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