changeset 246:603e27d44005 main

Rename
author Bob Cook <bob@bobcookdev.com>
date Thu, 06 Aug 2015 21:56:27 -0700
parents 44333100915a
children caf5ac88d09c
files main/packages/common/chrobotics/um7_data.h main/packages/common/chrobotics/um7_proto.h
diffstat 2 files changed, 189 insertions(+), 189 deletions(-) [+]
line wrap: on
line diff
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main/packages/common/chrobotics/um7_data.h	Thu Aug 06 21:56:27 2015 -0700
@@ -0,0 +1,189 @@
+// ----------------------------------------------------------------------------------------
+//
+//  common/chrobotics/um7_proto.h
+//    
+//  Bob Cook Development, Robotics Library
+//  http://www.bobcookdev.com/rl/
+//
+//  Structure definitions for the binary protocol of the CHRobotics UM7.
+//
+//  Copyright (c) 2015 Bob Cook
+//  
+//  Permission is hereby granted, free of charge, to any person obtaining a copy
+//  of this software and associated documentation files (the "Software"), to deal
+//  in the Software without restriction, including without limitation the rights
+//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+//  copies of the Software, and to permit persons to whom the Software is
+//  furnished to do so, subject to the following conditions:
+//  
+//  The above copyright notice and this permission notice shall be included in
+//  all copies or substantial portions of the Software.
+//  
+//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+//  THE SOFTWARE.
+//
+// ----------------------------------------------------------------------------------------
+
+#if !defined( BCDRL_COMMON_CHROBOTICS_UM7_PROTO_H )
+#define BCDRL_COMMON_CHROBOTICS_UM7_PROTO_H
+
+#include <stdint.h>
+
+#if !defined( __AVR__ )
+#pragma pack(push,1)
+#endif
+
+// ----------------------------------------------------------------------------------------
+
+const uint8_t um7_addr_creg_com_rates1 = 0x01;
+const uint8_t um7_addr_creg_com_rates2 = 0x02;
+const uint8_t um7_addr_creg_com_rates3 = 0x03;
+const uint8_t um7_addr_creg_com_rates4 = 0x04;
+const uint8_t um7_addr_creg_com_rates5 = 0x05;
+const uint8_t um7_addr_creg_com_rates6 = 0x06;
+const uint8_t um7_addr_creg_com_rates7 = 0x07;
+
+struct
+{
+    uint8_t raw_accel_rate;
+    uint8_t raw_gyro_rate;
+    uint8_t raw_mag_rate;
+    uint8_t reserved;
+
+} um7_creg_com_rates1;
+
+struct
+{
+    uint8_t temp_rate;
+    uint8_t reserved1;
+    uint8_t reserved2;
+    uint8_t all_raw_rate;
+
+} um7_creg_com_rates2;
+
+struct
+{
+    uint8_t proc_accel_rate;
+    uint8_t proc_gyro_rate;
+    uint8_t proc_mag_rate;
+    uint8_t reserved;
+
+} um7_creg_com_rates3;
+
+struct
+{
+    uint8_t reserved1;
+    uint8_t reserved2;
+    uint8_t reserved3;
+    uint8_t all_proc_rate;
+
+} um7_creg_com_rates4;
+
+struct
+{
+    uint8_t quat_rate;
+    uint8_t euler_rate;
+    uint8_t position_rate;
+    uint8_t velocity_rate;
+
+} um7_creg_com_rates5;
+
+struct
+{
+    uint8_t  pose_rate;
+    uint8_t  reserved1 : 4;
+    uint8_t  health_rate : 4;
+    uint16_t reserved2;
+
+} um7_creg_com_rates6;
+
+struct
+{
+    uint8_t health_rate : 4;
+    uint8_t pose_rate : 4;
+    uint8_t attitude_rate : 4;
+    uint8_t sensor_rate : 4;
+    uint8_t rates_rate : 4;
+    uint8_t gps_pose_rate : 4;
+    uint8_t quat_rate : 4;
+    uint8_t reserved1 : 4;
+
+} um7_creg_com_rates7;
+
+// ----------------------------------------------------------------------------------------
+
+const uint8_t um7_addr_dreg_health = 0x55;
+
+struct 
+{
+    uint8_t  sats_used : 6;
+    uint16_t hdop : 10;
+    uint8_t  sats_in_view : 6;
+    uint8_t  reserved1 : 1;
+    uint8_t  ovf : 1;
+    uint8_t  reserved2 : 1;
+    uint8_t  mg_n : 1;
+    uint8_t  acc_n : 1;
+    uint8_t  accel : 1;
+    uint8_t  gyro : 1;
+    uint8_t  mag : 1;
+    uint8_t  gps : 1;
+
+} um7_dreg_health;
+
+// ----------------------------------------------------------------------------------------
+
+const uint8_t um7_addr_dreg_euler_phi_theta     = 0x70;
+const uint8_t um7_addr_dreg_euler_psi           = 0x71;
+const uint8_t um7_addr_dreg_euler_phi_theta_dot = 0x72;
+const uint8_t um7_addr_dreg_euler_psi_dot       = 0x73;
+const uint8_t um7_addr_dreg_euler_time          = 0x74;
+
+struct
+{
+    uint16_t phi;
+    uint16_t theta;
+
+} um7_dreg_euler_phi_theta;
+
+struct
+{
+    uint16_t psi;
+    uint16_t reserved;
+
+} um7_dreg_euler_psi;
+
+struct
+{
+    uint16_t roll_rate;
+    uint16_t pitch_rate;
+
+} um7_dreg_euler_phi_theta_dot;
+
+struct
+{
+    uint16_t yaw_rate;
+    uint16_t reserved;
+
+} um7_dreg_euler_psi_dot;
+
+struct
+{
+    uint32_t euler_time;
+
+} um7_dreg_euler_time;
+
+// ----------------------------------------------------------------------------------------
+
+#if !defined( __AVR__ )
+#pragma pack(pop)
+#endif
+
+#endif  // #if defined( BCDRL_COMMON_CHROBOTICS_UM7_PROTO_H )
+// ----------------------------------------------------------------------------------------
+
--- a/main/packages/common/chrobotics/um7_proto.h	Thu Aug 06 21:47:44 2015 -0700
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,189 +0,0 @@
-// ----------------------------------------------------------------------------------------
-//
-//  common/chrobotics/um7_proto.h
-//    
-//  Bob Cook Development, Robotics Library
-//  http://www.bobcookdev.com/rl/
-//
-//  Structure definitions for the binary protocol of the CHRobotics UM7.
-//
-//  Copyright (c) 2015 Bob Cook
-//  
-//  Permission is hereby granted, free of charge, to any person obtaining a copy
-//  of this software and associated documentation files (the "Software"), to deal
-//  in the Software without restriction, including without limitation the rights
-//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-//  copies of the Software, and to permit persons to whom the Software is
-//  furnished to do so, subject to the following conditions:
-//  
-//  The above copyright notice and this permission notice shall be included in
-//  all copies or substantial portions of the Software.
-//  
-//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-//  THE SOFTWARE.
-//
-// ----------------------------------------------------------------------------------------
-
-#if !defined( BCDRL_COMMON_CHROBOTICS_UM7_PROTO_H )
-#define BCDRL_COMMON_CHROBOTICS_UM7_PROTO_H
-
-#include <stdint.h>
-
-#if !defined( __AVR__ )
-#pragma pack(push,1)
-#endif
-
-// ----------------------------------------------------------------------------------------
-
-const uint8_t um7_addr_creg_com_rates1 = 0x01;
-const uint8_t um7_addr_creg_com_rates2 = 0x02;
-const uint8_t um7_addr_creg_com_rates3 = 0x03;
-const uint8_t um7_addr_creg_com_rates4 = 0x04;
-const uint8_t um7_addr_creg_com_rates5 = 0x05;
-const uint8_t um7_addr_creg_com_rates6 = 0x06;
-const uint8_t um7_addr_creg_com_rates7 = 0x07;
-
-struct
-{
-    uint8_t raw_accel_rate;
-    uint8_t raw_gyro_rate;
-    uint8_t raw_mag_rate;
-    uint8_t reserved;
-
-} um7_creg_com_rates1;
-
-struct
-{
-    uint8_t temp_rate;
-    uint8_t reserved1;
-    uint8_t reserved2;
-    uint8_t all_raw_rate;
-
-} um7_creg_com_rates2;
-
-struct
-{
-    uint8_t proc_accel_rate;
-    uint8_t proc_gyro_rate;
-    uint8_t proc_mag_rate;
-    uint8_t reserved;
-
-} um7_creg_com_rates3;
-
-struct
-{
-    uint8_t reserved1;
-    uint8_t reserved2;
-    uint8_t reserved3;
-    uint8_t all_proc_rate;
-
-} um7_creg_com_rates4;
-
-struct
-{
-    uint8_t quat_rate;
-    uint8_t euler_rate;
-    uint8_t position_rate;
-    uint8_t velocity_rate;
-
-} um7_creg_com_rates5;
-
-struct
-{
-    uint8_t  pose_rate;
-    uint8_t  reserved1 : 4;
-    uint8_t  health_rate : 4;
-    uint16_t reserved2;
-
-} um7_creg_com_rates6;
-
-struct
-{
-    uint8_t health_rate : 4;
-    uint8_t pose_rate : 4;
-    uint8_t attitude_rate : 4;
-    uint8_t sensor_rate : 4;
-    uint8_t rates_rate : 4;
-    uint8_t gps_pose_rate : 4;
-    uint8_t quat_rate : 4;
-    uint8_t reserved1 : 4;
-
-} um7_creg_com_rates7;
-
-// ----------------------------------------------------------------------------------------
-
-const uint8_t um7_addr_dreg_health = 0x55;
-
-struct 
-{
-    uint8_t  sats_used : 6;
-    uint16_t hdop : 10;
-    uint8_t  sats_in_view : 6;
-    uint8_t  reserved1 : 1;
-    uint8_t  ovf : 1;
-    uint8_t  reserved2 : 1;
-    uint8_t  mg_n : 1;
-    uint8_t  acc_n : 1;
-    uint8_t  accel : 1;
-    uint8_t  gyro : 1;
-    uint8_t  mag : 1;
-    uint8_t  gps : 1;
-
-} um7_dreg_health;
-
-// ----------------------------------------------------------------------------------------
-
-const uint8_t um7_addr_dreg_euler_phi_theta     = 0x70;
-const uint8_t um7_addr_dreg_euler_psi           = 0x71;
-const uint8_t um7_addr_dreg_euler_phi_theta_dot = 0x72;
-const uint8_t um7_addr_dreg_euler_psi_dot       = 0x73;
-const uint8_t um7_addr_dreg_euler_time          = 0x74;
-
-struct
-{
-    uint16_t phi;
-    uint16_t theta;
-
-} um7_dreg_euler_phi_theta;
-
-struct
-{
-    uint16_t psi;
-    uint16_t reserved;
-
-} um7_dreg_euler_psi;
-
-struct
-{
-    uint16_t roll_rate;
-    uint16_t pitch_rate;
-
-} um7_dreg_euler_phi_theta_dot;
-
-struct
-{
-    uint16_t yaw_rate;
-    uint16_t reserved;
-
-} um7_dreg_euler_psi_dot;
-
-struct
-{
-    uint32_t euler_time;
-
-} um7_dreg_euler_time;
-
-// ----------------------------------------------------------------------------------------
-
-#if !defined( __AVR__ )
-#pragma pack(pop)
-#endif
-
-#endif  // #if defined( BCDRL_COMMON_CHROBOTICS_UM7_PROTO_H )
-// ----------------------------------------------------------------------------------------
-