// ************************************************************************************************ // // Copyright @ 2018 - Aethon-Technologies // // File: BaseTypes.h // // Author: A. Jones // // Date: 15 Nov/2018 // // Brief: // // Notes: // // ************************************************************************************************ #if !defined(BASETYPES__INCLUDED_) #define BASETYPES__INCLUDED_ // **** I N C L U D E S *************************************************************************** // #ifdef WIN32 // #include #include #include #endif #ifdef _LINUX #include #endif #define UTM uint16_t // *** D E F I N E S ****************************************************************************** // // Endianness // #define ENDIAN_BIG 0 // To match BIGENDIAN in WinSock2.h #define ENDIAN_MOTOROLA (ENDIAN_BIG) #define ENDIAN_LIL 1 #define ENDIAN_INTEL (ENDIAN_INTEL) #if defined(_WINDOWS) || defined(WINDOWS) #define ENDIAN (ENDIAN_LIL) #define ENDIAN_NATIVE (ENDIAN_LIL) #endif #if defined(_LINUX) || defined(LINUX) #define ENDIAN (ENDIAN_BIG) #define ENDIAN_NATIVE (ENDIAN_BIG) #endif #ifndef int8 typedef signed char int8; #endif #ifndef uint8 typedef unsigned char uint8; #endif #ifndef int16 typedef short int16; #endif #ifndef uint16 typedef unsigned short uint16; #endif #ifndef int32 typedef int int32; #endif #ifndef uint32 typedef unsigned int uint32; #endif #ifndef int64 #ifdef WIN32 typedef __int64 int64; #endif #ifdef _LINUX typedef long long int64; #endif #endif #ifndef uint64 #ifdef WIN32 typedef unsigned __int64 uint64; #endif #ifdef _LINUX typedef long long uint64; #endif #endif #ifndef float32 typedef float float32; #endif #ifndef float64 typedef double float64; #endif #ifndef DWORD typedef unsigned long DWORD; #endif #ifndef BOOL typedef int BOOL; // Ya Windoze uses an int #endif #ifndef NULL typedef ((void*)0) NULL; #endif #ifndef MAX_PATH #define MAX_PATH 260 #endif #ifndef FALSE #define FALSE 0 #endif #ifndef TRUE #define TRUE 1 #endif #ifndef INT8_MIN #define INT8_MIN -128 #endif #ifndef INT8_MAX #define INT8_MAX 127 #endif #ifndef UINT8_MIN #define UINT8_MIN 0 #endif #ifndef UINT8_MAX #define UINT8_MAX 255 #endif #ifndef INT16_MIN #define INT16_MIN -32768 #endif #ifndef INT16_MAX #define INT16_MAX 32767 #endif #ifndef UINT16_MIN #define UINT16_MIN 0 #endif #ifndef UINT16_MAX #define UINT16_MAX 65535 #endif #ifndef INT32_MIN #define INT32_MIN -2147483648 #endif #ifndef INT32_MAX #define INT32_MAX 2147483647 #endif #ifndef UINT32_MIN #define UINT32_MIN 0 #endif #ifndef UINT32_MAX #define UINT32_MAX 4294967295 #endif #endif // BASETYPES__INCLUDED_ // ************************************************************************************************ // // Copyright @ 2015 - Aethon-Technologies // // File: BUFF.h // // Author: A. Jones // // Date: 28 Aug/2015 // // Brief: Buffer Packing/Unpacking // // Notes: // // ************************************************************************************************ #ifndef __BUFF_H__ #define __BUFF_H__ // *** I N C L U D E S **************************************************************************** // //#include "BaseTypes.h" // *** P R O T O T Y P E S ************************************************************************ // extern uint8* BUFF_PutU8(uint8* pu8Buffer, uint8 u8Value, uint8 u8Endian); extern uint8* BUFF_PutU16(uint8* pu8Buffer, uint16 u16Value, uint8 u8Endian); extern uint8* BUFF_PutU32(uint8* pu8Buffer, uint32 u32Value, uint8 u8Endian); extern uint8* BUFF_PutU64(uint8* pu8Buffer, uint64 u64Value, uint8 u8Endian); extern uint8* BUFF_PutString8(uint8* pu8Buffer, const char* pS, uint8 u8Endian); extern uint8* BUFF_PutString16(uint8* pu8Buffer, const char* pS, uint8 u8Endian); extern uint8* BUFF_PutData(uint8* pu8Buffer, const uint8* pData, uint32 u32Len, uint8 u8Endian); extern uint8* BUFF_Concate(uint8* pu8Buffer, uint8* pData, uint32 u32Len, uint8 u8Endian); extern uint8* BUFF_PutFloat(uint8* pu8Buffer, float fValue, uint8 u8Endian); extern uint8* BUFF_PutDouble(uint8* pu8Buffer, double dValue, uint8 u8Endian); extern uint8* BUFF_PutVariable(uint8* pu8Buffer, uint8* pu8Variable, uint16 u16Len, uint8 u8Endian); extern uint8* BUFF_GetU8(uint8* pu8Buffer, uint8* pu8Value, uint16* pu16Len, uint8 u8Endian); extern uint8* BUFF_GetU16(uint8* pu8Buffer, uint16* pu16Value, uint16* pu16Len, uint8 u8Endian); extern uint8* BUFF_GetU32(uint8* pu8Buffer, uint32* pu32Value, uint16* pu16Len, uint8 u8Endian); extern uint8* BUFF_GetU64(uint8* pu8Buffer, uint64* pu64Value, uint16* pu16Len, uint8 u8Endian); extern uint8* BUFF_GetString8(uint8* pu8Buffer, char* pD, uint16* pu16Len, uint8 u8Endian); extern uint8* BUFF_GetString16(uint8* pu8Buffer, char* pD, uint16* pu16Len, uint8 u8Endian); extern uint8* BUFF_GetData(uint8* pu8Buffer, uint8* pData, uint32 u32Len, uint16* pu16Len, uint8 u8Endian); extern uint8* BUFF_GetFloat(uint8* pu8Buffer, float* pfValue, uint16* pu16Len, uint8 u8Endian); extern uint8* BUFF_GetDouble(uint8* pu8Buffer, double* pdValue, uint16* pu16Len, uint8 u8Endian); extern uint8* BUFF_GetVariable(uint8* pu8Buffer, uint8* pu8Variable, uint16 u16Len, uint16* pu16Len, uint8 u8Endian); #endif // __BUFF_H__ // BUFF.h // ************************************************************************************************ // // Copyright @ 2015 - Aethon-Technologies // // File: CRC.h // // Author: A. Jones // // Date: 28 Aug/2015 // // Brief: // // Notes: // // ************************************************************************************************ #ifndef __CRC_H__ #define __CRC_H__ // *** I N C L U D E S **************************************************************************** // //#include "BaseTypes.h" // *** E X T E R N S ****************************************************************************** // extern const uint8 crc8tab[256]; extern const uint16 crc16tab[256]; extern const uint32 crc32tab[256]; // *** M A C R O S ******************************************************************************** // #define CRC8(CRC,BYT) ( crc8tab[(CRC) ^ (BYT)] ) #define CRC16(CRC,BYT) ( (uint16)((CRC) << 8U) ^ crc16tab[(((CRC) >> 8U) ^ (BYT)) & 0xFFU] ) #define CRC32(CRC,BYT) ( crc32tab[((uint32)(CRC) ^ (BYT)) & 0xFFU] ^ (((CRC) >> 8U) & 0x00FFFFFFU) ) // *** P R O T O T Y P E S ************************************************************************ // extern uint8 CRC8Buffer(uint8 u8CRC, uint8* pu8Data, uint32 u32Len); extern uint16 CRC16Buffer(uint16 u16CRC, uint8* pu8Data, uint32 u32Len); extern uint32 CRC32Buffer(uint32 u32CRC, uint8* pu8Data, uint32 u32Len); #endif // __CRC_H__ // CRC.h // ************************************************************************************************ // // Copyright @ 2018 - Aethon-Technologies // // File: Gimbal.h // // Author: A. Jones // // Date: 12 Nov/2018 // // Brief: Gimbal API Definitions // // Notes: // // ************************************************************************************************ #ifndef _M_GIMAPI_H_ #define _M_GIMAPI_H_ // *** I N C L U D E S **************************************************************************** //#include "BaseTypes.h" //#include "UTM.h" // *** D E F I N E S ****************************************************************************** // ************************************************************************************************ // *** Gimbal *** // ************************************************************************************************ // GIM Status Validity // #define GIM_VALID_MODE 0x0001 #define GIM_VALID_FLAGS 0x0002 #define GIM_VALID_STATUS 0x0004 #define GIM_VALID_PAN 0x0008 #define GIM_VALID_TILT 0x0010 #define GIM_VALID_ROLL 0x0020 #define GIM_VALID_UNDULATION 0x0040 #define GIM_VALID_GYRO_RATES 0x0080 #define GIM_VALID_ACCELERATIONS 0x0100 #define GIM_VALID_CLUSTER 0x0200 // // // GIM Type // #define GIM_TYPE_INVALID 0 #define GIM_TYPE_GENERIC 1 #define GIM_TYPE_SIM 2 #define GIM_TYPE_TRILLIUM 3 #define GIM_TYPE_TRAKKA 4 #define GIM_TYPE_CINEFLEX 5 // // // GIM Status // #define GIM_STATUS_COMM_GOOD 0x0001 // Comms Good #define GIM_STATUS_SUBCLASS_MASK 0xFF00 // These Flags are Reserved for Specific Gimbals // // // Gimbal Steering Modes // #define GIM_MODE_UNKNOWN 0 // Unknown Mode #define GIM_MODE_INIT 1 // Startup #define GIM_MODE_BIT 2 // Built in Test #define GIM_MODE_RATE 3 // Rate Mode #define GIM_MODE_POS 4 // Position Mode #define GIM_MODE_STOW 5 // Stow #define GIM_MODE_GEO 6 // Geo Pointing Mode #define GIM_MODE_FAULT 7 // Fault Condition #define GIM_MODE_CUSTOM 8 // An Extended Mode specific to type of Gimbal // // // GIM Flags // #define GIM_FLAG_TBD 0x0000 // // // GIM Axis // #define AZ 0 #define EL 1 #define RL 2 // // // ************************************************************************************************ // *** GEO *** // ************************************************************************************************ // Geo Validity // #define GEO_VALID_FLAGS 0x0001 // GEO_FLAG_ #define GEO_VALID_STATUS 0x0002 // GEO_STATUS_ #define GEO_VALID_RANGE 0x0004 // Min/Max Range is Valid #define GEO_VALID_NORMAL 0x0008 // Min/Max Angle is Valid #define GEO_VALID_TARGET 0x0010 // Lat/Lng/Alt Target(s) Valid #define GEO_VALID_CORNERS 0x0020 // Corners Valid (Status) // // // Geo Flags // #define GEO_FLAG_TBD 0x0001 // // // Geo Status // #define GEO_STATUS_INS_ALIGNING 0x0001 #define GEO_STATUS_INS_ALIGNED 0x0002 #define GEO_STATUS_INS_FAIL 0x0004 // // // Geo Event // #define GEO_EVENT_INVALID 0x00 // Invalid #define GEO_EVENT_STARE 0x01 // Settled on Target #define GEO_EVENT_CAPTURE 0x02 // Image Captured #define GEO_EVENT_CLUSTER_COMPLETE 0x03 // Cluster Complete // // // ************************************************************************************************ // *** Target *** // ************************************************************************************************ // Target/Cluster Status // #define TRG_STATUS_STATE_CAPTURED 0x00000001 // + Captured #define TRG_STATUS_STATE_STARE 0x00000002 // | Stare received (Stare Packet) #define TRG_STATUS_STATE_IMAGE 0x00000004 // | State Image received (ImageCaptureStatus Packet) #define TRG_STATUS_STATE_TARGETED 0x00000008 // | Point-List Sent #define TRG_STATUS_STATE_FAILED 0x00000010 // | Timeout on Target #define TRG_STATUS_STATE_NOT_CONSIDERED 0x00000020 // | Target is not close enough to consider #define TRG_STATUS_STATE_MASK 0x000000FF // + Mask of Above #define TRG_STATUS_CAPTURE_ANGLES_GOOD 0x00000100 // + Captured with Good Angles #define TRG_STATUS_CAPTURE_RANGE_GOOD 0x00000200 // | Capture Captured with Good Range #define TRG_STATUS_CAPTURE_ALL_GOOD 0x00000300 // | State Captured with Good Angle and Range #define TRG_STATUS_CAPTURE_MASK 0x00000F00 // + Mask of all Above #define TRG_STATUS_VALID_ALT_ELL 0x00001000 // + ELL Alt valid #define TRG_STATUS_VALID_ALT_MSL 0x00002000 // | Validity MSL Alt Valid #define TRG_STATUS_VALID_ALT_AGL 0x00004000 // | AGL Alt Valid #define TRG_STATUS_VALID_ALT_MASK 0x0000F000 // + Mask of Above #define TRG_STATUS_CURRENT_ANGLES_OK 0x00010000 // + Gimbal is "in View" based on Target Normals #define TRG_STATUS_CURRENT_RANGE_OK 0x00020000 // | Gimbal is "in Range" based on Target Min/Max Range #define TRG_STATUS_CURRENT_ALL_OK 0x00030000 // | Immediate Mask of Above #define TRG_STATUS_CURRENT_APPROACHING 0x00100000 // | State Approaching Target #define TRG_STATUS_CURRENT_LEAVING 0x00200000 // | Leaving Target #define TRG_STATUS_CURRENT_MASK 0x00FF0000 // + Mask of Above // // #define TRG_STATUS_FULLY_CAPTURED (TRG_STATUS_CAPTURED|TRG_STATUS_CAPTURED_ANGLES_GOOD|TRG_STATUS_CAPTURED_RANGE_GOOD) #define TRG_STATUS_VOLATILE_MASK (TRG_STATUS_RESULTS_MASK|TRG_STATUS_TARGETING_MASK) // SLIP Src/Dsts // #define SLIP_ID_HOST 0x03 // Odin #define SLIP_ID_GIMBAL 0x10 // Aethon Gimbal // SLIP Messages // #define SLIP_MSG_TARGETS 0x10 // [IN] #define SLIP_MSG_TARGET_QUERY 0x11 // [IN] #define SLIP_MSG_TARGET_STATUS 0x12 // [OUT] #define SLIP_MSG_TRAJECTORY 0x13 // [IN] #define SLIP_MSG_GIMBAL_CTRL 0x50 // [OUT] #define SLIP_MSG_GIMBAL_STATUS 0x51 // [IN] #define SLIP_MSG_GEO_POINT 0x52 // [OUT] #define SLIP_MSG_GEO_EVENT 0x53 // [IN] #define SLIP_MSG_GEO_FOCUS 0x54 // [IN] #define SLIP_MSG_GPS_CTRL 0x60 // [OUT] #define SLIP_MSG_GPS_STATUS 0x61 // [IN] #define SLIP_MSG_SENSOR_CTRL 0x70 // [OUT] #define SLIP_MSG_SENSOR_STATUS 0x71 // [IN] // *** F O R E C A S T **************************************************************************** struct TargetDEF; struct ClusterDEF; // *** T Y P E D E F S **************************************************************************** // RangeDEF // // Defines the Min/Max Range for a Target/Cluster to be suitable for Capture // typedef struct RangeDEF { BOOL bValid; double dMin; double dMax; } RangeDEF; // NormalDEF // // Defines the Min/Max Facing Angles for a Target/Cluster to be suitable for Capture // typedef struct NormalDEF { BOOL bValid; double x; double y; double z; double x2D; double y2D; double dAzMin; double dAzCenter; double dAzMax; double dAzWidth; } NormalDEF; // ClusterDEF // // Defines a Cluster of Points or Targets // typedef struct ClusterDEF { // Static Info // uint16 u16ClusterIndex; // 0-Based Cluster Index char szName[32]; // Cluster Name 'cluster003' char szID[32]; // Target ID '3' NormalDEF normal; // Normal RangeDEF range; // Min/Max Range // Targets // struct TargetDEF* pTargetHead; // First Target struct TargetDEF* pTargetTail; // Last Target uint16 u16Targets; // Target Count // Centroid // double dLat; // Degrees double dLng; // Degrees double dAltMSL; // Alt MSL meters UTM utm; // Tracking Data // uint32 u32ClusterStatus; // TRG_STATUS_ double dGroundRange; // Ground Distance to Gimbal (m) double dSlantRange; // Slant Distance to Gimbal (m) double dClosestRange; // Closest ever to Gimbal (m) double dGimbalBearing; // m (Bearing of Gimbal from Target (North=0)) double dFacing; // +/- Angle to Normal (deg) (Error between the Bearing and the center of the Normal) double dClosestFacing; // Closest ever Facing // Target Selection // int32 s32CandidateWeight; // Candidate Weight uint32 u32ClusterTargeted_ms; // Time when the Cluster became the Target // Capture Summary (from sub Targets) // uint16 u16CapturesFull; // Targets Captured Fully (both Range and Angles good) uint16 u16CapturesSoft; // Targets Captured with just Bad Angles or Bad Distance uint16 u16Captures; // Sum of Above // UI/Sim // int32 x0; // Actual Center int32 y0; int32 x1; // Where it's drawn int32 y1; int32 dx; // offset from x0 -> x1 int32 dy; BOOL bCoincidental; BOOL bFirstCoincidence; BOOL bVisible; uint8 u8ZLevel; // 0 = Not Visible, 1 = Bottom (Full Black), 2 = Full Green, 3 = Top (Partial) uint16 u16Radius; uint32 u32OpenTimeout_ms; struct ClusterDEF* pPrev; struct ClusterDEF* pNext; } ClusterDEF; // TargetDEF // // Defines a Point or Target within a Cluster // typedef struct TargetDEF { // Static Info // uint16 u16TargetIndex; // 0-Based Index within Cluster char szName[32]; // Target Name 'horzA1_2' char szID[32]; // Target ID '02' double dLat; // Degrees double dLng; // Degrees double dAltMSL; // m UTM utm; // UTM NormalDEF normal; // Normal RangeDEF range; // Min/Max Range struct ClusterDEF* pCluster; // Owner Cluster // uint32 u32DwellTime_ms; // double dExtent_m; // double dMaxGsdMMPerPx; // Tracking Data // uint32 u32TargetStatus; // TRG_STATUS_ double dGroundRange; // Current Ground Distance to Gimbal (m) double dSlantRange; // Current Slant Distance to Gimbal (m) double dClosestRange; // Closest ever to Gimbal (m) double dGimbalBearing; // m (Bearing of Gimbal from Target (North=0)) double dFacing; // Current Facing (Error between the Bearing and the center of the Normal) double dClosestFacing; // Closest ever Facing // Capture Summary // uint16 u16CapturesFull; // Number of Captures with both Good Range and Good Angles uint16 u16CapturesSoft; // Number of Captures with either a Bad Range or Bad Angle uint16 u16Captures; // Sum of Above // UI/Sim // float fTargetAngle; // Angle to display Target at when Cluster is Exploded double dLatDown; double dLngDown; int32 x; // Rendered int32 y; struct TargetDEF* pPrev; struct TargetDEF* pNext; } TargetDEF; // TrajDEF // // Defines a Vertex in a Tragectory // typedef struct TrajDEF { int16 s16Index; // -1 Terminates float fLat; float fLng; float fAltMSL; UTM utm; } TrajDEF; // SensorInfoDEF // // Describes Sensor dimensions for FOV Calculations // typedef struct SensorInfoDEF { char szDescription[64]; double dFocalLength_px; uint32 u32Width_px; uint32 u32Height_px; double dPixelSize_m; double dTriggerDelay_sec; float fHFOV; float fVFOV; } SensorInfoDEF; #endif // _M_GIMAPI_H_ // Gimbal.h // ************************************************************************************************ // // Copyright @ 2015 - Aethon-Technologies // // File: GPS.h // // Author: A. Jones // // Date: 30 Aug/2015 // // Brief: // // Notes: // // ************************************************************************************************ #ifndef _M_GPSAPI_H_ #define _M_GPSAPI_H_ // *** I N C L U D E S **************************************************************************** // //#include "BaseTypes.h" // *** D E F I N E S ****************************************************************************** // // GPS Validity // #define GPS_VALID_STATUS 0x0000000000000001 #define GPS_VALID_UTC_TIME 0x0000000000000002 #define GPS_VALID_GPS_TIME 0x0000000000000004 #define GPS_VALID_LAT 0x0000000000000008 #define GPS_VALID_LNG 0x0000000000000010 #define GPS_VALID_ALT_ELL 0x0000000000000020 #define GPS_VALID_ALT_MSL 0x0000000000000040 #define GPS_VALID_ALT_AGL 0x0000000000000080 #define GPS_VALID_ALT_OPT 0x0000000000000100 #define GPS_VALID_ELEVATION 0x0000000000000200 #define GPS_VALID_UNDULATION 0x0000000000000400 #define GPS_VALID_MAGVAR 0x0000000000000800 #define GPS_VALID_SPEED 0x0000000000001000 #define GPS_VALID_SPEED_OPT 0x0000000000002000 #define GPS_VALID_TRACKT 0x0000000000004000 #define GPS_VALID_TRACKM 0x0000000000008000 #define GPS_VALID_VELN 0x0000000000010000 #define GPS_VALID_VELE 0x0000000000020000 #define GPS_VALID_VELD 0x0000000000040000 #define GPS_VALID_VEL 0x0000000000080000 #define GPS_VALID_PITCH 0x0000000000100000 #define GPS_VALID_ROLL 0x0000000000200000 #define GPS_VALID_HEADINGT 0x0000000000400000 #define GPS_VALID_HEADINGM 0x0000000000800000 #define GPS_VALID_TIME 0x0000000001000000 // Hour/Min/Sec/etc. #define GPS_VALID_SATT 0x0000000002000000 #define GPS_VALID_SATV 0x0000000004000000 #define GPS_VALID_SAT_CHNS 0x0000000008000000 #define GPS_VALID_ALIGN 0x0000000010000000 #define GPS_VALID_POS_FOM 0x0000000020000000 #define GPS_VALID_VEL_FOM 0x0000000040000000 #define GPS_VALID_HDG_FOM 0x0000000080000000 #define GPS_VALID_TIME_FOM 0x0000000100000000 #define GPS_VALID_QUALITY 0x0000000200000000 #define GPS_VALID_PDOP 0x0000000400000000 #define GPS_VALID_HDOP 0x0000000800000000 #define GPS_VALID_VDOP 0x0000001000000000 #define GPS_VALID_HORZ_POS_ERR 0x0000002000000000 #define GPS_VALID_VERT_POS_ERR 0x0000004000000000 #define GPS_VALID_VEL_POS_ERR 0x0000008000000000 #define GPS_VALID_ANG_VEL 0x0000010000000000 #define GPS_VALID_MAX_ANG_VEL 0x0000020000000000 #define GPS_VALID_ACC 0x0000040000000000 #define GPS_VALID_MAX_ACC 0x0000080000000000 // // #define GPS_VALID_ALT_ALL (GPS_VALID_ALT_ELL|GPS_VALID_ALT_MSL|GPS_VALID_ALT_AGL|GPS_VALID_ALT_OPT) // GPS Type // #define GPS_TYPE_INVALID 0 #define GPS_TYPE_GENERIC 1 #define GPS_TYPE_SIM 2 #define GPS_TYPE_NMEA0183 3 #define GPS_TYPE_GARMIN 4 #define GPS_TYPE_TRIMBLE 5 #define GPS_TYPE_APPLANIX 6 #define GPS_TYPE_SBET 7 #define GPS_TYPE_TRILLIUM 8 // // // GPS DOP Values // #define GPS_DOP_IDEAL 0 // < 1 Highest possible confidence level to be used for applications demanding the highest possible precision at all times. #define GPS_DOP_EXCELLENT 2 // 1-2 At this confidence level, positional measurements are considered accurate enough to meet all but the most sensitive applications. #define GPS_DOP_GOOD 5 // 2-5 Represents a level that marks the minimum appropriate for making business decisions. Positional measurements could be used to make reliable in-route navigation suggestions to the user. #define GPS_DOP_MODERATE 10 // 5-10 Positional measurements could be used for calculations, but the fix quality could still be improved. A more open view of the sky is recommended. #define GPS_DOP_FAIR 20 // 10-20 Represents a low confidence level. Positional measurements should be discarded or used only to indicate a very rough estimate of the current location. #define GPS_DOP_POOR 100 // >20 At this level, measurements are inaccurate by as much as 300 meters with a 6-meter accurate device (50 DOP � 6 meters) and should be discarded. // // // GPS Align // #define GPS_ALIGN_INVALID 0 #define GPS_ALIGN_LAND_COARSE 1 #define GPS_ALIGN_LAND_FINE 2 #define GPS_ALIGN_AIR_COARSE 3 #define GPS_ALIGN_AIR_FINE 4 #define GPS_ALIGN_FULL 5 #define GPS_ALIGN_NA 6 // // // GPS Quality // #define GPS_QUAL_NA 0 // Fix not available #define GPS_QUAL_FIX 1 // GPS fix #define GPS_QUAL_3D 2 // Differential 3D fix // // // GPS Satellite Status // #define GPS_SAT_STATUS_VALID 0x0001 // Valid/Known (Visible) #define GPS_SAT_STATUS_TRACKING 0x0002 // Tracking // // #define GPS_ALT_INVALID -32768 // Invalid Elevation #endif // _M_GPSAPI_H_ // GPS.h // ************************************************************************************************ // // Copyright @ 2015 - Aethon-Technologies // // File: SLIP.h // // Author: A. Jones // // Date: 28 Aug/2015 // // Brief: Serial Link Interface Protocol // // Notes: // // ************************************************************************************************ #ifndef _SLIP_H_ #define _SLIP_H_ // *** I N C L U D E S **************************************************************************** // //#include "BaseTypes.h" // *** D E F I N E S ****************************************************************************** // #define SLIP_VERSION_1 0x0100 // v1.00 #define SLIP_VERSION_LATEST SLIP_VERSION_1 #define SLIP_SYNC 0xAE // Standard Protocol Framing Byte #define SLIP_HEADER_SIZE 8 // #define SLIP_FOOTER_SIZE 2 // #define SLIP_OVERHEAD_SIZE (SLIP_HEADER_SIZE + SLIP_FOOTER_SIZE) // Cost of Header and Footer #define SLIP_MAX_PAYLOAD_SIZE 2048 // Maximum Payload Size #define SLIP_MAX_PACKET_SIZE (SLIP_OVERHEAD_SIZE+SLIP_MAX_PAYLOAD_SIZE) // Maximum Packet Size // Source and Destinations // #define SLIP_ID_ANY 0xFF // *** Internal Message Types ********************************************************************* // #define SLIP_MSG_INVALID 0x00 // Invalid #define SLIP_MSG_NULL 0x01 // Empty [void] - Used for Keep-Alive #define SLIP_MSG_NULL_ECHO 0x02 // Empty [void] - Resonse to a NULL #define SLIP_MSG_SHELL 0x03 // Tunnel Shell ["String"] - Transfer of Shell typing/output thru SLIP #define SLIP_MSG_DISCOVER 0x04 // Broadcast Discover ["Config"] - Broadcast our Info to find a Device to Connect to #define SLIP_MSG_DISCOVER_RESP 0x05 // Broadcast Discover ["Config"] - Discover Response #define SLIP_MSG_TABLE 0x06 // A chunk of Message Table [ ... ...] // Forecast // struct SLIPStreamDEF; // Function Pointer // typedef BOOL (*SlipFN) (struct SLIPStreamDEF* pSLIP); // *** T Y P E D E F S **************************************************************************** // SLIPStreamDEF ********************************************************************************** // typedef struct SLIPStreamDEF { uint8 u8OurID; // Our Device ID SlipFN pFuncProcessPacket; // Function that handles Complete Packets void* vpUser; // User defineable data associated with Stream // Protocol State Machine // uint8 u8State; uint8 u8Sync; uint8 u8Seq; uint8 u8Src; uint8 u8Dst; uint8 u8Msg; uint16 u16PayloadLen; uint8 u8CalcChecksum; uint8 u8HeaderChecksum; uint16 u16CRCPayloadCalc; uint16 u16CRCPayload; uint16 u16RXPayloadAcquired; uint8 u8RXPayload[SLIP_MAX_PAYLOAD_SIZE]; uint8* pu8RXByte; uint8 u8RXSeqNum; uint8 u8TXPacket[SLIP_MAX_PACKET_SIZE]; uint16 u16TXPacketSize; uint8 u8TXSeqNum; // Statistics // uint32 u32RXBytes; uint32 u32RXPackets; uint32 u32RXExtra; uint32 u32RXErrors; uint32 u32RXBadHeaderChk; uint32 u32RXBadPayloadCRC; uint32 u32RXSeqErrors; uint32 u32TXPackets; } SLIPStreamDEF; // *** P R O T O T Y P E S ************************************************************************ // extern BOOL SLIP_Create(SLIPStreamDEF* pSLIP, uint8 u8OurID, SlipFN pFunc, void* vpUser); extern uint16 SLIP_FramePayload(SLIPStreamDEF* pSLIP, uint8 u8SrcID, uint8 u8DstID, uint8 u8MsgID, uint8* pu8Payload, uint16 u16PayloadLen); extern BOOL SLIP_Consume(SLIPStreamDEF* pSLIP, uint8* pu8Buffer, uint16 u16Len); #endif // _SLIP_H_ // ------------------------------------------------------------------- // GimbalStatusMessage_t // ------------------------------------------------------------------- typedef struct { int count; int freq; int count1; int new1; }frameStats_t; // ------------------------------------------------------------------- // GimbalStatusMessage_t // ------------------------------------------------------------------- typedef struct { uint16_t u16Validity; uint8_t u8Mode; uint16_t u16Flags; float fPanAngle; float fTiltAngle; float fRollAngle; float fGyroRate[3]; frameStats_t stats; }GimbalStatusMessage_t; // ------------------------------------------------------------------- // GimbalCtrlMessage_t // ------------------------------------------------------------------- typedef struct { uint16_t u16Validity; uint8_t u8Mode; uint16_t u16Flags; float fPan; float fTilt; float fRoll; } GimbalCtrlMessage_t; // ------------------------------------------------------------------- // GeoPoint_t // ------------------------------------------------------------------- typedef struct { uint16_t u16TargetID; double dLatitude; double dLongitude; float fAltELL; } GeoPoint_t; // ------------------------------------------------------------------- // GeoPointMessage_t // ------------------------------------------------------------------- #define MAX_GEO_POINTS 30 typedef struct { uint16_t u16Sequence; uint16_t u16Validity; uint16_t u16Flags; uint16_t u16ClusterID; float fMinRng; float fMaxRng; float fMinAz; float fMaxAz; uint16_t u16Targets; GeoPoint_t points[MAX_GEO_POINTS]; } GeoPointMessage_t; // ------------------------------------------------------------------- // GeoPointEvent_t // ------------------------------------------------------------------- typedef struct { uint8_t u8Event; uint16_t u16Sequence; uint8_t u8Sensor; uint32_t u32Frame; uint16_t u16Cluster; uint16_t u16Target; float fGimRange; float fGimBearing; uint16_t u16Validity; float fPanAngle; float fTiltAngle; float fRollAngle; uint64_t u64Validity; uint64_t u64GPSTime; uint16_t u16GPSStatus; uint8_t u8SatV; uint8_t u8SatT; uint8_t u8Align; uint8_t u8Qual; double dLatitude; double dLongitude; double dAltELL; float fPitch; float fRoll; float fYawHdgT; float fTrackT; float fSpeed; float fVelN; float fVelE; float fVelD; } GeoPointEvent_t; // ------------------------------------------------------------------- // GeoFocusMessage_t // ------------------------------------------------------------------- typedef struct { uint16_t u16Cluster; uint16_t u16Target; float fSlantRange; } GeoFocusMessage_t; // ------------------------------------------------------------------- // GPSStatusMessage_t // ------------------------------------------------------------------- typedef struct { uint64_t u64Validity; uint64_t u64GPSTime; uint16_t u16GPSStatus; uint8_t u8SatV; uint8_t u8SatT; uint8_t u8Align; uint8_t u8Qual; double dLatitude; double dLongitude; double dAltELL; float fPitch; float fRoll; float fYawHdgT; float fTrackT; float fSpeed; float fVelN; float fVelE; float fVelD; float fPFOM; float fHFOM; float fHDOP; float fVDOP; float fHPosErr; float fVPosErr; } GPSStatusMessage_t; // ------------------------------------------------------------------- // // ------------------------------------------------------------------- extern GimbalStatusMessage_t GimbalStatusMessage; extern GimbalCtrlMessage_t GimbalCtrlMessage; extern GeoPointMessage_t GeoPointMessage; extern GeoPointEvent_t GeoPointEvent; extern GeoFocusMessage_t GeoFocusMessage; extern GPSStatusMessage_t GPSStatusMessage; extern int odinGimbalCtrlFlag; // ------------------------------------------------------------------- // get/set Message // ------------------------------------------------------------------- void getGimbalStatusMessage(uint8_t *payload, uint16_t len); void getGimbalCtrlMessage(uint8_t *payload, uint16_t len); void getGeoPointMessage(uint8_t *payload, uint16_t len); void getGeoPointEvent(uint8_t *payload, uint16_t len); void getGeoFocusMessage(uint8_t *payload, uint16_t len); void getGPSStatusMessage(uint8_t *payload, uint16_t len); uint16_t packGimbalStatusMessage(uint8_t *payload); uint16_t packGimbalCtrlMessage(uint8_t *payload); uint16_t packGeoPointMessage(uint8_t *payload); uint16_t packGeoPointEvent(uint8_t *payload); uint16_t packGeoFocusMessage(uint8_t *payload); uint16_t packGPSStatusMessage(uint8_t *payload); // ------------------------------------------------------------------- // functions // ------------------------------------------------------------------- void odinSend(int id,comm *com); void odinInit(); void odinComms(comm *com); // ------------------------------------------------------------------- // Modes // ------------------------------------------------------------------- enum { ODIN_MODE_UNKNOWN, // Unknown Mode ODIN_MODE_INIT, // Startup ODIN_MODE_BIT, // Built in Test ODIN_MODE_RATE, // Rate Mode ODIN_MODE_POS, // Position Mode ODIN_MODE_STOW, // Stow ODIN_MODE_GEO, // Geo Pointing Mode ODIN_MODE_FAULT, // Fault Condition ODIN_MODE_CUSTOM, // An Extended Mode specific to type of Gimbal NUM_ODIN_MODES }; #define ODIN_MODE_STRINGS "UNKNOWN","INIT","BIT","RATE","POS","STOW","GEO","FAULT","CUSTOM"