philip/MDH-UAV-Control-System
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Merge remote-tracking branch 'refs/remotes/origin/master' into Compass

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This commit is contained in:
Lennart Eriksson 2016-11-25 11:55:13 +01:00
commit e559cbc9fb
2 changed files with 22 additions and 0 deletions
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12
UAV-ControlSystem/inc/drivers/arduino_com.h
View File

@ -37,12 +37,24 @@ typedef struct gps_data_t {
uint8_t crc __attribute__((packed)); uint8_t crc __attribute__((packed));
} gps_data_t; } gps_data_t;
/***********************************************************************
* BRIEF: RX packet structure from arduino com *
* INFORMATION: Contains the whole ping sensor data message *
***********************************************************************/
typedef struct ping_data_t {
uint8_t header;
uint16_t distance_mm;
uint8_t crc;
}ping_data_t;
/* An instance of the GPS data read from Arduino Com */ /* An instance of the GPS data read from Arduino Com */
gps_data_t gps_data; gps_data_t gps_data;
/* An instance of the compass data read from Arduino Com */ /* An instance of the compass data read from Arduino Com */
compass_data_t compass_data; compass_data_t compass_data;
/* An instance of the ping data read from Arduino Com */
ping_data_t ping_data;
/*********************************************************************** /***********************************************************************
* BRIEF: Initializes the UART for Arduino com * * BRIEF: Initializes the UART for Arduino com *

10
UAV-ControlSystem/src/drivers/arduino_com.c
View File

@ -14,6 +14,7 @@
#define COMPASS_PACKET_SIZE 8 #define COMPASS_PACKET_SIZE 8
#define GPS_PACKET_SIZE 10 #define GPS_PACKET_SIZE 10
#define PING_PACKET_SIZE 4
#define ARDUINO_SENSOR_SIZE 6 #define ARDUINO_SENSOR_SIZE 6
typedef struct arduino_sensor_t { typedef struct arduino_sensor_t {
@ -57,6 +58,7 @@ dma_usart_return raw_dma_data_t;
enum packet_ids { enum packet_ids {
COMPASS_PACKET_ID = 0xA1, COMPASS_PACKET_ID = 0xA1,
GPS_PACKET_ID = 0xB1, GPS_PACKET_ID = 0xB1,
PING_PACKET_ID = 0xC1,
}; };
// Structure used to hold the data for "data_arr" // Structure used to hold the data for "data_arr"
@ -69,6 +71,7 @@ typedef struct arduino_data_t {
enum arduino_data_e { enum arduino_data_e {
COMPASS_DATA_ID, COMPASS_DATA_ID,
GPS_DATA_ID, GPS_DATA_ID,
PING_DATA_ID,
ARDUINO_DATA_COUNT, ARDUINO_DATA_COUNT,
}; };
@ -82,6 +85,10 @@ arduino_data_t data_arr[ARDUINO_DATA_COUNT] = {
.size = GPS_PACKET_SIZE, .size = GPS_PACKET_SIZE,
.dataPtr = &gps_data, .dataPtr = &gps_data,
}, },
[PING_DATA_ID] = {
.size = PING_PACKET_SIZE,
.dataPtr = &ping_data,
},
}; };
@ -144,6 +151,9 @@ arduino_data_t find_packet_from_header(uint8_t header)
case GPS_PACKET_ID: case GPS_PACKET_ID:
arduino_data = data_arr[GPS_DATA_ID]; arduino_data = data_arr[GPS_DATA_ID];
break; break;
case PING_PACKET_ID:
arduino_data = data_arr[PING_DATA_ID];
break;
default: default:
break; break;
} }