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81 lines
4.5 KiB
C
81 lines
4.5 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
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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 i2c_frame.h
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* Definition of i2c frames.
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* There are different I2C readouts available: i2c_frame and i2c_integral_frame.
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* The ic2_frame can be requested via the register 0x0, the i2c_integral_frame via 0x16.
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*
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* @author Thomas Boehm <thomas.boehm@fortiss.org>
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* @author James Goppert <james.goppert@gmail.com>
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*/
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#pragma once
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#include <inttypes.h>
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typedef struct i2c_frame {
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uint16_t frame_count; /**< counts created I2C frames [#frames] */
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int16_t pixel_flow_x_sum; /**< latest x flow measurement in pixels*10 [pixels] */
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int16_t pixel_flow_y_sum; /**< latest y flow measurement in pixels*10 [pixels] */
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int16_t flow_comp_m_x; /**< x velocity*1000 [meters/sec] */
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int16_t flow_comp_m_y; /**< y velocity*1000 [meters/sec] */
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int16_t qual; /**< Optical flow quality / confidence [0: bad, 255: maximum quality] */
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int16_t gyro_x_rate; /**< latest gyro x rate [rad/sec] */
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int16_t gyro_y_rate; /**< latest gyro y rate [rad/sec] */
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int16_t gyro_z_rate; /**< latest gyro z rate [rad/sec] */
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uint8_t gyro_range; /**< gyro range [0 .. 7] equals [50 deg/sec .. 2000 deg/sec] */
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uint8_t sonar_timestamp; /**< time since last sonar update [milliseconds] */
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int16_t ground_distance; /**< Ground distance in meters*1000 [meters]. Positive value: distance known. Negative value: Unknown distance */
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} i2c_frame;
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#define I2C_FRAME_SIZE (sizeof(i2c_frame))
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typedef struct i2c_integral_frame {
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uint16_t frame_count_since_last_readout; /**< number of flow measurements since last I2C readout [#frames] */
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int16_t pixel_flow_x_integral; /**< accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000] */
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int16_t pixel_flow_y_integral; /**< accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000] */
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int16_t gyro_x_rate_integral; /**< accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000] */
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int16_t gyro_y_rate_integral; /**< accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000] */
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int16_t gyro_z_rate_integral; /**< accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000] */
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uint32_t integration_timespan; /**< accumulation timespan in microseconds since last I2C readout [microseconds] */
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uint32_t sonar_timestamp; /**< time since last sonar update [microseconds] */
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uint16_t ground_distance; /**< Ground distance in meters*1000 [meters*1000] */
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int16_t gyro_temperature; /**< Temperature * 100 in centi-degrees Celsius [degcelsius*100] */
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uint8_t qual; /**< averaged quality of accumulated flow values [0:bad quality;255: max quality] */
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} i2c_integral_frame;
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#define I2C_INTEGRAL_FRAME_SIZE (sizeof(i2c_integral_frame))
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