lhiggs CSUM / Mbed 2 deprecated UM6_IMU_AHRS_2012

Communication program for the chrobotics UM6 9-DOF IMU AHRS.

Dependencies:   MODSERIAL mbed

UM6_usart/UM6_usart.h@0:03c649c76388, 2012-09-28 (annotated)

Committer:
lhiggs
Date:
Fri Sep 28 00:40:29 2012 +0000
Revision:
0:03c649c76388
A UM6 IMU AHRS INTERFACE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lhiggs 0:03c649c76388 1 /* ______________________________________________________________________________________
lhiggs 0:03c649c76388 2 File: UM6_usart.h
lhiggs 0:03c649c76388 3 Author: CH Robotics, adapted for mbed by lhiggs
lhiggs 0:03c649c76388 4 Version: 1.0
lhiggs 0:03c649c76388 5
lhiggs 0:03c649c76388 6 Description: Function declarations for USART communucation
lhiggs 0:03c649c76388 7 -------------------------------------------------------------------------------------- */
lhiggs 0:03c649c76388 8
lhiggs 0:03c649c76388 9 #ifndef _CHR_USART_H
lhiggs 0:03c649c76388 10 #define _CHR_USART_H
lhiggs 0:03c649c76388 11
lhiggs 0:03c649c76388 12 #define MAX_PACKET_DATA 40
lhiggs 0:03c649c76388 13
lhiggs 0:03c649c76388 14 // Definitions of states for USART receiver state machine (for receiving packets)
lhiggs 0:03c649c76388 15 #define USART_STATE_WAIT 1
lhiggs 0:03c649c76388 16 #define USART_STATE_TYPE 2
lhiggs 0:03c649c76388 17 #define USART_STATE_ADDRESS 3
lhiggs 0:03c649c76388 18 #define USART_STATE_DATA 4
lhiggs 0:03c649c76388 19 #define USART_STATE_CHECKSUM 5
lhiggs 0:03c649c76388 20
lhiggs 0:03c649c76388 21 // Flags for interpreting the packet type byte in communication packets
lhiggs 0:03c649c76388 22 #define PACKET_HAS_DATA (1 << 7)
lhiggs 0:03c649c76388 23 #define PACKET_IS_BATCH (1 << 6)
lhiggs 0:03c649c76388 24 #define PACKET_BATCH_LENGTH_MASK ( 0x0F )
lhiggs 0:03c649c76388 25
lhiggs 0:03c649c76388 26 #define PACKET_BATCH_LENGTH_OFFSET 2
lhiggs 0:03c649c76388 27
lhiggs 0:03c649c76388 28 #define BATCH_SIZE_2 2
lhiggs 0:03c649c76388 29 #define BATCH_SIZE_3 3
lhiggs 0:03c649c76388 30
lhiggs 0:03c649c76388 31 #define PACKET_NO_DATA 0
lhiggs 0:03c649c76388 32 #define PACKET_COMMAND_FAILED (1 << 0)
lhiggs 0:03c649c76388 33
lhiggs 0:03c649c76388 34
lhiggs 0:03c649c76388 35 // Define flags for identifying the type of packet address received
lhiggs 0:03c649c76388 36 #define ADDRESS_TYPE_CONFIG 0
lhiggs 0:03c649c76388 37 #define ADDRESS_TYPE_DATA 1
lhiggs 0:03c649c76388 38 #define ADDRESS_TYPE_COMMAND 2
lhiggs 0:03c649c76388 39
lhiggs 0:03c649c76388 40
lhiggs 0:03c649c76388 41 extern uint8_t gUSART_State;
lhiggs 0:03c649c76388 42
lhiggs 0:03c649c76388 43 // Structure for storing TX and RX packet data
lhiggs 0:03c649c76388 44 typedef struct _USARTPacket
lhiggs 0:03c649c76388 45 {
lhiggs 0:03c649c76388 46 uint8_t PT; // Packet type
lhiggs 0:03c649c76388 47 uint8_t address; // Packet address
lhiggs 0:03c649c76388 48 uint16_t checksum; // Checksum
lhiggs 0:03c649c76388 49
lhiggs 0:03c649c76388 50 // Data included for convenience, but that isn't stored in the packet itself
lhiggs 0:03c649c76388 51 uint8_t data_length; // Number of bytes in data section
lhiggs 0:03c649c76388 52 uint8_t address_type; // Specified the address type (DATA, CONFIG, OR COMMAND)
lhiggs 0:03c649c76388 53
lhiggs 0:03c649c76388 54 uint8_t packet_data[MAX_PACKET_DATA];
lhiggs 0:03c649c76388 55
lhiggs 0:03c649c76388 56 } USARTPacket;
lhiggs 0:03c649c76388 57
lhiggs 0:03c649c76388 58 uint16_t ComputeChecksum( USARTPacket* new_packet );
lhiggs 0:03c649c76388 59
lhiggs 0:03c649c76388 60 #endif