Michael Shimniok / Mbed OS DataBus2018

2018 revision to classic DataBus AVC code.

Dependencies:   LSM303DLM Servo SerialGraphicLCD L3G4200D IncrementalEncoder SimpleShell

SystemState.h@9:fc3575d2cbbf, 2018-12-07 (annotated)

Committer:
shimniok
Date:
Fri Dec 07 15:58:41 2018 +0000
Revision:
9:fc3575d2cbbf
Child:
24:a7f92dfc5310
Test gyro reading from shell.

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 #define SSBUF 32 // must be 2^n
shimniok 9:fc3575d2cbbf 5
shimniok 9:fc3575d2cbbf 6 /** System State is the main mechanism for communicating current realtime system state to
shimniok 9:fc3575d2cbbf 7 * the rest of the system for logging, data display, etc.
shimniok 9:fc3575d2cbbf 8 */
shimniok 9:fc3575d2cbbf 9
shimniok 9:fc3575d2cbbf 10 #include <stdbool.h>
shimniok 9:fc3575d2cbbf 11
shimniok 9:fc3575d2cbbf 12 /* struct systemState
shimniok 9:fc3575d2cbbf 13 * structure containing system sensor data
shimniok 9:fc3575d2cbbf 14 ****** System Status
shimniok 9:fc3575d2cbbf 15 * millis number of milliseconds since epoch (or startup)
shimniok 9:fc3575d2cbbf 16 * current current draw in amps
shimniok 9:fc3575d2cbbf 17 * voltage voltage in volts
shimniok 9:fc3575d2cbbf 18 ****** Data reported by IMU
shimniok 9:fc3575d2cbbf 19 * g[3] raw 3-axis gyro values; if using 1-axis, then store data in gx
shimniok 9:fc3575d2cbbf 20 * gTemp Gyro temperature
shimniok 9:fc3575d2cbbf 21 * a[3] raw 3-axis accelerometer values
shimniok 9:fc3575d2cbbf 22 * m[3] raw 3-axis magnetometer values; if using 2d then store data in mx and my
shimniok 9:fc3575d2cbbf 23 * gHeading independently calculated gyro heading in degrees
shimniok 9:fc3575d2cbbf 24 * cHeading independently calculated compass heading in degrees
shimniok 9:fc3575d2cbbf 25 ****** AHRS Estimates
shimniok 9:fc3575d2cbbf 26 * roll, pitch, yaw estimated attitude in degrees relative to the world frame
shimniok 9:fc3575d2cbbf 27 ****** Data reported by GPS
shimniok 9:fc3575d2cbbf 28 * gpsLatitude raw GPS latitude in fractional degrees (e.g., 39.123456)
shimniok 9:fc3575d2cbbf 29 * gpsLongitude raw GPS longitude in fractional degrees (e.g., -104.123456
shimniok 9:fc3575d2cbbf 30 * gpsCourse_deg raw GPS course in degrees
shimniok 9:fc3575d2cbbf 31 * gpsSpeed_mps raw GPS speed in m/s
shimniok 9:fc3575d2cbbf 32 * gpsHDOP raw GPS Horizontal Dilution of Precision
shimniok 9:fc3575d2cbbf 33 * gpsSats raw GPS Satellite fix count
shimniok 9:fc3575d2cbbf 34 ****** Odometry data
shimniok 9:fc3575d2cbbf 35 * lrEncDistance left rear encoder distance since last log update
shimniok 9:fc3575d2cbbf 36 * rrEncDistance right rear encoder distance since last log update
shimniok 9:fc3575d2cbbf 37 * lrEncSpeed left rear encoder speed
shimniok 9:fc3575d2cbbf 38 * rrEncSpeed right rear encoder speed
shimniok 9:fc3575d2cbbf 39 * encHeading estimated heading based on encoder readings
shimniok 9:fc3575d2cbbf 40 ****** Estimated Position and Heading
shimniok 9:fc3575d2cbbf 41 * estLagHeading estimated heading in degrees, lagged to sync with gps
shimniok 9:fc3575d2cbbf 42 * estHeading estimated current heading
shimniok 9:fc3575d2cbbf 43 * estLatitude estimated latitude in fractional degrees (e.g., 39.123456)
shimniok 9:fc3575d2cbbf 44 * estLongitude estimated longitude in fractional degrees (e.g., -104.123456)
shimniok 9:fc3575d2cbbf 45 * estNorthing some algorithms use UTM. Estimated UTM northing
shimniok 9:fc3575d2cbbf 46 * estEasting estimated UTM easting
shimniok 9:fc3575d2cbbf 47 * estX, estY some algorithms use simple x, y distance from origin (meters)
shimniok 9:fc3575d2cbbf 48 ****** Waypoint data
shimniok 9:fc3575d2cbbf 49 * nextWaypoint integer ID of the next waypoint
shimniok 9:fc3575d2cbbf 50 * bearing estimated bearing to next waypoint in degrees
shimniok 9:fc3575d2cbbf 51 * distance estimated distance to next waypoint in meters
shimniok 9:fc3575d2cbbf 52 ****** Control data
shimniok 9:fc3575d2cbbf 53 * throttle raw servo setting(units?)
shimniok 9:fc3575d2cbbf 54 * steering raw servo setting(units?)
shimniok 9:fc3575d2cbbf 55 */
shimniok 9:fc3575d2cbbf 56 typedef struct {
shimniok 9:fc3575d2cbbf 57 unsigned int millis;
shimniok 9:fc3575d2cbbf 58 float current, voltage;
shimniok 9:fc3575d2cbbf 59 int g[3];
shimniok 9:fc3575d2cbbf 60 float gyro[3];
shimniok 9:fc3575d2cbbf 61 int gTemp;
shimniok 9:fc3575d2cbbf 62 int a[3];
shimniok 9:fc3575d2cbbf 63 int m[3];
shimniok 9:fc3575d2cbbf 64 float gHeading;
shimniok 9:fc3575d2cbbf 65 float cHeading;
shimniok 9:fc3575d2cbbf 66 //float roll, pitch, yaw;
shimniok 9:fc3575d2cbbf 67 double gpsLatitude;
shimniok 9:fc3575d2cbbf 68 double gpsLongitude;
shimniok 9:fc3575d2cbbf 69 float gpsCourse_deg;
shimniok 9:fc3575d2cbbf 70 float gpsSpeed_mps;
shimniok 9:fc3575d2cbbf 71 float gpsHDOP;
shimniok 9:fc3575d2cbbf 72 int gpsSats;
shimniok 9:fc3575d2cbbf 73 float lrEncDistance, rrEncDistance;
shimniok 9:fc3575d2cbbf 74 float lrEncSpeed, rrEncSpeed;
shimniok 9:fc3575d2cbbf 75 float encHeading;
shimniok 9:fc3575d2cbbf 76 float estHeading;
shimniok 9:fc3575d2cbbf 77 float estLagHeading;
shimniok 9:fc3575d2cbbf 78 double estLatitude, estLongitude;
shimniok 9:fc3575d2cbbf 79 //double estNorthing, estEasting;
shimniok 9:fc3575d2cbbf 80 float estX, estY;
shimniok 9:fc3575d2cbbf 81 unsigned short nextWaypoint;
shimniok 9:fc3575d2cbbf 82 float bearing;
shimniok 9:fc3575d2cbbf 83 float distance;
shimniok 9:fc3575d2cbbf 84 float gbias;
shimniok 9:fc3575d2cbbf 85 float errHeading;
shimniok 9:fc3575d2cbbf 86 float steerAngle;
shimniok 9:fc3575d2cbbf 87 float LABrg;
shimniok 9:fc3575d2cbbf 88 float LAx;
shimniok 9:fc3575d2cbbf 89 float LAy;
shimniok 9:fc3575d2cbbf 90 } SystemState;
shimniok 9:fc3575d2cbbf 91
shimniok 9:fc3575d2cbbf 92 void state_clear( SystemState *s );
shimniok 9:fc3575d2cbbf 93 bool fifo_init(void);
shimniok 9:fc3575d2cbbf 94 void fifo_reset(void);
shimniok 9:fc3575d2cbbf 95 bool fifo_available(void);
shimniok 9:fc3575d2cbbf 96 bool fifo_push(SystemState *s);
shimniok 9:fc3575d2cbbf 97 SystemState *fifo_first(void);
shimniok 9:fc3575d2cbbf 98 SystemState *fifo_last(void);
shimniok 9:fc3575d2cbbf 99 SystemState *fifo_pull(void);
shimniok 9:fc3575d2cbbf 100 int fifo_getInState(void);
shimniok 9:fc3575d2cbbf 101 int fifo_getOutState(void);
shimniok 9:fc3575d2cbbf 102
shimniok 9:fc3575d2cbbf 103 #endif