changeset 253:ec26a0ac8e1b main

Add the new IMU node information.
author Bob Cook <bob@bobcookdev.com>
date Mon, 07 Sep 2015 20:21:43 -0700
parents 1b764c120921
children 2b880f37d94a
files main/packages/common/can/can_messages.h main/packages/common/can/can_nodes.h
diffstat 2 files changed, 17 insertions(+), 5 deletions(-) [+]
line wrap: on
line diff
--- a/main/packages/common/can/can_messages.h	Mon Sep 07 20:21:11 2015 -0700
+++ b/main/packages/common/can/can_messages.h	Mon Sep 07 20:21:43 2015 -0700
@@ -7,7 +7,7 @@
 // 
 //  Identifiers for Controller Area Network messages.
 //
-//  Copyright (c) 2010-2014 Bob Cook
+//  Copyright (c) 2010-2015 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
@@ -100,9 +100,10 @@
 
 // ----------------------------------------------------------------------------------------
 
-const uint16_t can_dataid_imu_roll  = 0x0020;
-const uint16_t can_dataid_imu_pitch = 0x0021;
-const uint16_t can_dataid_imu_yaw   = 0x0022;
+const uint16_t can_dataid_imu_roll    = 0x0020;
+const uint16_t can_dataid_imu_pitch   = 0x0021;
+const uint16_t can_dataid_imu_yaw     = 0x0022;
+const uint16_t can_dataid_imu_yaw_adj = 0x0023;   // magnetic declination compensation
 
 const int32_t  can_data_imu_multiplier = 10000;
 
@@ -112,6 +113,16 @@
 
 }   can_data_imu_data;
 
+const uint16_t can_dataid_imu_zero_gyros = 0x0024;
+
+const uint16_t can_dataid_imu_health = 0x0025;
+
+typedef struct
+{
+    uint32_t health; // raw health bits from the IMU module
+    
+} can_data_imu_health;
+
 // ----------------------------------------------------------------------------------------
 
 const uint16_t can_dataid_utc_timestamp = 0x0100;
@@ -120,7 +131,7 @@
 {
     uint8_t packed_time[ 6 ];
 
-} can_data_utc_timestamp;
+}   can_data_utc_timestamp;
 
 // ----------------------------------------------------------------------------------------
 
--- a/main/packages/common/can/can_nodes.h	Mon Sep 07 20:21:11 2015 -0700
+++ b/main/packages/common/can/can_nodes.h	Mon Sep 07 20:21:43 2015 -0700
@@ -47,6 +47,7 @@
 const uint8_t can_node_odr_sonar_front = 0x0003;
 const uint8_t can_node_odr_motion      = 0x0004;
 const uint8_t can_node_odr_display     = 0x0005;
+const uint8_t can_node_odr_monitor     = 0x0006;
 
 // ----------------------------------------------------------------------------------------
 //  sensor modules