Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

SystemState.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 #ifndef _SYSTEMSTATE_H
shimniok 0:826c6171fc1b 2 #define _SYSTEMSTATE_H
shimniok 0:826c6171fc1b 3
shimniok 0:826c6171fc1b 4 #define SSBUF 0x2F
shimniok 0:826c6171fc1b 5
shimniok 0:826c6171fc1b 6 /** System State is the main mechanism for communicating current realtime system state to
shimniok 0:826c6171fc1b 7 * the rest of the system for logging, data display, etc.
shimniok 0:826c6171fc1b 8 */
shimniok 0:826c6171fc1b 9
shimniok 0:826c6171fc1b 10 /* struct systemState
shimniok 0:826c6171fc1b 11 * structure containing system sensor data
shimniok 0:826c6171fc1b 12 ****** System Status
shimniok 0:826c6171fc1b 13 * millis number of milliseconds since epoch (or startup)
shimniok 0:826c6171fc1b 14 * current current draw in amps
shimniok 0:826c6171fc1b 15 * voltage voltage in volts
shimniok 0:826c6171fc1b 16 ****** Data reported by IMU
shimniok 0:826c6171fc1b 17 * g[3] raw 3-axis gyro values; if using 1-axis, then store data in gx
shimniok 0:826c6171fc1b 18 * gTemp Gyro temperature
shimniok 0:826c6171fc1b 19 * a[3] raw 3-axis accelerometer values
shimniok 0:826c6171fc1b 20 * m[3] raw 3-axis magnetometer values; if using 2d then store data in mx and my
shimniok 0:826c6171fc1b 21 * gHeading independently calculated gyro heading in degrees
shimniok 0:826c6171fc1b 22 * cHeading independently calculated compass heading in degrees
shimniok 0:826c6171fc1b 23 ****** AHRS Estimates
shimniok 0:826c6171fc1b 24 * roll, pitch, yaw estimated attitude in degrees relative to the world frame
shimniok 0:826c6171fc1b 25 ****** Data reported by GPS
shimniok 0:826c6171fc1b 26 * gpsLatitude raw GPS latitude in fractional degrees (e.g., 39.123456)
shimniok 0:826c6171fc1b 27 * gpsLongitude raw GPS longitude in fractional degrees (e.g., -104.123456
shimniok 0:826c6171fc1b 28 * gpsCourse raw GPS course in degrees
shimniok 0:826c6171fc1b 29 * gpsSpeed raw GPS speed in mph
shimniok 0:826c6171fc1b 30 * gpsHDOP raw GPS Horizontal Dilution of Precision
shimniok 0:826c6171fc1b 31 ****** Odometry data
shimniok 0:826c6171fc1b 32 * lrEncDistance left rear encoder distance since last log update
shimniok 0:826c6171fc1b 33 * rrEncDistance right rear encoder distance since last log update
shimniok 0:826c6171fc1b 34 * lrEncSpeed left rear encoder speed
shimniok 0:826c6171fc1b 35 * rrEncSpeed right rear encoder speed
shimniok 0:826c6171fc1b 36 * encHeading estimated heading based on encoder readings
shimniok 0:826c6171fc1b 37 ****** Estimated Position and Heading
shimniok 0:826c6171fc1b 38 * estHeading estimated heading in degrees, this is the robot's reference for heading
shimniok 0:826c6171fc1b 39 * estLatitude estimated latitude in fractional degrees (e.g., 39.123456)
shimniok 0:826c6171fc1b 40 * estLongitude estimated longitude in fractional degrees (e.g., -104.123456)
shimniok 0:826c6171fc1b 41 * estNorthing some algorithms use UTM. Estimated UTM northing
shimniok 0:826c6171fc1b 42 * estEasting estimated UTM easting
shimniok 0:826c6171fc1b 43 * estX, estY some algorithms use simple x, y distance from origin (meters)
shimniok 0:826c6171fc1b 44 ****** Waypoint data
shimniok 0:826c6171fc1b 45 * nextWaypoint integer ID of the next waypoint
shimniok 0:826c6171fc1b 46 * bearing estimated bearing to next waypoint in degrees
shimniok 0:826c6171fc1b 47 * distance estimated distance to next waypoint in meters
shimniok 0:826c6171fc1b 48 ****** Control data
shimniok 0:826c6171fc1b 49 * throttle raw servo setting(units?)
shimniok 0:826c6171fc1b 50 * steering raw servo setting(units?)
shimniok 0:826c6171fc1b 51 */
shimniok 0:826c6171fc1b 52 typedef struct {
shimniok 0:826c6171fc1b 53 unsigned int millis;
shimniok 0:826c6171fc1b 54 float current, voltage;
shimniok 0:826c6171fc1b 55 int g[3];
shimniok 0:826c6171fc1b 56 int gTemp;
shimniok 0:826c6171fc1b 57 int a[3];
shimniok 0:826c6171fc1b 58 int m[3];
shimniok 0:826c6171fc1b 59 float gHeading;
shimniok 0:826c6171fc1b 60 float cHeading;
shimniok 0:826c6171fc1b 61 //float roll, pitch, yaw;
shimniok 0:826c6171fc1b 62 double gpsLatitude;
shimniok 0:826c6171fc1b 63 double gpsLongitude;
shimniok 0:826c6171fc1b 64 float gpsCourse;
shimniok 0:826c6171fc1b 65 float gpsSpeed;
shimniok 0:826c6171fc1b 66 float gpsHDOP;
shimniok 0:826c6171fc1b 67 int gpsSats;
shimniok 0:826c6171fc1b 68 float lrEncDistance, rrEncDistance;
shimniok 0:826c6171fc1b 69 float lrEncSpeed, rrEncSpeed;
shimniok 0:826c6171fc1b 70 float encHeading;
shimniok 0:826c6171fc1b 71 float estHeading;
shimniok 0:826c6171fc1b 72 double estLatitude, estLongitude;
shimniok 0:826c6171fc1b 73 //double estNorthing, estEasting;
shimniok 0:826c6171fc1b 74 float estX, estY;
shimniok 0:826c6171fc1b 75 unsigned short nextWaypoint;
shimniok 0:826c6171fc1b 76 float bearing;
shimniok 0:826c6171fc1b 77 float distance;
shimniok 0:826c6171fc1b 78 float gbias;
shimniok 0:826c6171fc1b 79 float errAngle;
shimniok 0:826c6171fc1b 80 float leftRanger;
shimniok 0:826c6171fc1b 81 float rightRanger;
shimniok 0:826c6171fc1b 82 float centerRanger;
shimniok 0:826c6171fc1b 83 float crossTrackErr;
shimniok 0:826c6171fc1b 84 } SystemState;
shimniok 0:826c6171fc1b 85
shimniok 0:826c6171fc1b 86 #endif