forked from Archive/PX4-Autopilot
118 lines
5.0 KiB
C
118 lines
5.0 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
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* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file sensor_combined.h
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* Definition of the sensor_combined uORB topic.
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*/
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#ifndef SENSOR_COMBINED_H_
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#define SENSOR_COMBINED_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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* @{
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*/
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enum MAGNETOMETER_MODE {
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MAGNETOMETER_MODE_NORMAL = 0,
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MAGNETOMETER_MODE_POSITIVE_BIAS,
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MAGNETOMETER_MODE_NEGATIVE_BIAS
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};
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/**
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* Sensor readings in raw and SI-unit form.
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*
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* These values are read from the sensors. Raw values are in sensor-specific units,
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* the scaled values are in SI-units, as visible from the ending of the variable
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* or the comments. The use of the SI fields is in general advised, as these fields
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* are scaled and offset-compensated where possible and do not change with board
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* revisions and sensor updates.
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*
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*/
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struct sensor_combined_s {
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/*
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* Actual data, this is specific to the type of data which is stored in this struct
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* A line containing L0GME will be added by the Python logging code generator to the
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* logged dataset.
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*/
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/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
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uint64_t timestamp; /**< Timestamp in microseconds since boot LOGME */
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int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity LOGME */
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uint16_t gyro_counter; /**< Number of raw measurments taken LOGME */
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float gyro_rad_s[3]; /**< Angular velocity in radian per seconds LOGME */
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int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame LOGME */
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uint32_t accelerometer_counter; /**< Number of raw acc measurements taken LOGME */
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float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 LOGME */
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int accelerometer_mode; /**< Accelerometer measurement mode */
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float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
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int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame LOGME */
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float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss LOGME */
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int magnetometer_mode; /**< Magnetometer measurement mode */
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float magnetometer_range_ga; /**< ± measurement range in Gauss */
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float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
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uint32_t magnetometer_counter; /**< Number of raw mag measurements taken LOGME */
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float baro_pres_mbar; /**< Barometric pressure, already temp. comp. LOGME */
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float baro_alt_meter; /**< Altitude, already temp. comp. LOGME */
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float baro_temp_celcius; /**< Temperature in degrees celsius LOGME */
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float battery_voltage_v; /**< Battery voltage in volts, filtered LOGME */
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float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 LOGME */
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uint32_t baro_counter; /**< Number of raw baro measurements taken LOGME */
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uint32_t battery_voltage_counter; /**< Number of voltage measurements taken LOGME */
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bool battery_voltage_valid; /**< True if battery voltage can be measured LOGME */
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(sensor_combined);
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#endif
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