1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | /*!
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6 | * \file ParrotNavBoard.h
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7 | * \brief Class for ArDrone 2 sensors
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2013/12/19
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10 | * \version 4.0
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11 | */
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12 |
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13 | //thanks to Paparazzi (https://wiki.paparazziuav.org) for the struct nav_struct
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14 |
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15 | #ifndef PARROTNAVBOARD_H
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16 | #define PARROTNAVBOARD_H
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17 |
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18 | #include <Thread.h>
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19 |
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20 | namespace flair {
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21 | namespace core {
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22 | class FrameworkManager;
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23 | class cvmatrix;
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24 | class ImuData;
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25 | class SerialPort;
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26 | }
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27 | }
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28 |
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29 | namespace flair { namespace sensor {
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30 | class Imu;
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31 | class UsRangeFinder;
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32 |
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33 | /*! \class ParrotNavBoard
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34 | *
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35 | * \brief Class for ArDrone 2 sensors
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36 | */
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37 | class ParrotNavBoard : public core::Thread {
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38 | public:
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39 | /*!
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40 | * \brief Constructor
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41 | *
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42 | * Construct a ParrotNavBoard.
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43 | *
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44 | * \param parent parent
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45 | * \param name name
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46 | * \param serialport serialport
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47 | * \param priority priority of the Thread
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48 | */
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49 | ParrotNavBoard(const core::FrameworkManager* parent,std::string name,core::SerialPort* serialport,uint8_t priority);
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50 |
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51 | /*!
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52 | * \brief Destructor
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53 | *
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54 | */
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55 | ~ParrotNavBoard();
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56 |
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57 | /*!
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58 | * \brief Use default plot
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59 | *
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60 | */
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61 | void UseDefaultPlot(void);
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62 |
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63 | /*!
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64 | * \brief Get Imu
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65 | *
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66 | * \return Associated Imu
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67 | */
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68 | Imu* GetImu(void) const;
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69 |
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70 | /*!
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71 | * \brief Get UsRangeFinder
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72 | *
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73 | * \return Associated UsRangeFinder
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74 | */
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75 | UsRangeFinder* GetUsRangeFinder(void) const;
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76 |
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77 | private:
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78 | typedef struct nav_struct
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79 | {
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80 | uint16_t size; // +0x00 Size of the following data (always 0x3a)
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81 | uint16_t seq; // +0x02 Sequence number, increases every update
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82 | uint16_t acc[3]; // +0x04 Raw data (10-bit) of the accelerometers multiplied by 4
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83 | int16_t gyro[3]; // +0x0A Raw data for the gyros, 12-bit A/D converted voltage of the gyros. X,Y=IDG, Z=Epson
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84 | uint16_t acc_temp; // +0x10 Accs temperature -- startup value 120 @ 25C, rising to 143
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85 | uint16_t gyro_temp; // +0x12 XYGyro temperature (IDG), 12-bit A/D converted voltage of IDG's temperature sensor -- startup value 1532 @ 25C, rising to 1572
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86 | uint16_t us_echo; // +0x14 bit15=1 echo pulse transmitted, bit14-0 first echo. Value 30 = 1cm. min value: 784 = 26cm
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87 | uint16_t us_echo_start; // +0x16 Array with starts of echos (8 array values @ 25Hz, 9 values @ 22.22Hz)
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88 | uint16_t us_echo_end; // +0x18 Array with ends of echos (8 array values @ 25Hz, 9 values @ 22.22Hz)
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89 | uint16_t us_association_echo; // +0x1a Ultrasonic parameter -- echo number starting with 0. max value 3758. examples: 0,1,2,3,4,5,6,7 ; 0,1,2,3,4,86,6,9
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90 | uint16_t us_distance_echo; // +0x1c Ultrasonic parameter -- no clear pattern
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91 | uint16_t us_courbe_temps; // +0x1e Ultrasonic parameter -- counts up from 0 to approx 24346 in 192 sample cycles of which 12 cylces have value 0
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92 | uint16_t us_courbe_valeur; // +0x20 Ultrasonic parameter -- value between 0 and 4000, no clear pattern. 192 sample cycles of which 12 cylces have value 0
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93 | uint16_t us_courbe_ref; // +0x22 Ultrasonic parameter -- coutns down from 4000 to 0 in 192 sample cycles of which 12 cylces have value 0
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94 | uint16_t nb_echo;
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95 | uint32_t sum_echo;
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96 | int16_t gradient;
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97 | uint16_t flag_echo_ini;
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98 | int32_t pressure;
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99 | int16_t temprature_pressure;
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100 | int16_t mag[3];
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101 | uint16_t checksum;
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102 | } __attribute__ ((packed)) nav_struct;
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103 |
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104 | /*!
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105 | * \brief Run function
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106 | *
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107 | * Reimplemented from Thread.
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108 | *
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109 | */
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110 | void Run(void);
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111 |
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112 | uint16_t Checksum(const uint8_t *data) const;
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113 | void computeDatas(nav_struct* nav,core::Time time);
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114 |
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115 | Imu* imu;
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116 | UsRangeFinder* us;
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117 | core::SerialPort* serialport;
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118 | };
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119 | } // end namespace sensor
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120 | } // end namespace flair
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121 |
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122 | #endif // PARROTNAVBOARD_H
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