Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

SystemState.h@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
16:4c4b75824efc 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 #ifndef _SYSTEMSTATE_H
shimniok 0:a6a169de725f 2 #define _SYSTEMSTATE_H
shimniok 0:a6a169de725f 3
shimniok 16:4c4b75824efc 4 #define SSBUF 32 // must be 2^n
shimniok 0:a6a169de725f 5
shimniok 0:a6a169de725f 6 /** System State is the main mechanism for communicating current realtime system state to
shimniok 0:a6a169de725f 7 * the rest of the system for logging, data display, etc.
shimniok 0:a6a169de725f 8 */
shimniok 0:a6a169de725f 9
shimniok 16:4c4b75824efc 10 #include <stdbool.h>
shimniok 16:4c4b75824efc 11
shimniok 0:a6a169de725f 12 /* struct systemState
shimniok 0:a6a169de725f 13 * structure containing system sensor data
shimniok 0:a6a169de725f 14 ****** System Status
shimniok 0:a6a169de725f 15 * millis number of milliseconds since epoch (or startup)
shimniok 0:a6a169de725f 16 * current current draw in amps
shimniok 0:a6a169de725f 17 * voltage voltage in volts
shimniok 0:a6a169de725f 18 ****** Data reported by IMU
shimniok 0:a6a169de725f 19 * g[3] raw 3-axis gyro values; if using 1-axis, then store data in gx
shimniok 0:a6a169de725f 20 * gTemp Gyro temperature
shimniok 0:a6a169de725f 21 * a[3] raw 3-axis accelerometer values
shimniok 0:a6a169de725f 22 * m[3] raw 3-axis magnetometer values; if using 2d then store data in mx and my
shimniok 0:a6a169de725f 23 * gHeading independently calculated gyro heading in degrees
shimniok 0:a6a169de725f 24 * cHeading independently calculated compass heading in degrees
shimniok 0:a6a169de725f 25 ****** AHRS Estimates
shimniok 0:a6a169de725f 26 * roll, pitch, yaw estimated attitude in degrees relative to the world frame
shimniok 0:a6a169de725f 27 ****** Data reported by GPS
shimniok 0:a6a169de725f 28 * gpsLatitude raw GPS latitude in fractional degrees (e.g., 39.123456)
shimniok 0:a6a169de725f 29 * gpsLongitude raw GPS longitude in fractional degrees (e.g., -104.123456
shimniok 0:a6a169de725f 30 * gpsCourse_deg raw GPS course in degrees
shimniok 0:a6a169de725f 31 * gpsSpeed_mps raw GPS speed in m/s
shimniok 0:a6a169de725f 32 * gpsHDOP raw GPS Horizontal Dilution of Precision
shimniok 0:a6a169de725f 33 * gpsSats raw GPS Satellite fix count
shimniok 0:a6a169de725f 34 ****** Odometry data
shimniok 0:a6a169de725f 35 * lrEncDistance left rear encoder distance since last log update
shimniok 0:a6a169de725f 36 * rrEncDistance right rear encoder distance since last log update
shimniok 0:a6a169de725f 37 * lrEncSpeed left rear encoder speed
shimniok 0:a6a169de725f 38 * rrEncSpeed right rear encoder speed
shimniok 0:a6a169de725f 39 * encHeading estimated heading based on encoder readings
shimniok 0:a6a169de725f 40 ****** Estimated Position and Heading
shimniok 1:cb84b477886c 41 * estLagHeading estimated heading in degrees, lagged to sync with gps
shimniok 1:cb84b477886c 42 * estHeading estimated current heading
shimniok 0:a6a169de725f 43 * estLatitude estimated latitude in fractional degrees (e.g., 39.123456)
shimniok 0:a6a169de725f 44 * estLongitude estimated longitude in fractional degrees (e.g., -104.123456)
shimniok 0:a6a169de725f 45 * estNorthing some algorithms use UTM. Estimated UTM northing
shimniok 0:a6a169de725f 46 * estEasting estimated UTM easting
shimniok 0:a6a169de725f 47 * estX, estY some algorithms use simple x, y distance from origin (meters)
shimniok 0:a6a169de725f 48 ****** Waypoint data
shimniok 0:a6a169de725f 49 * nextWaypoint integer ID of the next waypoint
shimniok 0:a6a169de725f 50 * bearing estimated bearing to next waypoint in degrees
shimniok 0:a6a169de725f 51 * distance estimated distance to next waypoint in meters
shimniok 0:a6a169de725f 52 ****** Control data
shimniok 0:a6a169de725f 53 * throttle raw servo setting(units?)
shimniok 0:a6a169de725f 54 * steering raw servo setting(units?)
shimniok 0:a6a169de725f 55 */
shimniok 0:a6a169de725f 56 typedef struct {
shimniok 0:a6a169de725f 57 unsigned int millis;
shimniok 0:a6a169de725f 58 float current, voltage;
shimniok 0:a6a169de725f 59 int g[3];
shimniok 3:42f3821c4e54 60 float gyro[3];
shimniok 0:a6a169de725f 61 int gTemp;
shimniok 0:a6a169de725f 62 int a[3];
shimniok 0:a6a169de725f 63 int m[3];
shimniok 0:a6a169de725f 64 float gHeading;
shimniok 0:a6a169de725f 65 float cHeading;
shimniok 0:a6a169de725f 66 //float roll, pitch, yaw;
shimniok 0:a6a169de725f 67 double gpsLatitude;
shimniok 0:a6a169de725f 68 double gpsLongitude;
shimniok 0:a6a169de725f 69 float gpsCourse_deg;
shimniok 0:a6a169de725f 70 float gpsSpeed_mps;
shimniok 0:a6a169de725f 71 float gpsHDOP;
shimniok 0:a6a169de725f 72 int gpsSats;
shimniok 0:a6a169de725f 73 float lrEncDistance, rrEncDistance;
shimniok 0:a6a169de725f 74 float lrEncSpeed, rrEncSpeed;
shimniok 0:a6a169de725f 75 float encHeading;
shimniok 0:a6a169de725f 76 float estHeading;
shimniok 1:cb84b477886c 77 float estLagHeading;
shimniok 0:a6a169de725f 78 double estLatitude, estLongitude;
shimniok 0:a6a169de725f 79 //double estNorthing, estEasting;
shimniok 0:a6a169de725f 80 float estX, estY;
shimniok 0:a6a169de725f 81 unsigned short nextWaypoint;
shimniok 0:a6a169de725f 82 float bearing;
shimniok 0:a6a169de725f 83 float distance;
shimniok 0:a6a169de725f 84 float gbias;
shimniok 3:42f3821c4e54 85 float errHeading;
shimniok 1:cb84b477886c 86 float steerAngle;
shimniok 16:4c4b75824efc 87 float LABrg;
shimniok 16:4c4b75824efc 88 float LAx;
shimniok 16:4c4b75824efc 89 float LAy;
shimniok 0:a6a169de725f 90 } SystemState;
shimniok 0:a6a169de725f 91
shimniok 16:4c4b75824efc 92 void state_clear( SystemState *s );
shimniok 16:4c4b75824efc 93 bool fifo_init(void);
shimniok 16:4c4b75824efc 94 void fifo_reset(void);
shimniok 16:4c4b75824efc 95 bool fifo_available(void);
shimniok 16:4c4b75824efc 96 bool fifo_push(SystemState *s);
shimniok 16:4c4b75824efc 97 SystemState *fifo_first(void);
shimniok 16:4c4b75824efc 98 SystemState *fifo_last(void);
shimniok 16:4c4b75824efc 99 SystemState *fifo_pull(void);
shimniok 16:4c4b75824efc 100 int fifo_getInState(void);
shimniok 16:4c4b75824efc 101 int fifo_getOutState(void);
shimniok 16:4c4b75824efc 102
shimniok 16:4c4b75824efc 103 #endif