forked from rrcarlosr/Jetpack
131 lines
3.3 KiB
C
131 lines
3.3 KiB
C
/* Copyright (c) 2016-2017, NVIDIA CORPORATION. All rights reserved.
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*
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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 version 2 as
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* published by the Free Software Foundation.
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*
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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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*/
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#ifndef NVS_DFSH_H
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#define NVS_DFSH_H
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/*
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* SENSOR HUB FIRMWARE INTERFACE
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*
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------------------------------------------------------
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| Start (S) | Type | Payload | CRC32 |
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| (1-byte) | (1-byte) |(0-18 bytes)| (4-bytes) |
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| | | | |
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------------------------------------------------------
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*/
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/* Packet start */
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#define SENSOR_HUB_START 'S'
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/* Packet type */
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/* Messages from sensor hub to AP */
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#define MSG_MCU 0x00
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#define MSG_CAMERA 0x01
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#define MSG_ACCEL 0x02
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#define MSG_GYRO 0x03
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#define MSG_MAGN 0x04
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#define MSG_SENSOR_START MSG_MCU
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#define MSG_SENSOR_END MSG_MAGN
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#define SNSR_MSG_ID_START MSG_CAMERA
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#define SNSR_MSG_ID_END MSG_SENSOR_END
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/* Commands from AP to sensor hub */
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#define CMD_VERSION 0x20
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#define CMD_PING 0x21
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#define CMD_START_TS 0x22
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#define CMD_STOP_TS 0x23
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#define CMD_CAM_PWR_ON 0x24
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#define CMD_CAM_PWR_OFF 0x25
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#define CMD_CAM_PWR_RESET 0x26
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#define CMD_CAM_FSIN_START 0x27
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#define CMD_CAM_FSIN_STOP 0x28
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#define CMD_CAM_CAM0_PWDN_HIGH 0x29
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#define CMD_CAM_CAM0_PWDN_LOW 0x2A
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#define CMD_CAM_CAM1_PWDN_HIGH 0x2B
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#define CMD_CAM_CAM1_PWDN_LOW 0x2C
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#define CMD_CAM_CAM2_PWDN_HIGH 0x2D
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#define CMD_CAM_CAM2_PWDN_LOW 0x2E
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#define CMD_START CMD_PING
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#define CMD_END CMD_CAM_CAM2_PWDN_LOW
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/* Responses from sensor hub to AP */
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#define RSP_MASK 0x000000FF
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#define RSP_VER 0x20
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#define RSP_PING 0x21
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#define RSP_START_TS 0x22
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#define RSP_STOP_TS 0x23
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#define RSP_CAM_PWR_ON 0x24
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#define RSP_CAM_PWR_OFF 0x25
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#define RSP_CAM_PWR_RESET 0x26
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#define RSP_CAM_FSIN_START 0x27
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#define RSP_CAM_FSIN_STOP 0x28
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#define RSP_CAM_CAM0_PWDN_HIGH 0x29
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#define RSP_CAM_CAM0_PWDN_LOW 0x2A
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#define RSP_CAM_CAM1_PWDN_HIGH 0x2B
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#define RSP_CAM_CAM1_PWDN_LOW 0x2C
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#define RSP_CAM_CAM2_PWDN_HIGH 0x2D
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#define RSP_CAM_CAM2_PWDN_LOW 0x2E
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/* Packet payload structures */
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struct __attribute__ ((__packed__)) camera_payload_t {
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uint64_t timestamp;
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};
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struct __attribute__ ((__packed__)) accel_payload_t {
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uint64_t timestamp;
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uint16_t accel[3];
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};
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struct __attribute__ ((__packed__)) gyro_payload_t {
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uint64_t timestamp;
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uint16_t gyro[3];
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};
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struct __attribute__ ((__packed__)) magn_payload_t {
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uint64_t timestamp;
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uint32_t magn[3];
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};
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struct __attribute__ ((__packed__)) mcu_payload_t {
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union {
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uint32_t cmd;
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uint32_t rsp;
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};
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};
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/* Packet header */
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struct __attribute__ ((__packed__)) dfsh_pkt_hdr_t {
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unsigned char start;
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unsigned char type;
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};
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struct __attribute__ ((__packed__)) dfsh_pkt_t {
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struct dfsh_pkt_hdr_t header;
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union {
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struct camera_payload_t cam_payload;
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struct accel_payload_t accel_payload;
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struct gyro_payload_t gyro_payload;
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struct magn_payload_t magn_payload;
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struct mcu_payload_t mcu_payload;
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} payload;
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uint32_t crc32;
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};
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#endif /* NVS_DFSH_H */
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