Diff: SystemState.h

Revision:

9:fc3575d2cbbf

Child:

24:a7f92dfc5310

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SystemState.h	Fri Dec 07 15:58:41 2018 +0000
@@ -0,0 +1,103 @@
+#ifndef _SYSTEMSTATE_H
+#define _SYSTEMSTATE_H
+
+#define SSBUF 32 // must be 2^n
+
+/** System State is the main mechanism for communicating current realtime system state to
+ * the rest of the system for logging, data display, etc.
+ */
+
+#include <stdbool.h>
+
+/* struct systemState
+ * structure containing system sensor data
+ ****** System Status
+ * millis               number of milliseconds since epoch (or startup)
+ * current              current draw in amps
+ * voltage              voltage in volts
+ ****** Data reported by IMU
+ * g[3]                 raw 3-axis gyro values; if using 1-axis, then store data in gx
+ * gTemp                Gyro temperature
+ * a[3]                 raw 3-axis accelerometer values
+ * m[3]                 raw 3-axis magnetometer values; if using 2d then store data in mx and my
+ * gHeading             independently calculated gyro heading in degrees
+ * cHeading             independently calculated compass heading in degrees
+ ****** AHRS Estimates
+ * roll, pitch, yaw     estimated attitude in degrees relative to the world frame
+ ****** Data reported by GPS
+ * gpsLatitude          raw GPS latitude in fractional degrees (e.g., 39.123456)
+ * gpsLongitude         raw GPS longitude in fractional degrees (e.g., -104.123456
+ * gpsCourse_deg        raw GPS course in degrees
+ * gpsSpeed_mps         raw GPS speed in m/s
+ * gpsHDOP              raw GPS Horizontal Dilution of Precision
+ * gpsSats              raw GPS Satellite fix count
+ ****** Odometry data
+ * lrEncDistance        left rear encoder distance since last log update
+ * rrEncDistance        right rear encoder distance since last log update
+ * lrEncSpeed           left rear encoder speed 
+ * rrEncSpeed           right rear encoder speed
+ * encHeading           estimated heading based on encoder readings
+ ****** Estimated Position and Heading
+ * estLagHeading        estimated heading in degrees, lagged to sync with gps
+ * estHeading           estimated current heading
+ * estLatitude          estimated latitude in fractional degrees (e.g., 39.123456)
+ * estLongitude         estimated longitude in fractional degrees (e.g., -104.123456)
+ * estNorthing          some algorithms use UTM.  Estimated UTM northing
+ * estEasting           estimated UTM easting
+ * estX, estY           some algorithms use simple x, y distance from origin (meters)
+ ****** Waypoint data
+ * nextWaypoint         integer ID of the next waypoint
+ * bearing              estimated bearing to next waypoint in degrees
+ * distance             estimated distance to next waypoint in meters
+ ****** Control data
+ * throttle             raw servo setting(units?)
+ * steering             raw servo setting(units?)
+ */
+typedef struct {
+    unsigned int millis;
+    float current, voltage;
+    int g[3];
+    float gyro[3];
+    int gTemp;
+    int a[3];
+    int m[3];
+    float gHeading;
+    float cHeading;
+    //float roll, pitch, yaw;
+    double gpsLatitude;
+    double gpsLongitude;
+    float gpsCourse_deg;
+    float gpsSpeed_mps;
+    float gpsHDOP;
+    int gpsSats;
+    float lrEncDistance, rrEncDistance;
+    float lrEncSpeed, rrEncSpeed;
+    float encHeading;
+    float estHeading;
+    float estLagHeading;
+    double estLatitude, estLongitude;
+    //double estNorthing, estEasting;
+    float estX, estY;
+    unsigned short nextWaypoint;
+    float bearing;
+    float distance;
+    float gbias;
+    float errHeading;
+    float steerAngle;
+    float LABrg;
+    float LAx;
+    float LAy;
+} SystemState;
+
+void state_clear( SystemState *s );
+bool fifo_init(void);
+void fifo_reset(void);
+bool fifo_available(void);
+bool fifo_push(SystemState *s);
+SystemState *fifo_first(void);
+SystemState *fifo_last(void);
+SystemState *fifo_pull(void);
+int fifo_getInState(void);
+int fifo_getOutState(void);
+
+#endif