sensor.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef SENSOR_H
#define SENSOR_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "stm32h7xx_hal.h"
#include "imu.h"
#include "gps.h"
 
/*------------------------------------------------------------------------------
Includes 
------------------------------------------------------------------------------*/
 
/* GCC requires stdint.h for uint_t types */
#ifdef UNIT_TEST
    #include <stdint.h>
#endif
 
typedef struct _PRESET_DATA PRESET_DATA; /* From main.h */
 
 
/*------------------------------------------------------------------------------
 Macros 
------------------------------------------------------------------------------*/
 
/* Sensor subcommand codes */
#define SENSOR_DUMP_CODE        ( 0x01 )
 
 
#if defined( A0002_REV2 )
    #define ACCEL_G_RANGE ( 16 ) /* Accelerometer measurement range */
    #define GYRO_RANGE ( 2000 )  /* Gyroscope sensitivity in degrees/sec */
#endif
 
/* General */
#define NUM_SENSORS         ( 38   )
#define SENSOR_DATA_SIZE    ( 128   )
 
 
/*------------------------------------------------------------------------------
 Typdefs 
------------------------------------------------------------------------------*/
 
/* Sensor status return codes */
typedef enum 
    {
    SENSOR_OK = 0                ,
    SENSOR_UNRECOGNIZED_OP       ,
    SENSOR_UNSUPPORTED_OP        ,
    SENSOR_IMU_FAIL              ,
    SENSOR_PT_ERROR              ,
    SENSOR_TC_ERROR              ,
    SENSOR_LC_ERROR              ,
    SENSOR_ACCEL_ERROR           ,
    SENSOR_GYRO_ERROR            ,
    SENSOR_MAG_ERROR             ,
    SENSOR_BARO_ERROR            ,
    SENSOR_USB_FAIL              ,
    SENSOR_UNRECOGNIZED_SENSOR_ID,
    SENSOR_FAIL                  ,
    SENSOR_IT_TIMEOUT
    } SENSOR_STATUS;
 
/* Mount configuration of FC */
typedef enum 
    {
    MOUNT_ORIENTATION_IMU_INVERTED = -1,    /* Antenna pointing up   */
    MOUNT_ORIENTATION_IMU_NORMAL   = 1      /* Antenna pointing down */
    } MOUNT_ORIENTATION;

typedef struct _IMU_CONVERTED 
    {
    float accel_x;
    float accel_y;
    float accel_z;
    float gyro_x ;
    float gyro_y ;
    float gyro_z ;
    float mag_x ;
    float mag_y ;
    float mag_z ;
    } IMU_CONVERTED;
 
/* State estimation from processed sensors */
typedef struct _STATE_ESTIMATION {
    /*
     * Body-to-world attitude quaternion.
     *
     * Body-frame vector to world frame:
     *     v_world = q * v_body * conjugate(q)
     *
     * World-frame vector to body frame:
     *     v_body = conjugate(q) * v_world * q
     */ 
    QUAT attitude;
    float roll_rate;
    float velocity;
    float velo_x;
    float velo_y;
    float velo_z;     
} STATE_ESTIMATION;

typedef struct _IMU_DATA 
    {
    IMU_CONVERTED imu_converted;
    STATE_ESTIMATION state_estimate;
    } IMU_DATA;
 
/* Sensor Data */
typedef struct SENSOR_DATA 
    {
    IMU_CONVERTED imu_converted;
    STATE_ESTIMATION state_estimate;
    float    baro_pressure; 
    float    baro_temp; 
    float    baro_alt;
    float    gps_altitude_ft;
    float    gps_speed_kmh;
    float    gps_utc_time;
    float    gps_dec_longitude;
    float    gps_dec_latitude;
    char     gps_ns;
    char     gps_ew;
    char     gps_gll_status;
    char     gps_rmc_status;
    } SENSOR_DATA;
 
/* Baro Preset data */
typedef struct _BARO_PRESET
    {
    float baro_pres;
    float baro_temp;
    } BARO_PRESET;
 
/*------------------------------------------------------------------------------
 Public Function Prototypes 
------------------------------------------------------------------------------*/

SENSOR_STATUS sensor_cmd_execute
    (
    uint8_t subcommand
    );

SENSOR_STATUS sensor_dump
    (
    SENSOR_DATA* sensor_data_ptr 
    );

SENSOR_STATUS sensor_init
    (
    PRESET_DATA* preset_data
    );

MOUNT_ORIENTATION sensor_get_mount_orientation
    (
    void
    );

void sensor_set_mount_orientation
    (
    MOUNT_ORIENTATION orientation
    );

void sensor_reset_velo
    (
    void
    );

SENSOR_STATUS sensor_body_state
    (
    const IMU_CONVERTED* imu_converted,
    STATE_ESTIMATION* state_estimate
    );

void sensor_axis_remap
    (
    float* x,
    float* y,
    float* z
    );

void sensor_imu_velo
    (
    const IMU_CONVERTED* imu_converted,
    STATE_ESTIMATION* state_estimate
    );

void sensor_conv_imu
    (
    IMU_CONVERTED* imu_converted,
    IMU_RAW* imu_raw
    );

float sensor_acc_conv
    (
    int16_t readout
    );

float sensor_gyro_conv
    (
    int16_t readout
    );

void sensor_baro_alt
    (
    SENSOR_DATA* sensor_data_ptr
    );
 
#ifdef A0002_REV2 
SENSOR_STATUS sensor_start_IT
    ( 
    SENSOR_DATA* sensor_data_ptr 
    );

void sensor_mutex_reserve
    (
    void
    );

void sensor_mutex_release
    (
    void
    );
#endif
 
#ifdef __cplusplus
}
#endif
 
#endif /* SENSOR_H */
 
/*******************************************************************************
* END OF FILE                                                                  * 
*******************************************************************************/