Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

SystemState.h@44:0d72a8a1288a, 2019-01-07 (annotated)

Committer:
shimniok
Date:
Mon Jan 07 16:47:33 2019 +0000
Revision:
44:0d72a8a1288a
Parent:
32:eb673f6f5734 
Rewrote TinyGPS -> NMEA, GPS::read() now returns struct

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 9:fc3575d2cbbf 1 #ifndef _SYSTEMSTATE_H
shimniok 9:fc3575d2cbbf 2 #define _SYSTEMSTATE_H
shimniok 9:fc3575d2cbbf 3
shimniok 9:fc3575d2cbbf 4 /** System State is the main mechanism for communicating current realtime system state to
shimniok 9:fc3575d2cbbf 5 * the rest of the system for logging, data display, etc.
shimniok 9:fc3575d2cbbf 6 */
shimniok 9:fc3575d2cbbf 7
shimniok 9:fc3575d2cbbf 8 #include <stdbool.h>
shimniok 9:fc3575d2cbbf 9
shimniok 9:fc3575d2cbbf 10 /* struct systemState
shimniok 9:fc3575d2cbbf 11 * structure containing system sensor data
shimniok 9:fc3575d2cbbf 12 ****** System Status
shimniok 9:fc3575d2cbbf 13 * millis number of milliseconds since epoch (or startup)
shimniok 9:fc3575d2cbbf 14 * current current draw in amps
shimniok 9:fc3575d2cbbf 15 * voltage voltage in volts
shimniok 9:fc3575d2cbbf 16 ****** Data reported by IMU
shimniok 9:fc3575d2cbbf 17 * g[3] raw 3-axis gyro values; if using 1-axis, then store data in gx
shimniok 9:fc3575d2cbbf 18 * gTemp Gyro temperature
shimniok 9:fc3575d2cbbf 19 * a[3] raw 3-axis accelerometer values
shimniok 9:fc3575d2cbbf 20 * m[3] raw 3-axis magnetometer values; if using 2d then store data in mx and my
shimniok 9:fc3575d2cbbf 21 * gHeading independently calculated gyro heading in degrees
shimniok 9:fc3575d2cbbf 22 * cHeading independently calculated compass heading in degrees
shimniok 9:fc3575d2cbbf 23 ****** AHRS Estimates
shimniok 9:fc3575d2cbbf 24 * roll, pitch, yaw estimated attitude in degrees relative to the world frame
shimniok 9:fc3575d2cbbf 25 ****** Data reported by GPS
shimniok 9:fc3575d2cbbf 26 * gpsLatitude raw GPS latitude in fractional degrees (e.g., 39.123456)
shimniok 9:fc3575d2cbbf 27 * gpsLongitude raw GPS longitude in fractional degrees (e.g., -104.123456
shimniok 9:fc3575d2cbbf 28 * gpsCourse_deg raw GPS course in degrees
shimniok 9:fc3575d2cbbf 29 * gpsSpeed_mps raw GPS speed in m/s
shimniok 9:fc3575d2cbbf 30 * gpsHDOP raw GPS Horizontal Dilution of Precision
shimniok 9:fc3575d2cbbf 31 * gpsSats raw GPS Satellite fix count
shimniok 9:fc3575d2cbbf 32 ****** Odometry data
shimniok 9:fc3575d2cbbf 33 * lrEncDistance left rear encoder distance since last log update
shimniok 9:fc3575d2cbbf 34 * rrEncDistance right rear encoder distance since last log update
shimniok 9:fc3575d2cbbf 35 * lrEncSpeed left rear encoder speed
shimniok 9:fc3575d2cbbf 36 * rrEncSpeed right rear encoder speed
shimniok 9:fc3575d2cbbf 37 * encHeading estimated heading based on encoder readings
shimniok 9:fc3575d2cbbf 38 ****** Estimated Position and Heading
shimniok 9:fc3575d2cbbf 39 * estLagHeading estimated heading in degrees, lagged to sync with gps
shimniok 9:fc3575d2cbbf 40 * estHeading estimated current heading
shimniok 9:fc3575d2cbbf 41 * estLatitude estimated latitude in fractional degrees (e.g., 39.123456)
shimniok 9:fc3575d2cbbf 42 * estLongitude estimated longitude in fractional degrees (e.g., -104.123456)
shimniok 9:fc3575d2cbbf 43 * estNorthing some algorithms use UTM. Estimated UTM northing
shimniok 9:fc3575d2cbbf 44 * estEasting estimated UTM easting
shimniok 9:fc3575d2cbbf 45 * estX, estY some algorithms use simple x, y distance from origin (meters)
shimniok 9:fc3575d2cbbf 46 ****** Waypoint data
shimniok 9:fc3575d2cbbf 47 * nextWaypoint integer ID of the next waypoint
shimniok 9:fc3575d2cbbf 48 * bearing estimated bearing to next waypoint in degrees
shimniok 9:fc3575d2cbbf 49 * distance estimated distance to next waypoint in meters
shimniok 9:fc3575d2cbbf 50 ****** Control data
shimniok 9:fc3575d2cbbf 51 * throttle raw servo setting(units?)
shimniok 9:fc3575d2cbbf 52 * steering raw servo setting(units?)
shimniok 9:fc3575d2cbbf 53 */
shimniok 24:a7f92dfc5310 54
shimniok 9:fc3575d2cbbf 55 typedef struct {
shimniok 30:ed791f1f7f7d 56 uint64_t timestamp;
shimniok 24:a7f92dfc5310 57 double latitude;
shimniok 24:a7f92dfc5310 58 double longitude;
shimniok 24:a7f92dfc5310 59 float course;
shimniok 24:a7f92dfc5310 60 float speed;
shimniok 24:a7f92dfc5310 61 float hdop;
shimniok 24:a7f92dfc5310 62 int svcount;
shimniok 24:a7f92dfc5310 63 } GpsData;
shimniok 9:fc3575d2cbbf 64
shimniok 30:ed791f1f7f7d 65
shimniok 30:ed791f1f7f7d 66 typedef struct {
shimniok 30:ed791f1f7f7d 67 uint64_t timestamp;
shimniok 30:ed791f1f7f7d 68 int encoder;
shimniok 30:ed791f1f7f7d 69 int gyro[3];
shimniok 32:eb673f6f5734 70 int accel[3];
shimniok 32:eb673f6f5734 71 int mag[3];
shimniok 30:ed791f1f7f7d 72 } SensorData;
shimniok 9:fc3575d2cbbf 73
shimniok 9:fc3575d2cbbf 74 #endif