Initial commit

sensors/fdilink_ahrs/include/fdilink_data_struct.h

@@ -0,0 +1,189 @@
+#ifndef FDILINK_DATA_STRUCT_H_
+#define FDILINK_DATA_STRUCT_H_
+
+#include <iostream>
+namespace FDILink{
+#pragma pack(1)
+struct fdilink_header
+{
+	uint8_t  header_start;
+	uint8_t  data_type;
+	uint8_t  data_size;
+	uint8_t  serial_num;
+	uint8_t  header_crc8;
+    uint8_t  header_crc16_h;
+	uint8_t  header_crc16_l;
+};
+#pragma pack()
+
+#pragma pack(1)
+struct IMUData_Packet_t
+{
+	float gyroscope_x;          //unit: rad/s
+	float gyroscope_y;          //unit: rad/s
+	float gyroscope_z;          //unit: rad/s
+	float accelerometer_x;      //m/s^2
+	float accelerometer_y;      //m/s^2
+	float accelerometer_z;      //m/s^2
+	float magnetometer_x;       //mG
+	float magnetometer_y;       //mG
+	float magnetometer_z;       //mG
+	float imu_temperature;      //C
+	float Pressure;             //Pa
+	float pressure_temperature; //C
+	int64_t Timestamp;          //us
+};
+#pragma pack()
+
+struct AHRSData_Packet_t
+{
+	float RollSpeed;   //unit: rad/s
+	float PitchSpeed;  //unit: rad/s
+	float HeadingSpeed;//unit: rad/s
+	float Roll;        //unit: rad
+	float Pitch;       //unit: rad
+	float Heading;     //unit: rad
+	float Qw;//w          //Quaternion
+	float Qx;//x
+	float Qy;//y
+	float Qz;//z
+	int64_t Timestamp; //unit: us
+};
+#pragma pack(1)
+struct INSGPSData_Packet_t
+{
+	float BodyVelocity_X;       
+	float BodyVelocity_Y;       
+	float BodyVelocity_Z;       
+	float BodyAcceleration_X;   
+	float BodyAcceleration_Y;   
+	float BodyAcceleration_Z;   
+	float Location_North;      
+	float Location_East;       
+	float Location_Down;
+	float Velocity_North;
+	float Velocity_East;
+	float Velocity_Down;
+	float Acceleration_North;
+	float Acceleration_East;
+	float Acceleration_Down;
+	float Pressure_Altitude;
+	int64_t Timestamp;
+};
+#pragma pack()
+
+#pragma pack(1)
+struct Geodetic_Position_Packet_t
+{
+	double Latitude;       
+	double Longitude;       
+	double Height;
+	float hAcc;
+	float vAcc;      
+};
+#pragma pack()
+
+//for IMU=========================
+#pragma pack(1)
+struct read_imu_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	IMUData_Packet_t   data_pack; //56
+	uint8_t            data_buff[56]; //56
+  }data;
+  uint8_t            frame_end; //1                  
+};            
+
+struct read_imu_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[57];
+};                           
+
+union imu_frame_read{
+  struct read_imu_struct frame;
+  read_imu_tmp read_buf;
+  uint8_t read_tmp[64];
+};
+#pragma pack()
+//for IMU------------------------
+
+//for AHRS=========================
+#pragma pack(1)
+struct read_ahrs_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	AHRSData_Packet_t  data_pack; //48
+	uint8_t            data_buff[48]; //48
+  }data;
+  uint8_t            frame_end; //1                  
+};       
+
+ 
+struct read_ahrs_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[49];
+};                           
+
+union ahrs_frame_read{
+  struct read_ahrs_struct frame;
+  read_ahrs_tmp read_buf;
+  uint8_t read_tmp[56];
+};
+#pragma pack()
+//for AHRS------------------------
+
+//for INSGPS=========================
+#pragma pack(1)
+struct read_insgps_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	INSGPSData_Packet_t  data_pack; //72
+	uint8_t              data_buff[72]; //72
+  }data;
+  uint8_t            frame_end; //1                  
+};   
+
+                           
+struct read_insgps_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[73];
+};                          
+
+union insgps_frame_read{
+  struct read_insgps_struct frame;
+  read_insgps_tmp read_buf;
+  uint8_t read_tmp[80];
+};
+#pragma pack()
+//for INSGPS------------------------
+
+//for Geodetic_Position=========================
+#pragma pack(1)
+struct read_Geodetic_Position_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	Geodetic_Position_Packet_t  data_pack; //40
+	uint8_t                     data_buff[32]; //40
+  }data;
+  uint8_t            frame_end; //1                  
+};   
+                           
+struct read_Geodetic_Position_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[33];
+};                          
+
+union Geodetic_Position_frame_read{
+  struct read_Geodetic_Position_struct frame;
+  read_Geodetic_Position_tmp read_buf;
+  uint8_t read_tmp[40];
+};
+ 
+#pragma pack()
+
+}//namespace FDILink
+#endif//FDILINK_DATA_STRUCT_H_