mirror of https://github.com/ArduPilot/ardupilot
135 lines
3.7 KiB
C++
135 lines
3.7 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
support for MicroStrain MIP parsing
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "AP_ExternalAHRS_config.h"
|
|
|
|
#if AP_MICROSTRAIN_ENABLED
|
|
|
|
#include <AP_GPS/AP_GPS.h>
|
|
#include <AP_Math/vector3.h>
|
|
#include <AP_Math/quaternion.h>
|
|
|
|
class AP_MicroStrain
|
|
{
|
|
public:
|
|
|
|
|
|
protected:
|
|
|
|
enum class ParseState {
|
|
WaitingFor_SyncOne,
|
|
WaitingFor_SyncTwo,
|
|
WaitingFor_Descriptor,
|
|
WaitingFor_PayloadLength,
|
|
WaitingFor_Data,
|
|
WaitingFor_Checksum
|
|
};
|
|
|
|
// A MicroStrain packet can be a maximum of 261 bytes
|
|
struct MicroStrain_Packet {
|
|
uint8_t header[4];
|
|
uint8_t payload[255];
|
|
uint8_t checksum[2];
|
|
};
|
|
|
|
struct {
|
|
MicroStrain_Packet packet;
|
|
AP_MicroStrain::ParseState state;
|
|
uint8_t index;
|
|
} message_in;
|
|
|
|
struct {
|
|
Vector3f accel;
|
|
Vector3f gyro;
|
|
Vector3f mag;
|
|
Quaternion quat;
|
|
float pressure;
|
|
} imu_data;
|
|
|
|
struct {
|
|
uint16_t week;
|
|
uint32_t tow_ms;
|
|
GPS_FIX_TYPE fix_type;
|
|
uint8_t satellites;
|
|
float horizontal_position_accuracy;
|
|
float vertical_position_accuracy;
|
|
float hdop;
|
|
float vdop;
|
|
int32_t lon;
|
|
int32_t lat;
|
|
int32_t msl_altitude;
|
|
float ned_velocity_north;
|
|
float ned_velocity_east;
|
|
float ned_velocity_down;
|
|
float speed_accuracy;
|
|
} gnss_data;
|
|
|
|
struct {
|
|
uint16_t state;
|
|
uint16_t mode;
|
|
uint16_t flags;
|
|
} filter_status;
|
|
|
|
struct {
|
|
uint16_t week;
|
|
uint32_t tow_ms;
|
|
float horizontal_position_accuracy;
|
|
float vertical_position_accuracy;
|
|
int32_t lon;
|
|
int32_t lat;
|
|
int32_t hae_altitude;
|
|
float ned_velocity_north;
|
|
float ned_velocity_east;
|
|
float ned_velocity_down;
|
|
float speed_accuracy;
|
|
} filter_data;
|
|
|
|
enum class DescriptorSet {
|
|
BaseCommand = 0x01,
|
|
DMCommand = 0x0C,
|
|
SystemCommand = 0x7F,
|
|
IMUData = 0x80,
|
|
GNSSData = 0x81,
|
|
EstimationData = 0x82
|
|
};
|
|
|
|
const uint8_t SYNC_ONE = 0x75;
|
|
const uint8_t SYNC_TWO = 0x65;
|
|
|
|
uint32_t last_ins_pkt;
|
|
uint32_t last_gps_pkt;
|
|
uint32_t last_filter_pkt;
|
|
|
|
// Handle a single byte.
|
|
// If the byte matches a descriptor, it returns true and that type should be handled.
|
|
bool handle_byte(const uint8_t b, DescriptorSet& descriptor);
|
|
// Returns true if the fletcher checksum for the packet is valid, else false.
|
|
static bool valid_packet(const MicroStrain_Packet &packet);
|
|
// Calls the correct functions based on the packet descriptor of the packet
|
|
DescriptorSet handle_packet(const MicroStrain_Packet &packet);
|
|
// Collects data from an imu packet into `imu_data`
|
|
void handle_imu(const MicroStrain_Packet &packet);
|
|
// Collects data from a gnss packet into `gnss_data`
|
|
void handle_gnss(const MicroStrain_Packet &packet);
|
|
void handle_filter(const MicroStrain_Packet &packet);
|
|
static Vector3f populate_vector3f(const uint8_t* data, uint8_t offset);
|
|
static Quaternion populate_quaternion(const uint8_t* data, uint8_t offset);
|
|
};
|
|
|
|
#endif // AP_MICROSTRAIN_ENABLED
|