VN100SpiDefs.h

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/* Copyright (c) 2024 Skyward Experimental Rocketry
 * Author: Fabrizio Monti
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
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 *
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 * THE SOFTWARE.
 */
 
#pragma once
 
namespace Boardcore
{
 
namespace VN100SpiDefs
{
 
enum Registers : uint8_t
{
    REG_MODEL_NUMBER  = 1,     
    REG_QUAT_IMU_DATA = 15,    
    REG_SYNC            = 32,  
    REG_TEMP_PRESS_DATA = 54,  
};
 
enum Commands : uint8_t
{
    READ_REG  = 1,
    WRITE_REG = 2,
};
 
enum class VNErrors : uint8_t
{
    NO_ERROR               = 0,
    HARD_FAULT             = 1,
    SERIAL_BUFFER_OVERFLOW = 2,
    INVALID_CHECKSUM       = 3,
    INVALID_COMMAND        = 4,
    NOT_ENOUGH_PARAMETERS  = 5,
    TOO_MANY_PARAMETERS    = 6,
    INVALID_PARAMETER      = 7,
    INVALID_REGISTER       = 8,
    UNAUTHORIZED_ACCESS    = 9,
    WATCHDOG_RESET         = 10,
    OUTPUT_BUFFER_OVERFLOW = 11,
    INSUFFICIENT_BAUDRATE  = 12,
    ERROR_BUFFER_OVERFLOW  = 255,
};
 
struct __attribute__((packed)) SynchronizationData
{
    uint8_t syncInMode;         
    uint8_t syncInEdge;         
    uint16_t syncInSkipFactor;  
    const uint32_t RESERVED = 0;  
    uint8_t syncOutMode;          
    uint8_t syncOutPolarity;      
    uint16_t syncOutSkipFactor;   
    uint32_t
        syncOutPulseWidth;  
    const uint32_t RESERVED2 = 0;  
};
 
struct __attribute__((packed)) RawImuQuatData
{
    float quatX;
    float quatY;
    float quatZ;
    float quatW;
    float magX;
    float magY;
    float magZ;
    float accX;
    float accY;
    float accZ;
    float gyrX;
    float gyrY;
    float gyrZ;
};
 
struct __attribute__((packed)) RawTempPressData
{
    float magX;
    float magY;
    float magZ;
    float accX;
    float accY;
    float accZ;
    float gyrX;
    float gyrY;
    float gyrZ;
    float temp;
    float press;
};
 
const char* const MODEL_NUMBER = "VN-100";
 
const int MODEL_NUMBER_SIZE = 24;
 
const uint32_t SYNC_OUT_PULSE_WIDTH = 1000000;
 
}  // namespace VN100SpiDefs
 
}  // namespace Boardcore