first commit
This commit is contained in:
@@ -0,0 +1,403 @@
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#ifndef LPMSIG1_REGISTERS_H
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#define LPMSIG1_REGISTERS_H
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/////////////////////////////////////////////////////////////////////
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// Essentials - should not change over time
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/////////////////////////////////////////////////////////////////////
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// Commands start address
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#define COMMAND_START_ADDRESS 0
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// Acknowledged and Not-acknowledged identifier
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#define REPLY_ACK (COMMAND_START_ADDRESS + 0)
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#define REPLY_NACK (COMMAND_START_ADDRESS + 1)
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// Firmware update and in-application-programmer upload
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#define UPDATE_FIRMWARE (COMMAND_START_ADDRESS + 2)
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#define UPDATE_IAP (COMMAND_START_ADDRESS + 3)
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// Register value save and reset
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#define WRITE_REGISTERS (COMMAND_START_ADDRESS + 4)
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#define RESTORE_FACTORY_VALUE (COMMAND_START_ADDRESS + 5)
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// Mode switching
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#define GOTO_COMMAND_MODE (COMMAND_START_ADDRESS + 6)
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#define GOTO_STREAM_MODE (COMMAND_START_ADDRESS + 7)
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// Sensor status
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#define GET_SENSOR_STATUS (COMMAND_START_ADDRESS + 8) // streaming/command
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// Data
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#define GET_IMU_DATA (COMMAND_START_ADDRESS + 9) // Todo
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#define GET_GPS_DATA (COMMAND_START_ADDRESS + 10) // Todo
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/////////////////////////////////////////////////////////////////////
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// Sensor Info
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/////////////////////////////////////////////////////////////////////
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#define GET_SENSOR_MODEL (COMMAND_START_ADDRESS + 20)
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#define GET_FIRMWARE_INFO (COMMAND_START_ADDRESS + 21)
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#define GET_SERIAL_NUMBER (COMMAND_START_ADDRESS + 22)
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#define GET_FILTER_VERSION (COMMAND_START_ADDRESS + 23)
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#define GET_IAP_CHECKSTATUS (COMMAND_START_ADDRESS + 24)
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/////////////////////////////////////////////////////////////////////
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// General
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/////////////////////////////////////////////////////////////////////
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// Transmit data
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#define SET_IMU_TRANSMIT_DATA (COMMAND_START_ADDRESS + 30)
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#define GET_IMU_TRANSMIT_DATA (COMMAND_START_ADDRESS + 31)
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// IMU ID setting
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#define SET_IMU_ID (COMMAND_START_ADDRESS + 32)
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#define GET_IMU_ID (COMMAND_START_ADDRESS + 33)
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// Stream frequency
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#define SET_STREAM_FREQ (COMMAND_START_ADDRESS + 34)
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#define GET_STREAM_FREQ (COMMAND_START_ADDRESS + 35)
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// Deg/Rad output
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#define SET_DEGRAD_OUTPUT (COMMAND_START_ADDRESS + 36)
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#define GET_DEGRAD_OUTPUT (COMMAND_START_ADDRESS + 37)
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// Reference setting and offset reset
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#define SET_ORIENTATION_OFFSET (COMMAND_START_ADDRESS + 38)
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#define RESET_ORIENTATION_OFFSET (COMMAND_START_ADDRESS + 39)
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/////////////////////////////////////////////////////////////////////
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// Accelerometer
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/////////////////////////////////////////////////////////////////////
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// Accelerometer settings
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#define SET_ACC_RANGE (COMMAND_START_ADDRESS + 50)
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#define GET_ACC_RANGE (COMMAND_START_ADDRESS + 51)
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/////////////////////////////////////////////////////////////////////
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// Gyro
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/////////////////////////////////////////////////////////////////////
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// Gyroscope settings
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#define SET_GYR_RANGE (COMMAND_START_ADDRESS + 60)
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#define GET_GYR_RANGE (COMMAND_START_ADDRESS + 61)
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#define START_GYR_CALIBRATION (COMMAND_START_ADDRESS + 62)
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#define SET_ENABLE_GYR_AUTOCALIBRATION (COMMAND_START_ADDRESS + 64)
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#define GET_ENABLE_GYR_AUTOCALIBRATION (COMMAND_START_ADDRESS + 65)
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#define SET_GYR_THRESHOLD (COMMAND_START_ADDRESS + 66)
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#define GET_GYR_THRESHOLD (COMMAND_START_ADDRESS + 67)
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/////////////////////////////////////////////////////////////////////
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// Magnetometer
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/////////////////////////////////////////////////////////////////////
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// Magnetometer settings
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#define SET_MAG_RANGE (COMMAND_START_ADDRESS + 70)
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#define GET_MAG_RANGE (COMMAND_START_ADDRESS + 71)
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#define SET_HARD_IRON_OFFSET (COMMAND_START_ADDRESS + 72)
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#define GET_HARD_IRON_OFFSET (COMMAND_START_ADDRESS + 73)
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#define SET_SOFT_IRON_MATRIX (COMMAND_START_ADDRESS + 74)
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#define GET_SOFT_IRON_MATRIX (COMMAND_START_ADDRESS + 75)
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#define SET_FIELD_ESTIMATE (COMMAND_START_ADDRESS + 76)
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#define GET_FIELD_ESTIMATE (COMMAND_START_ADDRESS + 77)
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#define SET_MAG_ALIGNMENT_MATRIX (COMMAND_START_ADDRESS + 78)
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#define GET_MAG_ALIGNMENT_MATRIX (COMMAND_START_ADDRESS + 79)
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#define SET_MAG_ALIGNMENT_BIAS (COMMAND_START_ADDRESS + 80)
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#define GET_MAG_ALIGNMENT_BIAS (COMMAND_START_ADDRESS + 81)
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#define SET_MAG_REFERENCE (COMMAND_START_ADDRESS + 82)
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#define GET_MAG_REFERENCE (COMMAND_START_ADDRESS + 83)
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#define START_MAG_CALIBRATION (COMMAND_START_ADDRESS + 84)
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#define STOP_MAG_CALIBRATION (COMMAND_START_ADDRESS + 85)
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#define SET_MAG_CALIBRATION_TIMEOUT (COMMAND_START_ADDRESS + 86)
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#define GET_MAG_CALIBRATION_TIMEOUT (COMMAND_START_ADDRESS + 87)
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#define SET_ENABLE_MAG_AUTOCALIBRATION (COMMAND_START_ADDRESS + 88) // Not implemented yet
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#define GET_ENABLE_MAG_AUTOCALIBRATION (COMMAND_START_ADDRESS + 89) // Not implemented yet
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/////////////////////////////////////////////////////////////////////
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// Filter
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/////////////////////////////////////////////////////////////////////
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// Filter settings
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#define SET_FILTER_MODE (COMMAND_START_ADDRESS + 90)
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#define GET_FILTER_MODE (COMMAND_START_ADDRESS + 91)
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/////////////////////////////////////////////////////////////////////
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// CAN
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/////////////////////////////////////////////////////////////////////
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// CAN settings
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#define SET_CAN_START_ID (COMMAND_START_ADDRESS + 110)
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#define GET_CAN_START_ID (COMMAND_START_ADDRESS + 111)
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#define SET_CAN_BAUDRATE (COMMAND_START_ADDRESS + 112)
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#define GET_CAN_BAUDRATE (COMMAND_START_ADDRESS + 113)
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#define SET_CAN_DATA_PRECISION (COMMAND_START_ADDRESS + 114)
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#define GET_CAN_DATA_PRECISION (COMMAND_START_ADDRESS + 115)
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#define SET_CAN_MODE (COMMAND_START_ADDRESS + 116)
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#define GET_CAN_MODE (COMMAND_START_ADDRESS + 117)
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#define SET_CAN_MAPPING (COMMAND_START_ADDRESS + 118)
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#define GET_CAN_MAPPING (COMMAND_START_ADDRESS + 119)
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#define SET_CAN_HEARTBEAT (COMMAND_START_ADDRESS + 120)
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#define GET_CAN_HEARTBEAT (COMMAND_START_ADDRESS + 121)
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/////////////////////////////////////////////////////////////////////
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// UART/RS232
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/////////////////////////////////////////////////////////////////////
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// UART
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#define SET_UART_BAUDRATE (COMMAND_START_ADDRESS + 130)
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#define GET_UART_BAUDRATE (COMMAND_START_ADDRESS + 131)
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#define SET_UART_FORMAT (COMMAND_START_ADDRESS + 132)
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#define GET_UART_FORMAT (COMMAND_START_ADDRESS + 133)
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#define SET_UART_ASCII_CHARACTER (COMMAND_START_ADDRESS + 134)
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#define GET_UART_ASCII_CHARACTER (COMMAND_START_ADDRESS + 135)
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#define SET_LPBUS_DATA_PRECISION (COMMAND_START_ADDRESS + 136)
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#define GET_LPBUS_DATA_PRECISION (COMMAND_START_ADDRESS + 137)
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/////////////////////////////////////////////////////////////////////
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// Sync
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/////////////////////////////////////////////////////////////////////
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// Software Sync
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#define START_SYNC (COMMAND_START_ADDRESS + 150) // Todo
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#define STOP_SYNC (COMMAND_START_ADDRESS + 151) // Todo
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// Timestamp manipulation
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#define SET_TIMESTAMP (COMMAND_START_ADDRESS + 152) // Todo
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/////////////////////////////////////////////////////////////////////
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// GPS
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/////////////////////////////////////////////////////////////////////
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#define SET_GPS_TRANSMIT_DATA (COMMAND_START_ADDRESS + 160)
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#define GET_GPS_TRANSMIT_DATA (COMMAND_START_ADDRESS + 161)
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#define SAVE_GPS_STATE (COMMAND_START_ADDRESS + 162)
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#define CLEAR_GPS_STATE (COMMAND_START_ADDRESS + 163)
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#define SET_GPS_UDR (COMMAND_START_ADDRESS + 164)
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#define GET_GPS_UDR (COMMAND_START_ADDRESS + 165)
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/////////////////////////////////////////////////////////////////////
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// Transmit data Register
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/////////////////////////////////////////////////////////////////////
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#define TDR_ACC_RAW_OUTPUT_ENABLED (uint32_t)(0x00000001 << 0)
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#define TDR_ACC_CALIBRATED_OUTPUT_ENABLED (uint32_t)(0x00000001 << 1)
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#define TDR_GYR0_RAW_OUTPUT_ENABLED (uint32_t)(0x00000001 << 2)
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#define TDR_GYR1_RAW_OUTPUT_ENABLED (uint32_t)(0x00000001 << 3)
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#define TDR_GYR0_BIAS_CALIBRATED_OUTPUT_ENABLED (uint32_t)(0x00000001 << 4)
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#define TDR_GYR1_BIAS_CALIBRATED_OUTPUT_ENABLED (uint32_t)(0x00000001 << 5)
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#define TDR_GYR0_ALIGN_CALIBRATED_OUTPUT_ENABLED (uint32_t)(0x00000001 << 6)
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#define TDR_GYR1_ALIGN_CALIBRATED_OUTPUT_ENABLED (uint32_t)(0x00000001 << 7)
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#define TDR_MAG_RAW_OUTPUT_ENABLED (uint32_t)(0x00000001 << 8)
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#define TDR_MAG_CALIBRATED_OUTPUT_ENABLED (uint32_t)(0x00000001 << 9)
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#define TDR_ANGULAR_VELOCITY_OUTPUT_ENABLED (uint32_t)(0x00000001 << 10)
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#define TDR_QUAT_OUTPUT_ENABLED (uint32_t)(0x00000001 << 11)
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#define TDR_EULER_OUTPUT_ENABLED (uint32_t)(0x00000001 << 12)
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#define TDR_LINACC_OUTPUT_ENABLED (uint32_t)(0x00000001 << 13)
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#define TDR_PRESSURE_OUTPUT_ENABLED (uint32_t)(0x00000001 << 14)
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#define TDR_ALTITUDE_OUTPUT_ENABLED (uint32_t)(0x00000001 << 15)
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#define TDR_TEMPERATURE_OUTPUT_ENABLED (uint32_t)(0x00000001 << 16)
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/////////////////////////////////////////////////////////////////////
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// GPS TRANSMIT_DATA_CONFIG Register
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/////////////////////////////////////////////////////////////////////
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// GPS transmit data register0 contents
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#define GPS_NAV_PVT_ITOW_ENABLE (uint32_t)(0x00000001 << 0)
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#define GPS_NAV_PVT_YEAR_ENABLE (uint32_t)(0x00000001 << 1)
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#define GPS_NAV_PVT_MONTH_ENABLE (uint32_t)(0x00000001 << 2)
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#define GPS_NAV_PVT_DAY_ENABLE (uint32_t)(0x00000001 << 3)
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#define GPS_NAV_PVT_HOUR_ENABLE (uint32_t)(0x00000001 << 4)
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#define GPS_NAV_PVT_MIN_ENABLE (uint32_t)(0x00000001 << 5)
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#define GPS_NAV_PVT_SEC_ENABLE (uint32_t)(0x00000001 << 6)
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#define GPS_NAV_PVT_VALID_ENABLE (uint32_t)(0x00000001 << 7)
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#define GPS_NAV_PVT_TACC_ENABLE (uint32_t)(0x00000001 << 8)
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#define GPS_NAV_PVT_NANO_ENABLE (uint32_t)(0x00000001 << 9)
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#define GPS_NAV_PVT_FIXTYPE_ENABLE (uint32_t)(0x00000001 << 10)
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#define GPS_NAV_PVT_FLAGS_ENABLE (uint32_t)(0x00000001 << 11)
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#define GPS_NAV_PVT_FLAGS2_ENABLE (uint32_t)(0x00000001 << 12)
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#define GPS_NAV_PVT_NUMSV_ENABLE (uint32_t)(0x00000001 << 13)
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#define GPS_NAV_PVT_LONGITUDE_ENABLE (uint32_t)(0x00000001 << 14)
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#define GPS_NAV_PVT_LATITUDE_ENABLE (uint32_t)(0x00000001 << 15)
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#define GPS_NAV_PVT_HEIGHT_ENABLE (uint32_t)(0x00000001 << 16)
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#define GPS_NAV_PVT_HMSL_ENABLE (uint32_t)(0x00000001 << 17)
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#define GPS_NAV_PVT_HACC_ENABLE (uint32_t)(0x00000001 << 18)
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#define GPS_NAV_PVT_VACC_ENABLE (uint32_t)(0x00000001 << 19)
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#define GPS_NAV_PVT_VELN_ENABLE (uint32_t)(0x00000001 << 20)
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#define GPS_NAV_PVT_VELE_ENABLE (uint32_t)(0x00000001 << 21)
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#define GPS_NAV_PVT_VELD_ENABLE (uint32_t)(0x00000001 << 22)
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#define GPS_NAV_PVT_GSPEED_ENABLE (uint32_t)(0x00000001 << 23)
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#define GPS_NAV_PVT_HEADMOT_ENABLE (uint32_t)(0x00000001 << 24)
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#define GPS_NAV_PVT_SACC_ENABLE (uint32_t)(0x00000001 << 25)
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#define GPS_NAV_PVT_HEADACC_ENABLE (uint32_t)(0x00000001 << 26)
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#define GPS_NAV_PVT_PDOP_ENABLE (uint32_t)(0x00000001 << 27)
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#define GPS_NAV_PVT_HEADVEH_ENABLE (uint32_t)(0x00000001 << 28)
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// GPS transmit data register1 contents
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#define GPS_NAV_ATT_ITOW_ENABLE (uint32_t)(0x00000001 << 0)
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#define GPS_NAV_ATT_VERSION_ENABLE (uint32_t)(0x00000001 << 1)
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#define GPS_NAV_ATT_ROLL_ENABLE (uint32_t)(0x00000001 << 2)
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#define GPS_NAV_ATT_PITCH_ENABLE (uint32_t)(0x00000001 << 3)
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#define GPS_NAV_ATT_HEADING_ENABLE (uint32_t)(0x00000001 << 4)
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#define GPS_NAV_ATT_ACCROLL_ENABLE (uint32_t)(0x00000001 << 5)
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#define GPS_NAV_ATT_ACCPITCH_ENABLE (uint32_t)(0x00000001 << 6)
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#define GPS_NAV_ATT_ACCHEADING_ENABLE (uint32_t)(0x00000001 << 7)
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#define GPS_ESF_STATUS_ITOW_ENABLE (uint32_t)(0x00000001 << 8)
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#define GPS_ESF_STATUS_VERSION_ENABLE (uint32_t)(0x00000001 << 9)
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#define GPS_ESF_STATUS_INITSTATUS1_ENABLE (uint32_t)(0x00000001 << 10)
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#define GPS_ESF_STATUS_INITSTATUS2_ENABLE (uint32_t)(0x00000001 << 11)
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#define GPS_ESF_STATUS_FUSIONMODE_ENABLE (uint32_t)(0x00000001 << 12)
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#define GPS_ESF_STATUS_NUMSENS_ENABLE (uint32_t)(0x00000001 << 13)
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#define GPS_ESF_STATUS_SENSSTATUS_ENABLE (uint32_t)(0x00000001 << 14)
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#define GPS_UDR_STATUS_ENABLE (uint32_t)(0x00000001 << 15)
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// Data stream frequency
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#define DATA_STREAM_FREQ_5HZ 5
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#define DATA_STREAM_FREQ_10HZ 10
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#define DATA_STREAM_FREQ_50HZ 50
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#define DATA_STREAM_FREQ_100HZ 100
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#define DATA_STREAM_FREQ_250HZ 250
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#define DATA_STREAM_FREQ_500HZ 500
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#define DATA_STREAM_FREQ_1000HZ 1000
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//Gyro Range
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#define GYR_RANGE_400DPS 400
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#define GYR_RANGE_1000DPS 1000
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#define GYR_RANGE_2000DPS 2000
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//Acc Range
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#define ACC_RANGE_2G 2
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#define ACC_RANGE_4G 4
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#define ACC_RANGE_8G 8
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#define ACC_RANGE_16G 16
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//Mag Range
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#define MAG_RANGE_2GUASS 2
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#define MAG_RANGE_8GUASS 8
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//Filter Mode
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#define LPMS_FILTER_GYR 0
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#define LPMS_FILTER_KALMAN_GYR_ACC 1
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#define LPMS_FILTER_KALMAN_GYR_ACC_MAG 2
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#define LPMS_FILTER_DCM_GYR_ACC 3
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#define LPMS_FILTER_DCM_GYR_ACC_MAG 4
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#define LPMS_OFFSET_MODE_OBJECT 0
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#define LPMS_OFFSET_MODE_HEADING 1
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#define LPMS_OFFSET_MODE_ALIGNMENT 2
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// UART Settings
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#define LPMS_UART_DATA_PRECISION_FIXED_POINT 0
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#define LPMS_UART_DATA_PRECISION_FLOATING_POINT 1
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#define LPMS_UART_BAUDRATE_9600 9600
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#define LPMS_UART_BAUDRATE_19200 19200
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#define LPMS_UART_BAUDRATE_38400 38400
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#define LPMS_UART_BAUDRATE_57600 57600
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#define LPMS_UART_BAUDRATE_115200 115200
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#define LPMS_UART_BAUDRATE_230400 230400
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#define LPMS_UART_BAUDRATE_256000 256000
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#define LPMS_UART_BAUDRATE_460800 460800
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#define LPMS_UART_BAUDRATE_921600 921600
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#define LPMS_UART_DATA_FORMAT_LPBUS 0
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#define LPMS_UART_DATA_FORMAT_ASCII 1
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// CAN bus baudrate values
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#define LPMS_CAN_BAUDRATE_125K 125
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#define LPMS_CAN_BAUDRATE_250K 250
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#define LPMS_CAN_BAUDRATE_500K 500
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#define LPMS_CAN_BAUDRATE_800K 800
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#define LPMS_CAN_BAUDRATE_1M 1000
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#define LPMS_CAN_HEARTBEAT_005 0
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#define LPMS_CAN_HEARTBEAT_010 1
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#define LPMS_CAN_HEARTBEAT_020 2
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#define LPMS_CAN_HEARTBEAT_050 5
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#define LPMS_CAN_HEARTBEAT_100 10
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#define LPMS_CAN_MODE_CANOPEN 0
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#define LPMS_CAN_MODE_SEQUENTIAL 1
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#define LPMS_CAN_DATA_PRECISION_FIXED_POINT 0
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#define LPMS_CAN_DATA_PRECISION_FLOATING_POINT 1
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// CAN Mapping
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enum CanMapping {
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LPMS_CAN_MAPPING_DISABLE = 0,
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LPMS_CAN_MAPPING_ACC_RAW_X = 1,
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LPMS_CAN_MAPPING_ACC_RAW_Y,
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LPMS_CAN_MAPPING_ACC_RAW_Z,
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LPMS_CAN_MAPPING_ACC_CALIBRATED_X,
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LPMS_CAN_MAPPING_ACC_CALIBRATED_Y,
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LPMS_CAN_MAPPING_ACC_CALIBRATED_Z,
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LPMS_CAN_MAPPING_GYR0_RAW_X,
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LPMS_CAN_MAPPING_GYR0_RAW_Y,
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LPMS_CAN_MAPPING_GYR0_RAW_Z,
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LPMS_CAN_MAPPING_GYR1_RAW_X,
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LPMS_CAN_MAPPING_GYR1_RAW_Y,
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LPMS_CAN_MAPPING_GYR1_RAW_Z,
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LPMS_CAN_MAPPING_GYR0_BIAS_CALIBRATED_X,
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LPMS_CAN_MAPPING_GYR0_BIAS_CALIBRATED_Y,
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LPMS_CAN_MAPPING_GYR0_BIAS_CALIBRATED_Z,
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LPMS_CAN_MAPPING_GYR1_BIAS_CALIBRATED_X,
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LPMS_CAN_MAPPING_GYR1_BIAS_CALIBRATED_Y,
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LPMS_CAN_MAPPING_GYR1_BIAS_CALIBRATED_Z,
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LPMS_CAN_MAPPING_GYR0_ALIGN_CALIBRATED_X,
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LPMS_CAN_MAPPING_GYR0_ALIGN_CALIBRATED_Y,
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LPMS_CAN_MAPPING_GYR0_ALIGN_CALIBRATED_Z,
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LPMS_CAN_MAPPING_GYR1_ALIGN_CALIBRATED_X,
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LPMS_CAN_MAPPING_GYR1_ALIGN_CALIBRATED_Y,
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LPMS_CAN_MAPPING_GYR1_ALIGN_CALIBRATED_Z,
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LPMS_CAN_MAPPING_MAG_RAW_X,
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LPMS_CAN_MAPPING_MAG_RAW_Y,
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LPMS_CAN_MAPPING_MAG_RAW_Z,
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LPMS_CAN_MAPPING_MAG_CALIBRATED_X,
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LPMS_CAN_MAPPING_MAG_CALIBRATED_Y,
|
||||
LPMS_CAN_MAPPING_MAG_CALIBRATED_Z,
|
||||
|
||||
LPMS_CAN_MAPPING_ANGULAR_VELOCITY_X,
|
||||
LPMS_CAN_MAPPING_ANGULAR_VELOCITY_Y,
|
||||
LPMS_CAN_MAPPING_ANGULAR_VELOCITY_Z,
|
||||
|
||||
LPMS_CAN_MAPPING_QUAT_W,
|
||||
LPMS_CAN_MAPPING_QUAT_X,
|
||||
LPMS_CAN_MAPPING_QUAT_Y,
|
||||
LPMS_CAN_MAPPING_QUAT_Z,
|
||||
|
||||
LPMS_CAN_MAPPING_EULER_X,
|
||||
LPMS_CAN_MAPPING_EULER_Y,
|
||||
LPMS_CAN_MAPPING_EULER_Z,
|
||||
|
||||
LPMS_CAN_MAPPING_LINACC_X,
|
||||
LPMS_CAN_MAPPING_LINACC_Y,
|
||||
LPMS_CAN_MAPPING_LINACC_Z,
|
||||
|
||||
LPMS_CAN_MAPPING_PRESSURE,
|
||||
LPMS_CAN_MAPPING_TEMPERATURE,
|
||||
LPMS_CAN_MAPPING_MAX
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user