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||||
COMMONGROUP_MAGPRES = 0x0400, /**< MagPres. */
|
||||
COMMONGROUP_DELTATHETA = 0x0800, /**< DeltaTheta. */
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||||
COMMONGROUP_INSSTATUS = 0x1000, /**< InsStatus. */
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||||
COMMONGROUP_SYNCINCNT = 0x2000, /**< SyncInCnt. */
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||||
COMMONGROUP_TIMEGPSPPS = 0x4000 /**< TimeGpsPps. */
|
||||
} CommonGroup;
|
||||
|
||||
/** \brief Flags for the binary group 2 'Time' in the binary output registers. */
|
||||
typedef enum
|
||||
{
|
||||
TIMEGROUP_NONE = 0x0000, /**< None. */
|
||||
TIMEGROUP_TIMESTARTUP = 0x0001, /**< TimeStartup. */
|
||||
TIMEGROUP_TIMEGPS = 0x0002, /**< TimeGps. */
|
||||
TIMEGROUP_GPSTOW = 0x0004, /**< GpsTow. */
|
||||
TIMEGROUP_GPSWEEK = 0x0008, /**< GpsWeek. */
|
||||
TIMEGROUP_TIMESYNCIN = 0x0010, /**< TimeSyncIn. */
|
||||
TIMEGROUP_TIMEGPSPPS = 0x0020, /**< TimeGpsPps. */
|
||||
TIMEGROUP_TIMEUTC = 0x0040, /**< TimeUTC. */
|
||||
TIMEGROUP_SYNCINCNT = 0x0080, /**< SyncInCnt. */
|
||||
TIMEGROUP_SYNCOUTCNT = 0x0100, /**< SyncOutCnt. */
|
||||
TIMEGROUP_TIMESTATUS = 0x0200 /**< TimeStatus. */
|
||||
} TimeGroup;
|
||||
|
||||
/** \brief Flags for the binary group 3 'IMU' in the binary output registers. */
|
||||
typedef enum
|
||||
{
|
||||
IMUGROUP_NONE = 0x0000, /**< None. */
|
||||
IMUGROUP_IMUSTATUS = 0x0001, /**< ImuStatus. */
|
||||
IMUGROUP_UNCOMPMAG = 0x0002, /**< UncompMag. */
|
||||
IMUGROUP_UNCOMPACCEL = 0x0004, /**< UncompAccel. */
|
||||
IMUGROUP_UNCOMPGYRO = 0x0008, /**< UncompGyro. */
|
||||
IMUGROUP_TEMP = 0x0010, /**< Temp. */
|
||||
IMUGROUP_PRES = 0x0020, /**< Pres. */
|
||||
IMUGROUP_DELTATHETA = 0x0040, /**< DeltaTheta. */
|
||||
IMUGROUP_DELTAVEL = 0x0080, /**< DeltaVel. */
|
||||
IMUGROUP_MAG = 0x0100, /**< Mag. */
|
||||
IMUGROUP_ACCEL = 0x0200, /**< Accel. */
|
||||
IMUGROUP_ANGULARRATE = 0x0400, /**< AngularRate. */
|
||||
IMUGROUP_SENSSAT = 0x0800 /**< SensSat. */
|
||||
#ifdef EXTRA
|
||||
,
|
||||
IMUGROUP_RAW = 0x1000 /**< Raw. */
|
||||
#endif
|
||||
} ImuGroup;
|
||||
|
||||
/** \brief Flags for the binary group 4 'GPS' in the binary output registers. */
|
||||
typedef enum
|
||||
{
|
||||
GPSGROUP_NONE = 0x0000, /**< None. */
|
||||
GPSGROUP_UTC = 0x0001, /**< UTC. */
|
||||
GPSGROUP_TOW = 0x0002, /**< Tow. */
|
||||
GPSGROUP_WEEK = 0x0004, /**< Week. */
|
||||
GPSGROUP_NUMSATS = 0x0008, /**< NumSats. */
|
||||
GPSGROUP_FIX = 0x0010, /**< Fix. */
|
||||
GPSGROUP_POSLLA = 0x0020, /**< PosLla. */
|
||||
GPSGROUP_POSECEF = 0x0040, /**< PosEcef. */
|
||||
GPSGROUP_VELNED = 0x0080, /**< VelNed. */
|
||||
GPSGROUP_VELECEF = 0x0100, /**< VelEcef. */
|
||||
GPSGROUP_POSU = 0x0200, /**< PosU. */
|
||||
GPSGROUP_VELU = 0x0400, /**< VelU. */
|
||||
GPSGROUP_TIMEU = 0x0800, /**< TimeU. */
|
||||
GPSGROUP_TIMEINFO = 0x1000, /**< TimeInfo. */
|
||||
GPSGROUP_DOP = 0x2000 /**< DOP. */
|
||||
|
||||
#ifdef EXTRA
|
||||
,
|
||||
GPSGROUP_SVSTAT = 0x1000 /**< SvStat. */
|
||||
#endif
|
||||
} GpsGroup;
|
||||
|
||||
/** \brief Flags for the binary group 5 'Attitude' in the binary output registers. */
|
||||
typedef enum
|
||||
{
|
||||
ATTITUDEGROUP_NONE = 0x0000, /**< None. */
|
||||
ATTITUDEGROUP_VPESTATUS = 0x0001, /**< VpeStatus. */
|
||||
ATTITUDEGROUP_YAWPITCHROLL = 0x0002, /**< YawPitchRoll. */
|
||||
ATTITUDEGROUP_QUATERNION = 0x0004, /**< Quaternion. */
|
||||
ATTITUDEGROUP_DCM = 0x0008, /**< DCM. */
|
||||
ATTITUDEGROUP_MAGNED = 0x0010, /**< MagNed. */
|
||||
ATTITUDEGROUP_ACCELNED = 0x0020, /**< AccelNed. */
|
||||
ATTITUDEGROUP_LINEARACCELBODY = 0x0040, /**< LinearAccelBody. */
|
||||
ATTITUDEGROUP_LINEARACCELNED = 0x0080, /**< LinearAccelNed. */
|
||||
ATTITUDEGROUP_YPRU = 0x0100 /**< YprU. */
|
||||
#ifdef EXTRA
|
||||
,
|
||||
ATTITUDEGROUP_YPRRATE = 0x0200, /**< YprRate. */
|
||||
ATTITUDEGROUP_STATEAHRS = 0x0400, /**< StateAhrs. */
|
||||
ATTITUDEGROUP_COVAHRS = 0x0800 /**< CovAhrs. */
|
||||
#endif
|
||||
} AttitudeGroup;
|
||||
|
||||
/** \brief Flags for the binary group 6 'INS' in the binary output registers. */
|
||||
typedef enum
|
||||
{
|
||||
INSGROUP_NONE = 0x0000, /**< None. */
|
||||
INSGROUP_INSSTATUS = 0x0001, /**< InsStatus. */
|
||||
INSGROUP_POSLLA = 0x0002, /**< PosLla. */
|
||||
INSGROUP_POSECEF = 0x0004, /**< PosEcef. */
|
||||
INSGROUP_VELBODY = 0x0008, /**< VelBody. */
|
||||
INSGROUP_VELNED = 0x0010, /**< VelNed. */
|
||||
INSGROUP_VELECEF = 0x0020, /**< VelEcef. */
|
||||
INSGROUP_MAGECEF = 0x0040, /**< MagEcef. */
|
||||
INSGROUP_ACCELECEF = 0x0080, /**< AccelEcef. */
|
||||
INSGROUP_LINEARACCELECEF = 0x0100, /**< LinearAccelEcef. */
|
||||
INSGROUP_POSU = 0x0200, /**< PosU. */
|
||||
INSGROUP_VELU = 0x0400 /**< VelU. */
|
||||
#ifdef EXTRA
|
||||
,
|
||||
INSGROUP_STATEINS = 0x0800, /**< StateIns. */
|
||||
INSGROUP_COVINS = 0x1000 /**< CovIns. */
|
||||
#endif
|
||||
} InsGroup;
|
||||
|
||||
/** \brief Enumeration of the velocity types */
|
||||
typedef enum
|
||||
{
|
||||
CDVEL_None,
|
||||
CDVEL_GpsNed,
|
||||
CDVEL_GpsEcef,
|
||||
CDVEL_EstimatedNed,
|
||||
CDVEL_EstimatedEcef,
|
||||
CDVEL_EstimatedBody
|
||||
} VelocityType;
|
||||
|
||||
/** \brief Errors that the VectorNav sensor can report. */
|
||||
typedef enum
|
||||
{
|
||||
ERR_HARD_FAULT = 1, /**< Hard fault. */
|
||||
ERR_SERIAL_BUFFER_OVERFLOW = 2, /**< Serial buffer overflow. */
|
||||
ERR_INVALID_CHECKSUM = 3, /**< Invalid checksum. */
|
||||
ERR_INVALID_COMMAND = 4, /**< Invalid command. */
|
||||
ERR_NOT_ENOUGH_PARAMETERS = 5, /**< Not enough parameters. */
|
||||
ERR_TOO_MANY_PARAMETERS = 6, /**< Too many parameters. */
|
||||
ERR_INVALID_PARAMETER = 7, /**< Invalid parameter. */
|
||||
ERR_INVALID_REGISTER = 8, /**< Invalid register. */
|
||||
ERR_UNAUTHORIZED_ACCESS = 9, /**< Unauthorized access. */
|
||||
ERR_WATCHDOG_RESET = 10, /**< Watchdog reset. */
|
||||
ERR_OUTPUT_BUFFER_OVERFLOW = 11, /**< Output buffer overflow. */
|
||||
ERR_INSUFFICIENT_BAUD_RATE = 12, /**< Insufficient baud rate. */
|
||||
ERR_ERROR_BUFFER_OVERFLOW = 255 /**< Error buffer overflow. */
|
||||
} SensorError;
|
||||
|
||||
/** \brief Enumeration of the various error messages used by the library. */
|
||||
typedef enum
|
||||
{
|
||||
/** Indicates there were no errors encountered. */
|
||||
E_NONE,
|
||||
|
||||
/** Indicates an unknown error occurred. */
|
||||
E_UNKNOWN,
|
||||
|
||||
/** Indicates a provided buffer was too small to complete the action. */
|
||||
E_BUFFER_TOO_SMALL,
|
||||
|
||||
/** Indicates a provided value is not valid. */
|
||||
E_INVALID_VALUE,
|
||||
|
||||
/** Indicates the requested functionality is currently not implemented. */
|
||||
E_NOT_IMPLEMENTED,
|
||||
|
||||
/** Indicates the requested functionality is not supported. */
|
||||
E_NOT_SUPPORTED,
|
||||
|
||||
/** Indicates the requested item was not found. */
|
||||
E_NOT_FOUND,
|
||||
|
||||
/** Indicates the operation timed out. */
|
||||
E_TIMEOUT,
|
||||
|
||||
/** Indicates insufficient permission to perform the operation. */
|
||||
E_PERMISSION_DENIED,
|
||||
|
||||
/** Indicates an invalid operation was attempted. */
|
||||
E_INVALID_OPERATION,
|
||||
|
||||
/** Indicates an event was signaled. */
|
||||
E_SIGNALED,
|
||||
|
||||
/** Indicates either not enough memory is available or no memory was allocated */
|
||||
E_MEMORY_NOT_ALLOCATED,
|
||||
|
||||
/** VectorNav sensor hard fault (Code 1). */
|
||||
E_SENSOR_HARD_FAULT = 1001,
|
||||
|
||||
/** VectorNav sensor serial buffer overflow (Code 2). */
|
||||
E_SENSOR_SERIAL_BUFFER_OVERFLOW = 1002,
|
||||
|
||||
/** VectorNav sensor invalid checksum (Code 3). */
|
||||
E_SENSOR_INVALID_CHECKSUM = 1003,
|
||||
|
||||
/** VectorNav sensor invalid command (Code 4). */
|
||||
E_SENSOR_INVALID_COMMAND = 1004,
|
||||
|
||||
/** VectorNav sensor not enough parameters (Code 5). */
|
||||
E_SENSOR_NOT_ENOUGH_PARAMETERS = 1005,
|
||||
|
||||
/** VectorNav sensor too many parameters (Code 6). */
|
||||
E_SENSOR_TOO_MANY_PARAMETERS = 1006,
|
||||
|
||||
/** VectorNav sensor invalid parameter (Code 7). */
|
||||
E_SENSOR_INVALID_PARAMETER = 1007,
|
||||
|
||||
/** VectorNav sensor invalid register (Code 8). */
|
||||
E_SENSOR_INVALID_REGISTER = 1008,
|
||||
|
||||
/** VectorNav sensor unauthorized access (Code 9). */
|
||||
E_SENSOR_UNAUTHORIZED_ACCESS = 1009,
|
||||
|
||||
/** VectorNav sensor watchdog reset (Code 10). */
|
||||
E_SENSOR_WATCHDOG_RESET = 1010,
|
||||
|
||||
/** VectorNav sensor output buffer overflow (Code 11). */
|
||||
E_SENSOR_OUTPUT_BUFFER_OVERFLOW = 1011,
|
||||
|
||||
/** VectorNav sensor insufficient baud rate (Code 12). */
|
||||
E_SENSOR_INSUFFICIENT_BAUD_RATE = 1012,
|
||||
|
||||
/** VectorNav sensor error buffer overflow (Code 13). */
|
||||
E_SENSOR_ERROR_BUFFER_OVERFLOW = 1013,
|
||||
|
||||
E_DATA_NOT_ELLIPTICAL = 2001, /**< \brief Data set not elliptical. */
|
||||
E_ILL_CONDITIONED = 2002, /**< \brief Algorithm had a bad condition. */
|
||||
E_EXCEEDED_MAX_ITERATIONS = 2003, /**< \brief Algorithm exceeded the number of interations it is allowed. */
|
||||
E_BAD_FINAL_INTERATION = 2004, /**< \brief Algorithm's last interation changed exceeded threshold. */
|
||||
E_INSUFFICIENT_DATA = 2005, /**< \brief Not enough data points were provided. */
|
||||
|
||||
/** \brief Errors that the VectorNav bootload can report. */
|
||||
E_BOOTLOADER_NONE = 3000, /**< No Error, send next record*/
|
||||
E_BOOTLOADER_INVALID_COMMAND = 3001, /**< Problem with VNX record, abort */
|
||||
E_BOOTLOADER_INVALID_RECORD_TYPE = 3002, /**< Problem with VNX record, abort */
|
||||
E_BOOTLOADER_INVALID_BYTE_COUNT = 3003, /**< Problem with VNX record, abort */
|
||||
E_BOOTLOADER_INVALID_MEMORY_ADDRESS = 3004, /**< Problem with VNX record, abort */
|
||||
E_BOOTLOADER_COMM_ERROR = 3005, /**< Checksum error, resend record */
|
||||
E_BOOTLOADER_INVALID_HEX_FILE = 3006, /**< Problem with VNX record, abort */
|
||||
E_BOOTLOADER_DECRYPTION_ERROR = 3007, /**< Invalid VNX file or record sent out of order, abort */
|
||||
E_BOOTLOADER_INVALID_BLOCK_CRC = 3008, /**< Data verification failed, abort */
|
||||
E_BOOTLOADER_INVALID_PROGRAM_CRC = 3009, /**< Problemw ith firmware on device */
|
||||
E_BOOTLOADER_INVALID_PROGRAM_SIZE = 3010, /**< Problemw ith firmware on device */
|
||||
E_BOOTLOADER_MAX_RETRY_COUNT = 3011, /**< Too many errors, abort */
|
||||
E_BOOTLOADER_TIMEOUT = 3012, /**< Timeout expired, reset */
|
||||
E_BOOTLOADER_RESERVED = 3013 /**< Contact VectorNav, abort */
|
||||
|
||||
} VnError;
|
||||
|
||||
/** \brief Enumeration of the various error-detection algorithms used by the
|
||||
* library. */
|
||||
typedef enum
|
||||
{
|
||||
/** Signifies no error-detection should be performed. */
|
||||
VNERRORDETECTIONMODE_NONE,
|
||||
|
||||
/** Signifies to use 8-bit XOR checksum. */
|
||||
VNERRORDETECTIONMODE_CHECKSUM,
|
||||
|
||||
/** Signifies to use CRC16-CCITT algorithm. */
|
||||
VNERRORDETECTIONMODE_CRC
|
||||
|
||||
} VnErrorDetectionMode;
|
||||
|
||||
/** \brief Different modes for the SyncInMode field of the Synchronization Control register. */
|
||||
typedef enum
|
||||
{
|
||||
#ifdef EXTRA
|
||||
/** \brief Count the number of trigger events on SYNC_IN_2 pin.
|
||||
/ * \deprecated This option is obsolete for VN-100 firmware version 2.0 and greater and VN-200 firmware version 1.0 and greater.
|
||||
*/
|
||||
VNSYNCINMODE_COUNT2 = 0,
|
||||
/** \brief Start ADC sampling on trigger of SYNC_IN_2 pin.
|
||||
/ * \deprecated This option is obsolete for VN-100 firmware version 2.0 and greater and VN-200 firmware version 1.0 and greater.
|
||||
*/
|
||||
VNSYNCINMODE_ADC2 = 1,
|
||||
/** \brief Output asynchronous message on trigger of SYNC_IN_2 pin.
|
||||
/ * \deprecated This option is obsolete for VN-100 firmware version 2.0 and greater and VN-200 firmware version 1.0 and greater.
|
||||
*/
|
||||
VNSYNCINMODE_ASYNC2 = 2,
|
||||
#endif
|
||||
/** \brief Count number of trigger events on SYNC_IN pin.
|
||||
*/
|
||||
VNSYNCINMODE_COUNT = 3,
|
||||
/** \brief Start IMU sampling on trigger of SYNC_IN pin.
|
||||
*/
|
||||
VNSYNCINMODE_IMU = 4,
|
||||
/** \brief Output asynchronous message on trigger of SYNC_IN pin.
|
||||
*/
|
||||
VNSYNCINMODE_ASYNC = 5
|
||||
} VnSyncInMode;
|
||||
|
||||
/** \brief Different modes for the SyncInEdge field of the Synchronization Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Trigger on the rising edge on the SYNC_IN pin.
|
||||
*/
|
||||
VNSYNCINEDGE_RISING = 0,
|
||||
/** \brief Trigger on the falling edge on the SYNC_IN pin.
|
||||
*/
|
||||
VNSYNCINEDGE_FALLING = 1
|
||||
} VnSyncInEdge;
|
||||
|
||||
/** \brief Different modes for the SyncOutMode field of the Synchronization Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief None.
|
||||
*/
|
||||
VNSYNCOUTMODE_NONE = 0,
|
||||
/** \brief Trigger at start of IMU sampling.
|
||||
*/
|
||||
VNSYNCOUTMODE_ITEMSTART = 1,
|
||||
/** \brief Trigger when IMU measurements are available.
|
||||
*/
|
||||
VNSYNCOUTMODE_IMUREADY = 2,
|
||||
/** \brief Trigger when attitude measurements are available.
|
||||
*/
|
||||
VNSYNCOUTMODE_INS = 3,
|
||||
/** \brief Trigger on GPS PPS event when a 3D fix is valid.
|
||||
*/
|
||||
VNSYNCOUTMODE_GPSPPS = 6
|
||||
} VnSyncOutMode;
|
||||
|
||||
/** \brief Different modes for the SyncOutPolarity field of the Synchronization Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Negative pulse.
|
||||
*/
|
||||
VNSYNCOUTPOLARITY_NEGATIVE = 0,
|
||||
/** \brief Positive pulse.
|
||||
*/
|
||||
VNSYNCOUTPOLARITY_POSITIVE = 1
|
||||
} VnSyncOutPolarity;
|
||||
|
||||
/** \brief Counting modes for the Communication Protocol Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Off.
|
||||
*/
|
||||
VNCOUNTMODE_NONE = 0,
|
||||
/** \brief SyncIn counter.
|
||||
*/
|
||||
VNCOUNTMODE_SYNCINCOUNT = 1,
|
||||
/** \brief SyncIn time.
|
||||
*/
|
||||
VNCOUNTMODE_SYNCINTIME = 2,
|
||||
/** \brief SyncOut counter.
|
||||
*/
|
||||
VNCOUNTMODE_SYNCOUTCOUNTER = 3,
|
||||
/** \brief GPS PPS time.
|
||||
*/
|
||||
VNCOUNTMODE_GPSPPS = 4
|
||||
} VnCountMode;
|
||||
|
||||
/** \brief Status modes for the Communication Protocol Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Off.
|
||||
*/
|
||||
VNSTATUSMODE_OFF = 0,
|
||||
/** \brief VPE status.
|
||||
*/
|
||||
VNSTATUSMODE_VPESTATUS = 1,
|
||||
/** \brief INS status.
|
||||
*/
|
||||
VNSTATUSMODE_INSSTATUS = 2
|
||||
} VnStatusMode;
|
||||
|
||||
/** \brief Checksum modes for the Communication Protocol Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Off.
|
||||
*/
|
||||
VNCHECKSUMMODE_OFF = 0,
|
||||
/** \brief 8-bit checksum.
|
||||
*/
|
||||
VNCHECKSUMMODE_CHECKSUM = 1,
|
||||
/** \brief 16-bit CRC.
|
||||
*/
|
||||
VNCHECKSUMMODE_CRC = 2
|
||||
} VnChecksumMode;
|
||||
|
||||
/** \brief Error modes for the Communication Protocol Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Ignore error.
|
||||
*/
|
||||
VNERRORMODE_IGNORE = 0,
|
||||
/** \brief Send error.
|
||||
*/
|
||||
VNERRORMODE_SEND = 1,
|
||||
/** \brief Send error and set ADOR register to off.
|
||||
*/
|
||||
VNERRORMODE_SENDANDOFF = 2
|
||||
} VnErrorMode;
|
||||
|
||||
/** \brief Filter modes for the IMU Filtering Configuration register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief No filtering.
|
||||
*/
|
||||
VNFILTERMODE_NOFILTERING = 0,
|
||||
/** \brief Filtering performed only on raw uncompensated IMU measurements.
|
||||
*/
|
||||
VNFILTERMODE_ONLYRAW = 1,
|
||||
/** \brief Filtering performed only on compensated IMU measurements.
|
||||
*/
|
||||
VNFILTERMODE_ONLYCOMPENSATED = 2,
|
||||
/** \brief Filtering performed on both uncompensated and compensated IMU measurements.
|
||||
*/
|
||||
VNFILTERMODE_BOTH = 3
|
||||
} VnFilterMode;
|
||||
|
||||
/** \brief Integration frames for the Delta Theta and Delta Velocity Configuration register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Body frame.
|
||||
*/
|
||||
VNINTEGRATIONFRAME_BODY = 0,
|
||||
/** \brief NED frame.
|
||||
*/
|
||||
VNINTEGRATIONFRAME_NED = 1
|
||||
} VnIntegrationFrame;
|
||||
|
||||
/** \brief Compensation modes for the Delta Theta and Delta Velocity configuration register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief None.
|
||||
*/
|
||||
VNCOMPENSATIONMODE_NONE = 0,
|
||||
/** \brief Bias.
|
||||
*/
|
||||
VNCOMPENSATIONMODE_BIAS = 1
|
||||
} VnCompensationMode;
|
||||
|
||||
/** \brief GPS fix modes for the GPS Solution - LLA register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief No fix.
|
||||
*/
|
||||
VNGPSFIX_NOFIX = 0,
|
||||
/** \brief Time only.
|
||||
*/
|
||||
VNGPSFIX_TIMEONLY = 1,
|
||||
/** \brief 2D.
|
||||
*/
|
||||
VNGPSFIX_2D = 2,
|
||||
/** \brief 3D.
|
||||
*/
|
||||
VNGPSFIX_3D = 3
|
||||
} VnGpsFix;
|
||||
|
||||
/** \brief GPS modes for the GPS Configuration register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Use onboard GPS.
|
||||
*/
|
||||
VNGPSMODE_ONBOARDGPS = 0,
|
||||
/** \brief Use external GPS.
|
||||
*/
|
||||
VNGPSMODE_EXTERNALGPS = 1,
|
||||
/** \brief Use external VN-200 as GPS.
|
||||
*/
|
||||
VNGPSMODE_EXTERNALVN200GPS = 2
|
||||
} VnGpsMode;
|
||||
|
||||
/** \brief GPS PPS mode for the GPS Configuration register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief GPS PPS signal on GPS_PPS pin and triggered on rising edge.
|
||||
*/
|
||||
VNPPSSOURCE_GPSPPSRISING = 0,
|
||||
/** \brief GPS PPS signal on GPS_PPS pin and triggered on falling edge.
|
||||
*/
|
||||
VNPPSSOURCE_GPSPPSFALLING = 1,
|
||||
/** \brief GPS PPS signal on SyncIn pin and triggered on rising edge.
|
||||
*/
|
||||
VNPPSSOURCE_SYNCINRISING = 2,
|
||||
/** \brief GPS PPS signal on SyncIn pin and triggered on falling edge.
|
||||
*/
|
||||
VNPPSSOURCE_SYNCINFALLING = 3
|
||||
} VnPpsSource;
|
||||
|
||||
/** \brief VPE Enable mode for the VPE Basic Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Disable
|
||||
*/
|
||||
VNVPEENABLE_DISABLE = 0,
|
||||
/** \brief Enable
|
||||
*/
|
||||
VNVPEENABLE_ENABLE = 1
|
||||
} VnVpeEnable;
|
||||
|
||||
/** \brief VPE Heading modes used by the VPE Basic Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Absolute heading.
|
||||
*/
|
||||
VNHEADINGMODE_ABSOLUTE = 0,
|
||||
/** \brief Relative heading.
|
||||
*/
|
||||
VNHEADINGMODE_RELATIVE = 1,
|
||||
/** \brief Indoor heading.
|
||||
*/
|
||||
VNHEADINGMODE_INDOOR = 2
|
||||
} VnHeadingMode;
|
||||
|
||||
/** \brief VPE modes for the VPE Basic Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Off.
|
||||
*/
|
||||
VNVPEMODE_OFF = 0,
|
||||
/** \brief Mode 1.
|
||||
*/
|
||||
VNVPEMODE_MODE1 = 1
|
||||
} VnVpeMode;
|
||||
|
||||
/** \brief Different scenario modes for the INS Basic Configuration register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief AHRS.
|
||||
*/
|
||||
VNSCENARIO_AHRS = 0,
|
||||
/** \brief General purpose INS with barometric pressure sensor.
|
||||
*/
|
||||
VNSCENARIO_INSWITHPRESSURE = 1,
|
||||
/** \brief General purpose INS without barometric pressure sensor.
|
||||
*/
|
||||
VNSCENARIO_INSWITHOUTPRESSURE = 2,
|
||||
/** \brief GPS moving baseline for dynamic applications.
|
||||
*/
|
||||
VNSCENARIO_GPSMOVINGBASELINEDYNAMIC = 3,
|
||||
/** \brief GPS moving baseline for static applications.
|
||||
*/
|
||||
VNSCENARIO_GPSMOVINGBASELINESTATIC = 4
|
||||
} VnScenario;
|
||||
|
||||
/** \brief HSI modes used for the Magnetometer Calibration Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Real-time hard/soft iron calibration algorithm is turned off.
|
||||
*/
|
||||
VNHSIMODE_OFF = 0,
|
||||
/** \brief Runs the real-time hard/soft iron calibration algorithm.
|
||||
*/
|
||||
VNHSIMODE_RUN = 1,
|
||||
/** \brief Resets the real-time hard/soft iron solution.
|
||||
*/
|
||||
VNHSIMODE_RESET = 2
|
||||
} VnHsiMode;
|
||||
|
||||
/** \brief HSI output types for the Magnetometer Calibration Control register. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Onboard HSI is not applied to the magnetic measurements.
|
||||
*/
|
||||
VNHSIOUTPUT_NOONBOARD = 1,
|
||||
/** \brief Onboard HSI is applied to the magnetic measurements.
|
||||
*/
|
||||
VNHSIOUTPUT_USEONBOARD = 3
|
||||
} VnHsiOutput;
|
||||
|
||||
/** \brief Type of velocity compensation performed by the VPE. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Disabled
|
||||
*/
|
||||
VNVELOCITYCOMPENSATIONMODE_DISABLED = 0,
|
||||
/** \brief Body Measurement
|
||||
*/
|
||||
VNVELOCITYCOMPENSATIONMODE_BODYMEASUREMENT = 1
|
||||
} VnVelocityCompensationMode;
|
||||
|
||||
/** \brief How the magnetometer is used by the filter. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Magnetometer will only affect heading.
|
||||
*/
|
||||
VNMAGNETICMODE_2D = 0,
|
||||
/** \brief Magnetometer will affect heading, pitch, and roll.
|
||||
*/
|
||||
VNMAGNETICMODE_3D = 1
|
||||
} VnMagneticMode;
|
||||
|
||||
/** \brief Source for magnetometer used by the filter. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief Use internal magnetometer.
|
||||
*/
|
||||
VNEXTERNALSENSORMODE_INTERNAL = 0,
|
||||
/** \brief Use external magnetometer. Will use measurement at every new time step.
|
||||
*/
|
||||
VNEXTERNALSENSORMODE_EXTERNAL200HZ = 1,
|
||||
/** \brief Use external magnetometer. Will only use when the measurement is updated.
|
||||
*/
|
||||
VNEXTERNALSENSORMODE_EXTERNALONUPDATE = 2
|
||||
} VnExternalSensorMode;
|
||||
|
||||
/** \brief Options for the use of FOAM. */
|
||||
typedef enum
|
||||
{
|
||||
/** \brief FOAM is not used.
|
||||
*/
|
||||
VNFOAMINIT_NOFOAMINIT = 0,
|
||||
/** \brief FOAM is used to initialize only pitch and roll.
|
||||
*/
|
||||
VNFOAMINIT_FOAMINITPITCHROLL = 1,
|
||||
/** \brief FOAM is used to initialize heading, pitch and roll.
|
||||
*/
|
||||
VNFOAMINIT_FOAMINITHEADINGPITCHROLL = 2,
|
||||
/** \brief FOAM is used to initialize pitch, roll and covariance.
|
||||
*/
|
||||
VNFOAMINIT_FOAMINITPITCHROLLCOVARIANCE = 3,
|
||||
/** \brief FOAM is used to initialize heading, pitch, roll and covariance
|
||||
*/
|
||||
VNFOAMINIT_FOAMINITHEADINGPITCHROLLCOVARIANCE = 4
|
||||
} VnFoamInit;
|
||||
|
||||
/** \brief The different types of processors. */
|
||||
typedef enum
|
||||
{
|
||||
VNPROCESSOR_NAV, /**< Navigation Processor. */
|
||||
VNPROCESSOR_GPS, /**< GPS Processor. */
|
||||
VNPROCESSOR_IMU /**< IMU Processor. */
|
||||
} VnProcessorType;
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,50 @@
|
|||
#ifndef _FRAMES_H_
|
||||
#define _FRAMES_H_
|
||||
|
||||
#include "registers.h"
|
||||
|
||||
extern "C"{
|
||||
namespace vn{
|
||||
typedef struct QuaternionMagneticAccelerationAndAngularRates{
|
||||
static constexpr uint16_t ID = 8;
|
||||
QuaternionMagneticAccelerationAndAngularRatesRegister Register;
|
||||
QuaternionMagneticAccelerationAndAngularRates(){
|
||||
memset(&Register, 0, sizeof(Register));
|
||||
}
|
||||
};
|
||||
|
||||
typedef struct InsSolutionLla{
|
||||
static constexpr uint16_t ID = 63;
|
||||
InsSolutionLlaRegister Register;
|
||||
InsSolutionLla(){
|
||||
memset(&Register, 0, sizeof(Register));
|
||||
}
|
||||
};
|
||||
|
||||
typedef struct GpsSolutionLla{
|
||||
static constexpr uint16_t ID = 58;
|
||||
GpsSolutionLlaRegister Register;
|
||||
GpsSolutionLla(){
|
||||
memset(&Register, 0, sizeof(Register));
|
||||
}
|
||||
};
|
||||
|
||||
typedef struct YawPitchRollTrueBodyAccelerationAndAngularRates{
|
||||
static constexpr uint16_t ID = 58;
|
||||
YawPitchRollTrueBodyAccelerationAndAngularRatesRegister Register;
|
||||
YawPitchRollTrueBodyAccelerationAndAngularRates(){
|
||||
memset(&Register, 0, sizeof(Register));
|
||||
}
|
||||
};
|
||||
|
||||
typedef struct MagneticAccelerationAndAngularRates{
|
||||
static constexpr uint16_t ID = 58;
|
||||
MagneticAccelerationAndAngularRatesRegister Register;
|
||||
MagneticAccelerationAndAngularRates(){
|
||||
memset(&Register, 0, sizeof(Register));
|
||||
}
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* _FRAMES_H_ */
|
||||
|
|
@ -0,0 +1,57 @@
|
|||
#ifndef _VN_HELPER_H_
|
||||
#define _VN_HELPER_H_
|
||||
|
||||
#include <map>
|
||||
#include <stdint.h>
|
||||
#include <vector>
|
||||
|
||||
#define VN_SPI_READ 0x01
|
||||
#define VN_SPI_WRITE 0x02
|
||||
|
||||
namespace vn {
|
||||
|
||||
const uint8_t ImuMeasurementsRegisterID = 54;
|
||||
|
||||
/** \brief TODO */
|
||||
union header_t {
|
||||
struct request_t {
|
||||
uint8_t Cmd = 0; /* Defined in VN_SPI_READ */
|
||||
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 VN_SPI_READ */
|
||||
uint8_t ID = 0; /* Register ID */
|
||||
uint8_t Empty2 = 0; /* Spacer */
|
||||
response_t(){};
|
||||
};
|
||||
};
|
||||
|
||||
/** \brief Requests the specified register to write the payload into it */
|
||||
template <typename payload_t> struct pkg_request_write_t {
|
||||
struct header_t::request_t header;
|
||||
payload_t payload;
|
||||
pkg_request_write_t(uint8_t ID) : header(ID, VN_SPI_WRITE){};
|
||||
};
|
||||
|
||||
/** \brief Requests the specified register to read from */
|
||||
struct pkg_request_read_t {
|
||||
struct header_t::request_t header;
|
||||
pkg_request_read_t(uint8_t ID) : header(ID, VN_SPI_READ){};
|
||||
};
|
||||
|
||||
/** \brief Response structure for the specified register */
|
||||
template <typename payload_t> struct pkg_response_t {
|
||||
struct header_t::response_t header;
|
||||
payload_t payload;
|
||||
pkg_response_t() : header(){};
|
||||
};
|
||||
|
||||
} // namespace vn
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
#ifndef VNINT_H_INCLUDED
|
||||
#define VNINT_H_INCLUDED
|
||||
|
||||
#ifdef _WIN32
|
||||
#pragma warning(push)
|
||||
#pragma warning(disable : 4820)
|
||||
#pragma warning(disable : 4255)
|
||||
#endif
|
||||
|
||||
/* Visual Studio 2008 and earlier do not include the stdint.h header file. */
|
||||
#if defined(_MSC_VER) && _MSC_VER <= 1500
|
||||
typedef signed __int8 int8_t;
|
||||
typedef signed __int16 int16_t;
|
||||
typedef signed __int32 int32_t;
|
||||
typedef signed __int64 int64_t;
|
||||
typedef unsigned __int8 uint8_t;
|
||||
typedef unsigned __int16 uint16_t;
|
||||
typedef unsigned __int32 uint32_t;
|
||||
typedef unsigned __int64 uint64_t;
|
||||
#else
|
||||
/* Just include the standard header file for integer types. */
|
||||
#include <stdint.h>
|
||||
#endif
|
||||
|
||||
#ifdef _WIN32
|
||||
#pragma warning(pop)
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
#ifndef VN_MATRIX_H_INCLUDED
|
||||
#define VN_MATRIX_H_INCLUDED
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/** \brief Represents a 3x3 matrix with an underlying data type of <c>float</c>. */
|
||||
typedef union {
|
||||
float e[3 * 3]; /**< The matrix's elements in column-major ordering. */
|
||||
|
||||
struct {
|
||||
float e00; /**< Element [0,0]. */
|
||||
float e10; /**< Element [1,0]. */
|
||||
float e20; /**< Element [2,0]. */
|
||||
float e01; /**< Element [0,1]. */
|
||||
float e11; /**< Element [1,1]. */
|
||||
float e21; /**< Element [2,1]. */
|
||||
float e02; /**< Element [0,2]. */
|
||||
float e12; /**< Element [1,2]. */
|
||||
float e22; /**< Element [2,2]. */
|
||||
};
|
||||
|
||||
} mat3f;
|
||||
|
||||
/** \brief Represents a quaternion reading with underlying data type of <c>float</c>. */
|
||||
typedef union {
|
||||
float c[4]; /**< Indexable. */
|
||||
|
||||
struct {
|
||||
float x; /**< The x component. */
|
||||
float y; /**< The y component. */
|
||||
float z; /**< The z component. */
|
||||
float w; /**< The w component. */
|
||||
};
|
||||
|
||||
struct {
|
||||
float c0; /**< Component 0. */
|
||||
float c1; /**< Component 1. */
|
||||
float c2; /**< Component 2. */
|
||||
float c3; /**< Component 2. */
|
||||
};
|
||||
|
||||
} quatf;
|
||||
|
||||
/** \brief Initializes a 3x3 float matrix from an float array with matrix
|
||||
* elements in column-major ordering.
|
||||
*
|
||||
* \param[out] m 3x3 float matrix to initialize
|
||||
* \param[in] fa float array containing a 3x3 matrix in column-major order */
|
||||
void vn_m3_init_fa(mat3f *m, const float *fa);
|
||||
|
||||
/** \brief Converts a mat3f to a string.
|
||||
*
|
||||
* \param[out] out The char buffer to output the result to.
|
||||
* \param[in] m The mat3f to convert.
|
||||
*/
|
||||
void strFromMat3f(char *out, mat3f m);
|
||||
|
||||
/** \brief Negates a mat3f.
|
||||
* \param[in] m Matrix to negate.
|
||||
* \return Negated matrix. */
|
||||
mat3f vnm_negative_mat3f(mat3f m);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,148 @@
|
|||
#ifndef VN_VECTOR_H_INCLUDED
|
||||
#define VN_VECTOR_H_INCLUDED
|
||||
#include <cstring>
|
||||
#include <stdio.h>
|
||||
|
||||
/** \brief Various vector types and operations. */
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/** \brief Represents a 3 component vector with an underlying data type of
|
||||
* <c>float</c>. */
|
||||
typedef union vec3f {
|
||||
float c[3]; /**< Indexable. */
|
||||
|
||||
struct {
|
||||
float x; /**< X component. */
|
||||
float y; /**< Y component. */
|
||||
float z; /**< Z component. */
|
||||
};
|
||||
|
||||
struct {
|
||||
float c0; /**< Component 0. */
|
||||
float c1; /**< Component 1. */
|
||||
float c2; /**< Component 2. */
|
||||
};
|
||||
vec3f() { std::memset(this, 0, sizeof(vec3f)); }
|
||||
};
|
||||
|
||||
/** \brief Represents a 3 component vector with an underlying data type of
|
||||
* <c>double</c>. */
|
||||
typedef union vec3d {
|
||||
double c[3]; /**< Indexable. */
|
||||
|
||||
struct {
|
||||
double x; /**< The x component. */
|
||||
double y; /**< The y component. */
|
||||
double z; /**< The z component. */
|
||||
};
|
||||
|
||||
struct {
|
||||
double c0; /**< Component 0. */
|
||||
double c1; /**< Component 1. */
|
||||
double c2; /**< Component 2. */
|
||||
};
|
||||
vec3d() { std::memset(this, 0, sizeof(vec3d)); }
|
||||
};
|
||||
|
||||
/** \brief Represents a 4 component vector with an underlying data type of
|
||||
* <c>float</c>. */
|
||||
typedef union vec4f {
|
||||
float c[4]; /**< Indexable. */
|
||||
|
||||
struct {
|
||||
float x; /**< The x component. */
|
||||
float y; /**< The y component. */
|
||||
float z; /**< The z component. */
|
||||
float w; /**< The w component. */
|
||||
};
|
||||
|
||||
struct {
|
||||
float c0; /**< Component 0. */
|
||||
float c1; /**< Component 1. */
|
||||
float c2; /**< Component 2. */
|
||||
float c3; /**< Component 2. */
|
||||
};
|
||||
vec4f() { std::memset(this, 0, sizeof(vec4f)); }
|
||||
};
|
||||
|
||||
/** \brief Initializes a 3-dimensional float vector from an float array.
|
||||
*
|
||||
* \param[out] v 3-dimensional float vector to initialize
|
||||
* \param[in] fa float array a 3-componet vector */
|
||||
void vn_v3_init_fa(vec3f *v, const float *fa);
|
||||
|
||||
/** Creates a vec3d initialized with provided values.
|
||||
* \param[in] x x-component.
|
||||
* \param[in] y y-component.
|
||||
* \param[in] z z-component.
|
||||
* \return The initialized vec3d. */
|
||||
vec3d create_v3d(double x, double y, double z);
|
||||
|
||||
/** \brief Adds two vec3f together.
|
||||
*
|
||||
* \param[in] lhs The lhs vec3f.
|
||||
* \param[in] rhs The rhs vec3f.
|
||||
* \return The resulting vec3f from adding lhs and rhs together. */
|
||||
vec3f add_v3f_v3f(vec3f lhs, vec3f rhs);
|
||||
|
||||
/** \brief Adds two vec3d together.
|
||||
*
|
||||
* \param[in] lhs The lhs vec3d.
|
||||
* \param[in] rhs The rhs vec3d.
|
||||
* \return The resulting vec3d from adding lhs and rhs together. */
|
||||
vec3d add_v3d_v3d(vec3d lhs, vec3d rhs);
|
||||
|
||||
/** \brief Adds two vec4f together.
|
||||
*
|
||||
* \param[in] lhs The lhs vec4f.
|
||||
* \param[in] rhs The rhs vec4f.
|
||||
* \return The resulting vec4f from adding lhs and rhs together. */
|
||||
vec4f add_v4f_v4f(vec4f lhs, vec4f rhs);
|
||||
|
||||
/** \brief Subtracts a vec3f from another vec3f.
|
||||
*
|
||||
* \param[in] lhs The lhs vec3f.
|
||||
* \param[in] rhs The rhs vec3f.
|
||||
* \return The resulting vec3f from subtracting rhs from lhs. */
|
||||
vec3f sub_v3f_v3f(vec3f lhs, vec3f rhs);
|
||||
|
||||
/** \brief Subtracts a vec3d from another vec3d.
|
||||
*
|
||||
* \param[in] lhs The lhs vec3d.
|
||||
* \param[in] rhs The rhs vec3d.
|
||||
* \return The resulting vec3d from subtracting rhs from lhs. */
|
||||
vec3d sub_v3d_v3d(vec3d lhs, vec3d rhs);
|
||||
|
||||
/** \brief Subtracts a vec4f from another vec4f.
|
||||
*
|
||||
* \param[in] lhs The lhs vec4f.
|
||||
* \param[in] rhs The rhs vec4f.
|
||||
* \return The resulting vec4f from subtracting rhs from lhs. */
|
||||
vec4f sub_v4f_v4f(vec4f lhs, vec4f rhs);
|
||||
|
||||
/** \brief Converts a vec3f to a string.
|
||||
*
|
||||
* \param[out] out The char buffer to output the result to.
|
||||
* \param[in] v The vec3f to convert. */
|
||||
void str_vec3f(char *out, vec3f v);
|
||||
|
||||
/** \brief Converts a vec3d to a string.
|
||||
*
|
||||
* \param[out] out The char buffer to output the result to.
|
||||
* \param[in] v The vec3d to convert. */
|
||||
void str_vec3d(char *out, vec3d v);
|
||||
|
||||
/** \brief Converts a vec4f to a string.
|
||||
*
|
||||
* \param[out] out The char buffer to output the result to.
|
||||
* \param[in] v The vec4f to convert. */
|
||||
void str_vec4f(char *out, vec4f v);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,845 @@
|
|||
/** \file
|
||||
* {COMMON_HEADER}
|
||||
*
|
||||
* \section Description
|
||||
* This header file contains declarations for using VectorNav sensors.
|
||||
*/
|
||||
#ifndef _VNSENSORS_H_
|
||||
#define _VNSENSORS_H_
|
||||
|
||||
#include <stddef.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include "enum.h"
|
||||
#include "int.h"
|
||||
#include "math/matrix.h"
|
||||
#include "math/vector.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
namespace vn {
|
||||
#endif
|
||||
|
||||
#ifdef _WIN32
|
||||
#pragma warning(push)
|
||||
#pragma warning(disable : 4820)
|
||||
#endif
|
||||
|
||||
// Define the max record size of a firmware update file
|
||||
#define MAXFIRMWAREUPDATERECORDSIZE 300
|
||||
|
||||
/** \defgroup registerStructures Register Structures
|
||||
* \brief These structures represent the various registers on a VecotorNav
|
||||
* sensor.
|
||||
*
|
||||
* \{ */
|
||||
|
||||
/** \brief Structure representing a Binary Output register.
|
||||
*
|
||||
* The field outputGroup available on the sensor's register is not necessary
|
||||
* in this structure since all read/writes operations will automatically
|
||||
* determine this from the settings for the individual groups within this
|
||||
* structure. */
|
||||
typedef struct {
|
||||
AsyncMode asyncMode; /**< The asyncMode field. */
|
||||
uint16_t rateDivisor; /**< The rateDivisor field. */
|
||||
CommonGroup commonField; /**< Group 1 (Common) */
|
||||
TimeGroup timeField; /**< Group 2 (Time) */
|
||||
ImuGroup imuField; /**< Group 3 (IMU) */
|
||||
GpsGroup gpsField; /**< Group 4 (GPS) */
|
||||
AttitudeGroup attitudeField; /**< Group 5 (Attitude) */
|
||||
InsGroup insField; /**< Group 6 (INS) */
|
||||
GpsGroup gps2Field; /**< Group 7 (GPS2) */
|
||||
} BinaryOutputRegister;
|
||||
|
||||
/** \brief Initializes a BinaryOutputRegister structure.
|
||||
*
|
||||
* \param[in] reg The BinaryOutputRegister structure to initialize.
|
||||
* \param[in] asyncMode Value to initialize the asyncMode field with.
|
||||
* \param[in] rateDivisor Value to initialize the rateDivisor field with.
|
||||
* \param[in] commonField Value to initialize the commonField with.
|
||||
* \param[in] timeField Value to initialize the timeField with.
|
||||
* \param[in] imuField Value to initialize the imuField with.
|
||||
* \param[in] gpsField Value to initialize the gpsField with.
|
||||
* \param[in] attitudeField Value to initialize the attitudeField with.
|
||||
* \param[in] insField Value to initialize the insField with. */
|
||||
void BinaryOutputRegister_initialize(BinaryOutputRegister *reg, AsyncMode asyncMode, uint32_t rateDivisor, CommonGroup commonField,
|
||||
TimeGroup timeField, ImuGroup imuField, GpsGroup gpsField, AttitudeGroup attitudeField, InsGroup insField,
|
||||
GpsGroup gps2Field);
|
||||
|
||||
/** \brief Structure representing the Quaternion, Magnetic, Acceleration and Angular Rates register. */
|
||||
typedef struct {
|
||||
/** \brief The Quat field. */
|
||||
vec4f quat;
|
||||
|
||||
/** \brief The Mag field. */
|
||||
vec3f mag;
|
||||
|
||||
/** \brief The Accel field. */
|
||||
vec3f accel;
|
||||
|
||||
/** \brief The Gyro field. */
|
||||
vec3f gyro;
|
||||
} QuaternionMagneticAccelerationAndAngularRatesRegister;
|
||||
|
||||
/** \brief Structure representing the Magnetic, Acceleration and Angular Rates register. */
|
||||
typedef struct {
|
||||
/** \brief The Mag field. */
|
||||
vec3f mag;
|
||||
|
||||
/** \brief The Accel field. */
|
||||
vec3f accel;
|
||||
|
||||
/** \brief The Gyro field. */
|
||||
vec3f gyro;
|
||||
|
||||
} MagneticAccelerationAndAngularRatesRegister;
|
||||
|
||||
/** \brief Structure representing the Magnetic and Gravity Reference Vectors register. */
|
||||
typedef struct {
|
||||
/** \brief The MagRef field. */
|
||||
vec3f magRef;
|
||||
|
||||
/** \brief The AccRef field. */
|
||||
vec3f accRef;
|
||||
|
||||
} MagneticAndGravityReferenceVectorsRegister;
|
||||
|
||||
/** \brief Structure representing the Filter Measurements Variance Parameters register. */
|
||||
typedef struct {
|
||||
/** \brief The Angular Walk Variance field. */
|
||||
float angularWalkVariance;
|
||||
|
||||
/** \brief The Angular Rate Variance field. */
|
||||
vec3f angularRateVariance;
|
||||
|
||||
/** \brief The Magnetic Variance field. */
|
||||
vec3f magneticVariance;
|
||||
|
||||
/** \brief The Acceleration Variance field. */
|
||||
vec3f accelerationVariance;
|
||||
|
||||
} FilterMeasurementsVarianceParametersRegister;
|
||||
|
||||
/** \brief Structure representing the Magnetometer Compensation register. */
|
||||
typedef struct {
|
||||
/** \brief The C field. */
|
||||
mat3f c;
|
||||
|
||||
/** \brief The B field. */
|
||||
vec3f b;
|
||||
|
||||
} MagnetometerCompensationRegister;
|
||||
|
||||
/** \brief Structure representing the Filter Active Tuning Parameters register. */
|
||||
typedef struct {
|
||||
/** \brief The Magnetic Disturbance Gain field. */
|
||||
float magneticDisturbanceGain;
|
||||
|
||||
/** \brief The Acceleration Disturbance Gain field. */
|
||||
float accelerationDisturbanceGain;
|
||||
|
||||
/** \brief The Magnetic Disturbance Memory field. */
|
||||
float magneticDisturbanceMemory;
|
||||
|
||||
/** \brief The Acceleration Disturbance Memory field. */
|
||||
float accelerationDisturbanceMemory;
|
||||
|
||||
} FilterActiveTuningParametersRegister;
|
||||
|
||||
/** \brief Structure representing the Acceleration Compensation register. */
|
||||
typedef struct {
|
||||
/** \brief The C field. */
|
||||
mat3f c;
|
||||
|
||||
/** \brief The B field. */
|
||||
vec3f b;
|
||||
|
||||
} AccelerationCompensationRegister;
|
||||
|
||||
/** \brief Structure representing the Yaw, Pitch, Roll, Magnetic, Acceleration and Angular Rates register. */
|
||||
typedef struct {
|
||||
/** \brief The YawPitchRoll field. */
|
||||
vec3f yawPitchRoll;
|
||||
|
||||
/** \brief The Mag field. */
|
||||
vec3f mag;
|
||||
|
||||
/** \brief The Accel field. */
|
||||
vec3f accel;
|
||||
|
||||
/** \brief The Gyro field. */
|
||||
vec3f gyro;
|
||||
|
||||
} YawPitchRollMagneticAccelerationAndAngularRatesRegister;
|
||||
|
||||
/** \brief Structure representing the Communication Protocol Control register. */
|
||||
typedef struct {
|
||||
/** \brief The SerialCount field. */
|
||||
uint8_t serialCount;
|
||||
|
||||
/** \brief The SerialStatus field. */
|
||||
uint8_t serialStatus;
|
||||
|
||||
/** \brief The SPICount field. */
|
||||
uint8_t spiCount;
|
||||
|
||||
/** \brief The SPIStatus field. */
|
||||
uint8_t spiStatus;
|
||||
|
||||
/** \brief The SerialChecksum field. */
|
||||
uint8_t serialChecksum;
|
||||
|
||||
/** \brief The SPIChecksum field. */
|
||||
uint8_t spiChecksum;
|
||||
|
||||
/** \brief The ErrorMode field. */
|
||||
uint8_t errorMode;
|
||||
|
||||
} CommunicationProtocolControlRegister;
|
||||
|
||||
/** \brief Structure representing the Synchronization Control register. */
|
||||
typedef struct {
|
||||
/** \brief The SyncInMode field. */
|
||||
uint8_t syncInMode;
|
||||
|
||||
/** \brief The SyncInEdge field. */
|
||||
uint8_t syncInEdge;
|
||||
|
||||
/** \brief The SyncInSkipFactor field. */
|
||||
uint16_t syncInSkipFactor;
|
||||
|
||||
/** \brief The SyncOutMode field. */
|
||||
uint8_t syncOutMode;
|
||||
|
||||
/** \brief The SyncOutPolarity field. */
|
||||
uint8_t syncOutPolarity;
|
||||
|
||||
/** \brief The SyncOutSkipFactor field. */
|
||||
uint16_t syncOutSkipFactor;
|
||||
|
||||
/** \brief The SyncOutPulseWidth field. */
|
||||
uint32_t syncOutPulseWidth;
|
||||
|
||||
} SynchronizationControlRegister;
|
||||
|
||||
/** \brief Structure representing the Synchronization Status register. */
|
||||
typedef struct {
|
||||
/** \brief The SyncInCount field. */
|
||||
uint32_t syncInCount;
|
||||
|
||||
/** \brief The SyncInTime field. */
|
||||
uint32_t syncInTime;
|
||||
|
||||
/** \brief The SyncOutCount field. */
|
||||
uint32_t syncOutCount;
|
||||
|
||||
} SynchronizationStatusRegister;
|
||||
|
||||
/** \brief Structure representing the Filter Basic Control register. */
|
||||
typedef struct {
|
||||
/** \brief The MagMode field. */
|
||||
uint8_t magMode;
|
||||
|
||||
/** \brief The ExtMagMode field. */
|
||||
uint8_t extMagMode;
|
||||
|
||||
/** \brief The ExtAccMode field. */
|
||||
uint8_t extAccMode;
|
||||
|
||||
/** \brief The ExtGyroMode field. */
|
||||
uint8_t extGyroMode;
|
||||
|
||||
/** \brief The GyroLimit field. */
|
||||
vec3f gyroLimit;
|
||||
|
||||
} FilterBasicControlRegister;
|
||||
|
||||
/** \brief Structure representing the VPE Basic Control register. */
|
||||
typedef struct {
|
||||
/** \brief The Enable field. */
|
||||
uint8_t enable;
|
||||
|
||||
/** \brief The HeadingMode field. */
|
||||
uint8_t headingMode;
|
||||
|
||||
/** \brief The FilteringMode field. */
|
||||
uint8_t filteringMode;
|
||||
|
||||
/** \brief The TuningMode field. */
|
||||
uint8_t tuningMode;
|
||||
|
||||
} VpeBasicControlRegister;
|
||||
|
||||
/** \brief Structure representing the VPE Magnetometer Basic Tuning register. */
|
||||
typedef struct {
|
||||
/** \brief The BaseTuning field. */
|
||||
vec3f baseTuning;
|
||||
|
||||
/** \brief The AdaptiveTuning field. */
|
||||
vec3f adaptiveTuning;
|
||||
|
||||
/** \brief The AdaptiveFiltering field. */
|
||||
vec3f adaptiveFiltering;
|
||||
|
||||
} VpeMagnetometerBasicTuningRegister;
|
||||
|
||||
/** \brief Structure representing the VPE Magnetometer Advanced Tuning register. */
|
||||
typedef struct {
|
||||
/** \brief The MinFiltering field. */
|
||||
vec3f minFiltering;
|
||||
|
||||
/** \brief The MaxFiltering field. */
|
||||
vec3f maxFiltering;
|
||||
|
||||
/** \brief The MaxAdaptRate field. */
|
||||
float maxAdaptRate;
|
||||
|
||||
/** \brief The DisturbanceWindow field. */
|
||||
float disturbanceWindow;
|
||||
|
||||
/** \brief The MaxTuning field. */
|
||||
float maxTuning;
|
||||
|
||||
} VpeMagnetometerAdvancedTuningRegister;
|
||||
|
||||
/** \brief Structure representing the VPE Accelerometer Basic Tuning register. */
|
||||
typedef struct {
|
||||
/** \brief The BaseTuning field. */
|
||||
vec3f baseTuning;
|
||||
|
||||
/** \brief The AdaptiveTuning field. */
|
||||
vec3f adaptiveTuning;
|
||||
|
||||
/** \brief The AdaptiveFiltering field. */
|
||||
vec3f adaptiveFiltering;
|
||||
|
||||
} VpeAccelerometerBasicTuningRegister;
|
||||
|
||||
/** \brief Structure representing the VPE Accelerometer Advanced Tuning register. */
|
||||
typedef struct {
|
||||
/** \brief The MinFiltering field. */
|
||||
vec3f minFiltering;
|
||||
|
||||
/** \brief The MaxFiltering field. */
|
||||
vec3f maxFiltering;
|
||||
|
||||
/** \brief The MaxAdaptRate field. */
|
||||
float maxAdaptRate;
|
||||
|
||||
/** \brief The DisturbanceWindow field. */
|
||||
float disturbanceWindow;
|
||||
|
||||
/** \brief The MaxTuning field. */
|
||||
float maxTuning;
|
||||
|
||||
} VpeAccelerometerAdvancedTuningRegister;
|
||||
|
||||
/** \brief Structure representing the VPE Gyro Basic Tuning register. */
|
||||
typedef struct {
|
||||
/** \brief The AngularWalkVariance field. */
|
||||
vec3f angularWalkVariance;
|
||||
|
||||
/** \brief The BaseTuning field. */
|
||||
vec3f baseTuning;
|
||||
|
||||
/** \brief The AdaptiveTuning field. */
|
||||
vec3f adaptiveTuning;
|
||||
|
||||
} VpeGyroBasicTuningRegister;
|
||||
|
||||
/** \brief Structure representing the Magnetometer Calibration Control register. */
|
||||
typedef struct {
|
||||
/** \brief The HSIMode field. */
|
||||
uint8_t hsiMode;
|
||||
|
||||
/** \brief The HSIOutput field. */
|
||||
uint8_t hsiOutput;
|
||||
|
||||
/** \brief The ConvergeRate field. */
|
||||
uint8_t convergeRate;
|
||||
|
||||
} MagnetometerCalibrationControlRegister;
|
||||
|
||||
/** \brief Structure representing the Calculated Magnetometer Calibration register. */
|
||||
typedef struct {
|
||||
/** \brief The C field. */
|
||||
mat3f c;
|
||||
|
||||
/** \brief The B field. */
|
||||
vec3f b;
|
||||
|
||||
} CalculatedMagnetometerCalibrationRegister;
|
||||
|
||||
/** \brief Structure representing the Velocity Compensation Control register. */
|
||||
typedef struct {
|
||||
/** \brief The Mode field. */
|
||||
uint8_t mode;
|
||||
|
||||
/** \brief The VelocityTuning field. */
|
||||
float velocityTuning;
|
||||
|
||||
/** \brief The RateTuning field. */
|
||||
float rateTuning;
|
||||
|
||||
} VelocityCompensationControlRegister;
|
||||
|
||||
/** \brief Structure representing the Velocity Compensation Status register. */
|
||||
typedef struct {
|
||||
/** \brief The x field. */
|
||||
float x;
|
||||
|
||||
/** \brief The xDot field. */
|
||||
float xDot;
|
||||
|
||||
/** \brief The accelOffset field. */
|
||||
vec3f accelOffset;
|
||||
|
||||
/** \brief The omega field. */
|
||||
vec3f omega;
|
||||
|
||||
} VelocityCompensationStatusRegister;
|
||||
|
||||
/** \brief Structure representing the IMU Measurements register. */
|
||||
typedef struct {
|
||||
/** \brief The Mag field. */
|
||||
vec3f mag;
|
||||
|
||||
/** \brief The Accel field. */
|
||||
vec3f accel;
|
||||
|
||||
/** \brief The Gyro field. */
|
||||
vec3f gyro;
|
||||
|
||||
/** \brief The Temp field. */
|
||||
float temp;
|
||||
|
||||
/** \brief The Pressure field. */
|
||||
float pressure;
|
||||
} ImuMeasurementsRegister;
|
||||
|
||||
/** \brief Structure representing the GPS Configuration register. */
|
||||
typedef struct {
|
||||
/** \brief The Mode field. */
|
||||
uint8_t mode;
|
||||
|
||||
/** \brief The PpsSource field. */
|
||||
uint8_t ppsSource;
|
||||
|
||||
} GpsConfigurationRegister;
|
||||
|
||||
/** \brief Structure representing the GPS Solution - LLA register. */
|
||||
typedef struct {
|
||||
/** \brief The Time field. */
|
||||
double time;
|
||||
|
||||
/** \brief The Week field. */
|
||||
uint16_t week;
|
||||
|
||||
/** \brief The GpsFix field. */
|
||||
uint8_t gpsFix;
|
||||
|
||||
/** \brief The NumSats field. */
|
||||
uint8_t numSats;
|
||||
|
||||
/** \brief The Lla field. */
|
||||
vec3d lla;
|
||||
|
||||
/** \brief The NedVel field. */
|
||||
vec3f nedVel;
|
||||
|
||||
/** \brief The NedAcc field. */
|
||||
vec3f nedAcc;
|
||||
|
||||
/** \brief The SpeedAcc field. */
|
||||
float speedAcc;
|
||||
|
||||
/** \brief The TimeAcc field. */
|
||||
float timeAcc;
|
||||
} GpsSolutionLlaRegister;
|
||||
|
||||
/** \brief Structure representing the GPS Solution - ECEF register. */
|
||||
typedef struct {
|
||||
/** \brief The Tow field. */
|
||||
double tow;
|
||||
|
||||
/** \brief The Week field. */
|
||||
uint16_t week;
|
||||
|
||||
/** \brief The GpsFix field. */
|
||||
uint8_t gpsFix;
|
||||
|
||||
/** \brief The NumSats field. */
|
||||
uint8_t numSats;
|
||||
|
||||
/** \brief The Position field. */
|
||||
vec3d position;
|
||||
|
||||
/** \brief The Velocity field. */
|
||||
vec3f velocity;
|
||||
|
||||
/** \brief The PosAcc field. */
|
||||
vec3f posAcc;
|
||||
|
||||
/** \brief The SpeedAcc field. */
|
||||
float speedAcc;
|
||||
|
||||
/** \brief The TimeAcc field. */
|
||||
float timeAcc;
|
||||
|
||||
} GpsSolutionEcefRegister;
|
||||
|
||||
typedef struct InsSolutionLlaRegister {
|
||||
/** \brief Structure representing the INS Solution - LLA register. */
|
||||
/** \brief The Time field. */
|
||||
double time;
|
||||
|
||||
/** \brief The Week field. */
|
||||
uint16_t week;
|
||||
|
||||
/** \brief The Status field. */
|
||||
uint16_t status;
|
||||
|
||||
/** \brief The YawPitchRoll field. */
|
||||
vec3f yawPitchRoll;
|
||||
|
||||
/** \brief The Position field. */
|
||||
vec3d position;
|
||||
|
||||
/** \brief The NedVel field. */
|
||||
vec3f nedVel;
|
||||
|
||||
/** \brief The AttUncertainty field. */
|
||||
float attUncertainty;
|
||||
|
||||
/** \brief The PosUncertainty field. */
|
||||
float posUncertainty;
|
||||
|
||||
/** \brief The VelUncertainty field. */
|
||||
float velUncertainty;
|
||||
};
|
||||
|
||||
/** \brief Structure representing the INS Solution - ECEF register. */
|
||||
typedef struct {
|
||||
|
||||
/** \brief The Time field. */
|
||||
double time;
|
||||
|
||||
/** \brief The Week field. */
|
||||
uint16_t week;
|
||||
|
||||
/** \brief The Status field. */
|
||||
uint16_t status;
|
||||
|
||||
/** \brief The YawPitchRoll field. */
|
||||
vec3f yawPitchRoll;
|
||||
|
||||
/** \brief The Position field. */
|
||||
vec3d position;
|
||||
|
||||
/** \brief The Velocity field. */
|
||||
vec3f velocity;
|
||||
|
||||
/** \brief The AttUncertainty field. */
|
||||
float attUncertainty;
|
||||
|
||||
/** \brief The PosUncertainty field. */
|
||||
float posUncertainty;
|
||||
|
||||
/** \brief The VelUncertainty field. */
|
||||
float velUncertainty;
|
||||
} InsSolutionEcefRegister;
|
||||
|
||||
/** \brief Structure representing the INS Basic Configuration register for a VN-200 sensor. */
|
||||
typedef struct {
|
||||
/** \brief The Scenario field. */
|
||||
uint8_t scenario;
|
||||
|
||||
/** \brief The AhrsAiding field. */
|
||||
uint8_t ahrsAiding;
|
||||
|
||||
} InsBasicConfigurationRegisterVn200;
|
||||
|
||||
/** \brief Structure representing the INS Basic Configuration register for a VN-300 sensor. */
|
||||
typedef struct {
|
||||
/** \brief The Scenario field. */
|
||||
uint8_t scenario;
|
||||
|
||||
/** \brief The AhrsAiding field. */
|
||||
uint8_t ahrsAiding;
|
||||
|
||||
/** \brief The EstBaseline field. */
|
||||
uint8_t estBaseline;
|
||||
|
||||
} InsBasicConfigurationRegisterVn300;
|
||||
|
||||
/** \brief Structure representing the INS Advanced Configuration register. */
|
||||
typedef struct {
|
||||
/** \brief The UseMag field. */
|
||||
uint8_t useMag;
|
||||
|
||||
/** \brief The UsePres field. */
|
||||
uint8_t usePres;
|
||||
|
||||
/** \brief The PosAtt field. */
|
||||
uint8_t posAtt;
|
||||
|
||||
/** \brief The VelAtt field. */
|
||||
uint8_t velAtt;
|
||||
|
||||
/** \brief The VelBias field. */
|
||||
uint8_t velBias;
|
||||
|
||||
/** \brief The UseFoam field. */
|
||||
uint8_t useFoam;
|
||||
|
||||
/** \brief The GPSCovType field. */
|
||||
uint8_t gpsCovType;
|
||||
|
||||
/** \brief The VelCount field. */
|
||||
uint8_t velCount;
|
||||
|
||||
/** \brief The VelInit field. */
|
||||
float velInit;
|
||||
|
||||
/** \brief The MoveOrigin field. */
|
||||
float moveOrigin;
|
||||
|
||||
/** \brief The GPSTimeout field. */
|
||||
float gpsTimeout;
|
||||
|
||||
/** \brief The DeltaLimitPos field. */
|
||||
float deltaLimitPos;
|
||||
|
||||
/** \brief The DeltaLimitVel field. */
|
||||
float deltaLimitVel;
|
||||
|
||||
/** \brief The MinPosUncertainty field. */
|
||||
float minPosUncertainty;
|
||||
|
||||
/** \brief The MinVelUncertainty field. */
|
||||
float minVelUncertainty;
|
||||
|
||||
} InsAdvancedConfigurationRegister;
|
||||
|
||||
/** \brief Structure representing the INS State - LLA register. */
|
||||
typedef struct {
|
||||
/** \brief The YawPitchRoll field. */
|
||||
vec3f yawPitchRoll;
|
||||
|
||||
/** \brief The Position field. */
|
||||
vec3d position;
|
||||
|
||||
/** \brief The Velocity field. */
|
||||
vec3f velocity;
|
||||
|
||||
/** \brief The Accel field. */
|
||||
vec3f accel;
|
||||
|
||||
/** \brief The AngularRate field. */
|
||||
vec3f angularRate;
|
||||
|
||||
} InsStateLlaRegister;
|
||||
|
||||
/** \brief Structure representing the INS State - ECEF register. */
|
||||
typedef struct {
|
||||
/** \brief The YawPitchRoll field. */
|
||||
vec3f yawPitchRoll;
|
||||
|
||||
/** \brief The Position field. */
|
||||
vec3d position;
|
||||
|
||||
/** \brief The Velocity field. */
|
||||
vec3f velocity;
|
||||
|
||||
/** \brief The Accel field. */
|
||||
vec3f accel;
|
||||
|
||||
/** \brief The AngularRate field. */
|
||||
vec3f angularRate;
|
||||
|
||||
} InsStateEcefRegister;
|
||||
|
||||
/** \brief Structure representing the Startup Filter Bias Estimate register. */
|
||||
typedef struct {
|
||||
/** \brief The GyroBias field. */
|
||||
vec3f gyroBias;
|
||||
|
||||
/** \brief The AccelBias field. */
|
||||
vec3f accelBias;
|
||||
|
||||
/** \brief The PressureBias field. */
|
||||
float pressureBias;
|
||||
|
||||
} StartupFilterBiasEstimateRegister;
|
||||
|
||||
/** \brief Structure representing the Delta Theta and Delta Velocity register. */
|
||||
typedef struct {
|
||||
/** \brief The DeltaTime field. */
|
||||
float deltaTime;
|
||||
|
||||
/** \brief The DeltaTheta field. */
|
||||
vec3f deltaTheta;
|
||||
|
||||
/** \brief The DeltaVelocity field. */
|
||||
vec3f deltaVelocity;
|
||||
|
||||
} DeltaThetaAndDeltaVelocityRegister;
|
||||
|
||||
/** \brief Structure representing the Delta Theta and Delta Velocity Configuration register. */
|
||||
typedef struct {
|
||||
/** \brief The IntegrationFrame field. */
|
||||
uint8_t integrationFrame;
|
||||
|
||||
/** \brief The GyroCompensation field. */
|
||||
uint8_t gyroCompensation;
|
||||
|
||||
/** \brief The AccelCompensation field. */
|
||||
uint8_t accelCompensation;
|
||||
|
||||
} DeltaThetaAndDeltaVelocityConfigurationRegister;
|
||||
|
||||
/** \brief Structure representing the Reference Vector Configuration register. */
|
||||
typedef struct {
|
||||
/** \brief The UseMagModel field. */
|
||||
uint8_t useMagModel;
|
||||
|
||||
/** \brief The UseGravityModel field. */
|
||||
uint8_t useGravityModel;
|
||||
|
||||
/** \brief The RecalcThreshold field. */
|
||||
uint32_t recalcThreshold;
|
||||
|
||||
/** \brief The Year field. */
|
||||
float year;
|
||||
|
||||
/** \brief The Position field. */
|
||||
vec3d position;
|
||||
|
||||
} ReferenceVectorConfigurationRegister;
|
||||
|
||||
/** \brief Structure representing the Gyro Compensation register. */
|
||||
typedef struct {
|
||||
/** \brief The C field. */
|
||||
mat3f c;
|
||||
|
||||
/** \brief The B field. */
|
||||
vec3f b;
|
||||
|
||||
} GyroCompensationRegister;
|
||||
|
||||
/** \brief Structure representing the IMU Filtering Configuration register. */
|
||||
typedef struct {
|
||||
/** \brief The MagWindowSize field. */
|
||||
uint16_t magWindowSize;
|
||||
|
||||
/** \brief The AccelWindowSize field. */
|
||||
uint16_t accelWindowSize;
|
||||
|
||||
/** \brief The GyroWindowSize field. */
|
||||
uint16_t gyroWindowSize;
|
||||
|
||||
/** \brief The TempWindowSize field. */
|
||||
uint16_t tempWindowSize;
|
||||
|
||||
/** \brief The PresWindowSize field. */
|
||||
uint16_t presWindowSize;
|
||||
|
||||
/** \brief The MagFilterMode field. */
|
||||
uint8_t magFilterMode;
|
||||
|
||||
/** \brief The AccelFilterMode field. */
|
||||
uint8_t accelFilterMode;
|
||||
|
||||
/** \brief The GyroFilterMode field. */
|
||||
uint8_t gyroFilterMode;
|
||||
|
||||
/** \brief The TempFilterMode field. */
|
||||
uint8_t tempFilterMode;
|
||||
|
||||
/** \brief The PresFilterMode field. */
|
||||
uint8_t presFilterMode;
|
||||
|
||||
} ImuFilteringConfigurationRegister;
|
||||
|
||||
/** \brief Structure representing the GPS Compass Baseline register. */
|
||||
typedef struct {
|
||||
/** \brief The Position field. */
|
||||
vec3f position;
|
||||
|
||||
/** \brief The Uncertainty field. */
|
||||
vec3f uncertainty;
|
||||
|
||||
} GpsCompassBaselineRegister;
|
||||
|
||||
/** \brief Structure representing the GPS Compass Estimated Baseline register. */
|
||||
typedef struct {
|
||||
/** \brief The EstBaselineUsed field. */
|
||||
uint8_t estBaselineUsed;
|
||||
|
||||
/** \brief The NumMeas field. */
|
||||
uint16_t numMeas;
|
||||
|
||||
/** \brief The Position field. */
|
||||
vec3f position;
|
||||
|
||||
/** \brief The Uncertainty field. */
|
||||
vec3f uncertainty;
|
||||
|
||||
} GpsCompassEstimatedBaselineRegister;
|
||||
|
||||
/** \brief Structure representing the IMU Rate Configuration register. */
|
||||
typedef struct {
|
||||
/** \brief The imuRate field. */
|
||||
uint16_t imuRate;
|
||||
|
||||
/** \brief The NavDivisor field. */
|
||||
uint16_t navDivisor;
|
||||
|
||||
/** \brief The filterTargetRate field. */
|
||||
float filterTargetRate;
|
||||
|
||||
/** \brief The filterMinRate field. */
|
||||
float filterMinRate;
|
||||
|
||||
} ImuRateConfigurationRegister;
|
||||
|
||||
|
||||
|
||||
/** \brief Structure representing the Yaw, Pitch, Roll, True Body Acceleration and Angular Rates register. */
|
||||
typedef struct YawPitchRollTrueBodyAccelerationAndAngularRatesRegister {
|
||||
|
||||
/** \brief The YawPitchRoll field. */
|
||||
vec3f yawPitchRoll;
|
||||
|
||||
/** \brief The BodyAccel field. */
|
||||
vec3f bodyAccel;
|
||||
|
||||
/** \brief The Gyro field. */
|
||||
vec3f gyro;
|
||||
|
||||
};
|
||||
|
||||
/** \brief Structure representing the Yaw, Pitch, Roll, True Inertial Acceleration and Angular Rates register. */
|
||||
typedef struct {
|
||||
/** \brief The YawPitchRoll field. */
|
||||
vec3f yawPitchRoll;
|
||||
|
||||
/** \brief The InertialAccel field. */
|
||||
vec3f inertialAccel;
|
||||
|
||||
/** \brief The Gyro field. */
|
||||
vec3f gyro;
|
||||
|
||||
} YawPitchRollTrueInertialAccelerationAndAngularRatesRegister;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef _WIN32
|
||||
#pragma warning(pop)
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
#ifndef VN_TYPES_H_INCLUDED
|
||||
#define VN_TYPES_H_INCLUDED
|
||||
|
||||
/** \brief Standard types used through out the library. */
|
||||
#include "int.h"
|
||||
|
||||
#if !defined(__cplusplus)
|
||||
|
||||
#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__)
|
||||
|
||||
#include <stddef.h>
|
||||
|
||||
#else
|
||||
|
||||
/* Must not have C99. */
|
||||
|
||||
/** Backup definition of size_t. */
|
||||
typedef unsigned int size_t;
|
||||
|
||||
#endif
|
||||
|
||||
#else
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Adding VectorNav data types */
|
||||
typedef struct {
|
||||
int8_t year; /** \brief Year field. */
|
||||
uint8_t month; /** \brief Month field. */
|
||||
uint8_t day; /** \brief Day field. */
|
||||
uint8_t hour; /** \brief Hour field. */
|
||||
uint8_t min; /** \brief Min field. */
|
||||
uint8_t sec; /** \brief Sec field. */
|
||||
uint16_t ms; /** \brief Ms field. */
|
||||
} TimeUtc;
|
||||
|
||||
typedef struct {
|
||||
float gDOP; /** \brief Gdop field. */
|
||||
float pDOP; /** \brief Pdop field. */
|
||||
float tDOP; /** \brief Tdop field. */
|
||||
float vDOP; /** \brief Vdop field. */
|
||||
float hDOP; /** \brief Hdop field. */
|
||||
float nDOP; /** \brief Ndop field. */
|
||||
float eDOP; /** \brief Edop field. */
|
||||
} GpsDop;
|
||||
|
||||
typedef struct {
|
||||
uint8_t timeStatus; /** \brief timeStatus field. */
|
||||
int8_t leapSeconds; /** \brief leapSeconds field. */
|
||||
} TimeInfo;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
#include "vn-interface/helper.h"
|
||||
|
||||
namespace vn {} // namespace vn
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
#include "vn-interface/math/matrix.h"
|
||||
|
||||
#include "vn-interface/types.h"
|
||||
|
||||
void vn_m3_init_fa(mat3f *m, const float *fa) {
|
||||
size_t i;
|
||||
|
||||
for (i = 0; i < 9; i++)
|
||||
m->e[i] = fa[i];
|
||||
}
|
||||
|
||||
mat3f vnm_negative_mat3f(mat3f m) {
|
||||
mat3f r;
|
||||
size_t i;
|
||||
|
||||
for (i = 0; i < 3 * 3; i++)
|
||||
r.e[i] = -m.e[i];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
|
@ -0,0 +1,118 @@
|
|||
#include "vn/math/vector.h"
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
vec3d create_v3d(double x, double y, double z)
|
||||
{
|
||||
vec3d v;
|
||||
|
||||
v.c[0] = x;
|
||||
v.c[1] = y;
|
||||
v.c[2] = z;
|
||||
|
||||
return v;
|
||||
}
|
||||
|
||||
void vn_v3_init_fa(vec3f* v, const float* fa)
|
||||
{
|
||||
size_t i;
|
||||
|
||||
for (i = 0; i < 3; i++)
|
||||
v->c[i] = fa[i];
|
||||
}
|
||||
|
||||
vec3f add_v3f_v3f(vec3f lhs, vec3f rhs)
|
||||
{
|
||||
vec3f r;
|
||||
|
||||
r.c[0] = lhs.c[0] + rhs.c[0];
|
||||
r.c[1] = lhs.c[1] + rhs.c[1];
|
||||
r.c[2] = lhs.c[2] + rhs.c[2];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
vec3d add_v3d_v3d(vec3d lhs, vec3d rhs)
|
||||
{
|
||||
vec3d r;
|
||||
|
||||
r.c[0] = lhs.c[0] + rhs.c[0];
|
||||
r.c[1] = lhs.c[1] + rhs.c[1];
|
||||
r.c[2] = lhs.c[2] + rhs.c[2];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
vec4f add_v4f_v4f(vec4f lhs, vec4f rhs)
|
||||
{
|
||||
vec4f r;
|
||||
|
||||
r.c[0] = lhs.c[0] + rhs.c[0];
|
||||
r.c[1] = lhs.c[1] + rhs.c[1];
|
||||
r.c[2] = lhs.c[2] + rhs.c[2];
|
||||
r.c[3] = lhs.c[3] + rhs.c[3];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
vec3f sub_v3f_v3f(vec3f lhs, vec3f rhs)
|
||||
{
|
||||
vec3f r;
|
||||
|
||||
r.c[0] = lhs.c[0] - rhs.c[0];
|
||||
r.c[1] = lhs.c[1] - rhs.c[1];
|
||||
r.c[2] = lhs.c[2] - rhs.c[2];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
vec3d sub_v3d_v3d(vec3d lhs, vec3d rhs)
|
||||
{
|
||||
vec3d r;
|
||||
|
||||
r.c[0] = lhs.c[0] - rhs.c[0];
|
||||
r.c[1] = lhs.c[1] - rhs.c[1];
|
||||
r.c[2] = lhs.c[2] - rhs.c[2];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
vec4f sub_v4f_v4f(vec4f lhs, vec4f rhs)
|
||||
{
|
||||
vec4f r;
|
||||
|
||||
r.c[0] = lhs.c[0] - rhs.c[0];
|
||||
r.c[1] = lhs.c[1] - rhs.c[1];
|
||||
r.c[2] = lhs.c[2] - rhs.c[2];
|
||||
r.c[3] = lhs.c[3] - rhs.c[3];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
#if defined(_MSC_VER)
|
||||
/* Disable warnings regarding using sprintf_s since these
|
||||
* function signatures do not provide us with information
|
||||
* about the length of 'out'. */
|
||||
#pragma warning(push)
|
||||
#pragma warning(disable:4996)
|
||||
#endif
|
||||
|
||||
void str_vec3f(char* out, vec3f v)
|
||||
{
|
||||
sprintf(out, "(%f; %f; %f)", v.c[0], v.c[1], v.c[2]);
|
||||
}
|
||||
|
||||
void str_vec3d(char* out, vec3d v)
|
||||
{
|
||||
sprintf(out, "(%f; %f; %f)", v.c[0], v.c[1], v.c[2]);
|
||||
}
|
||||
|
||||
void str_vec4f(char* out, vec4f v)
|
||||
{
|
||||
sprintf(out, "(%f; %f; %f; %f)", v.c[0], v.c[1], v.c[2], v.c[3]);
|
||||
}
|
||||
|
||||
|
||||
#if defined(_MSC_VER)
|
||||
#pragma warning(pop)
|
||||
#endif
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
#include "vn-interface/registers.h"
|
||||
|
||||
void BinaryOutputRegister_initialize(BinaryOutputRegister *reg, AsyncMode asyncMode, uint32_t rateDivisor, CommonGroup commonField,
|
||||
TimeGroup timeField, ImuGroup imuField, GpsGroup gpsField, AttitudeGroup attitudeField, InsGroup insField,
|
||||
GpsGroup gps2Field) {
|
||||
reg->asyncMode = asyncMode;
|
||||
reg->rateDivisor = (uint16_t)rateDivisor;
|
||||
reg->commonField = commonField;
|
||||
reg->timeField = timeField;
|
||||
reg->imuField = imuField;
|
||||
reg->gpsField = gpsField;
|
||||
reg->attitudeField = attitudeField;
|
||||
reg->insField = insField;
|
||||
reg->gps2Field = gps2Field;
|
||||
}
|
||||
Loading…
Reference in New Issue