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px4flow: add documentation for i2c_frame and i2c_integral_frame

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Beat Küng
2018-07-05 11:08:56 +02:00
committed by Lorenz Meier
parent 3aa1721450
commit ec137489be
1 changed files with 27 additions and 26 deletions
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src/drivers/px4flow/i2c_frame.h
+27 -26
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@@ -34,47 +34,48 @@
/**
* @file i2c_frame.h
* Definition of i2c frames.
* There are different I2C readouts available: i2c_frame and i2c_integral_frame.
* The ic2_frame can be requested via the register 0x0, the i2c_integral_frame via 0x16.
*
* @author Thomas Boehm <thomas.boehm@fortiss.org>
* @author James Goppert <james.goppert@gmail.com>
*/
#ifndef I2C_FRAME_H_
#define I2C_FRAME_H_
#pragma once
#include <inttypes.h>
typedef struct i2c_frame {
uint16_t frame_count;
int16_t pixel_flow_x_sum;
int16_t pixel_flow_y_sum;
int16_t flow_comp_m_x;
int16_t flow_comp_m_y;
int16_t qual;
int16_t gyro_x_rate;
int16_t gyro_y_rate;
int16_t gyro_z_rate;
uint8_t gyro_range;
uint8_t sonar_timestamp;
int16_t ground_distance;
uint16_t frame_count; /**< counts created I2C frames [#frames] */
int16_t pixel_flow_x_sum; /**< latest x flow measurement in pixels*10 [pixels] */
int16_t pixel_flow_y_sum; /**< latest y flow measurement in pixels*10 [pixels] */
int16_t flow_comp_m_x; /**< x velocity*1000 [meters/sec] */
int16_t flow_comp_m_y; /**< y velocity*1000 [meters/sec] */
int16_t qual; /**< Optical flow quality / confidence [0: bad, 255: maximum quality] */
int16_t gyro_x_rate; /**< latest gyro x rate [rad/sec] */
int16_t gyro_y_rate; /**< latest gyro y rate [rad/sec] */
int16_t gyro_z_rate; /**< latest gyro z rate [rad/sec] */
uint8_t gyro_range; /**< gyro range [0 .. 7] equals [50 deg/sec .. 2000 deg/sec] */
uint8_t sonar_timestamp; /**< time since last sonar update [milliseconds] */
int16_t ground_distance; /**< Ground distance in meters*1000 [meters]. Positive value: distance known. Negative value: Unknown distance */
} i2c_frame;
#define I2C_FRAME_SIZE (sizeof(i2c_frame))
typedef struct i2c_integral_frame {
uint16_t frame_count_since_last_readout;
int16_t pixel_flow_x_integral;
int16_t pixel_flow_y_integral;
int16_t gyro_x_rate_integral;
int16_t gyro_y_rate_integral;
int16_t gyro_z_rate_integral;
uint32_t integration_timespan;
uint32_t sonar_timestamp;
uint16_t ground_distance;
int16_t gyro_temperature;
uint8_t qual;
uint16_t frame_count_since_last_readout; /**< number of flow measurements since last I2C readout [#frames] */
int16_t pixel_flow_x_integral; /**< accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000] */
int16_t pixel_flow_y_integral; /**< accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000] */
int16_t gyro_x_rate_integral; /**< accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000] */
int16_t gyro_y_rate_integral; /**< accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000] */
int16_t gyro_z_rate_integral; /**< accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000] */
uint32_t integration_timespan; /**< accumulation timespan in microseconds since last I2C readout [microseconds] */
uint32_t sonar_timestamp; /**< time since last sonar update [microseconds] */
uint16_t ground_distance; /**< Ground distance in meters*1000 [meters*1000] */
int16_t gyro_temperature; /**< Temperature * 100 in centi-degrees Celsius [degcelsius*100] */
uint8_t qual; /**< averaged quality of accumulated flow values [0:bad quality;255: max quality] */
} i2c_integral_frame;
#define I2C_INTEGRAL_FRAME_SIZE (sizeof(i2c_integral_frame))
#endif /* I2C_FRAME_H_ */