VN300Defs.h

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/* Copyright (c) 2023 Skyward Experimental Rocketry
 * Authors: Lorenzo Cucchi, 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
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
#include <reflect.hpp>
 
namespace Boardcore
{
 
namespace VN300Defs
{
 
enum BinaryGroup
{
    BINARYGROUP_COMMON   = 0x01,  
    BINARYGROUP_TIME     = 0x02,  
    BINARYGROUP_IMU      = 0x04,  
    BINARYGROUP_GPS      = 0x08,  
    BINARYGROUP_ATTITUDE = 0x10,  
    BINARYGROUP_INS      = 0x20,  
    BINARYGROUP_GPS2     = 0x40   
};
 
enum CommonGroup
{
    COMMONGROUP_NONE         = 0x0000,  
    COMMONGROUP_TIMESTARTUP  = 0x0001,  
    COMMONGROUP_TIMEGPS      = 0x0002,  
    COMMONGROUP_TIMESYNCIN   = 0x0004,  
    COMMONGROUP_YAWPITCHROLL = 0x0008,  
    COMMONGROUP_QUATERNION   = 0x0010,  
    COMMONGROUP_ANGULARRATE  = 0x0020,  
    COMMONGROUP_POSITION     = 0x0040,  
    COMMONGROUP_VELOCITY     = 0x0080,  
    COMMONGROUP_ACCEL        = 0x0100,  
    COMMONGROUP_IMU = 0x0200,  
    COMMONGROUP_MAGPRES =
        0x0400,  
    COMMONGROUP_DELTATHETA = 0x0800,  
    COMMONGROUP_INSSTATUS  = 0x1000,  
    COMMONGROUP_SYNCINCNT  = 0x2000,  
    COMMONGROUP_TIMEGPSPPS = 0x4000   
};
 
enum TimeGroup
{
    TIMEGROUP_NONE        = 0x0000,  
    TIMEGROUP_TIMESTARTUP = 0x0001,  
    TIMEGROUP_TIMEGPS     = 0x0002,  
    TIMEGROUP_GPSTOW      = 0x0004,  
    TIMEGROUP_GPSWEEK     = 0x0008,  
    TIMEGROUP_TIMESYNCIN  = 0x0010,  
    TIMEGROUP_TIMEGPSPPS  = 0x0020,  
    TIMEGROUP_TIMEUTC     = 0x0040,  
    TIMEGROUP_SYNCINCNT   = 0x0080,  
    TIMEGROUP_SYNCOUTCNT  = 0x0100,  
    TIMEGROUP_TIMESTATUS  = 0x0200   
};
 
enum ImuGroup
{
    IMUGROUP_NONE        = 0x0000,  
    IMUGROUP_IMUSTATUS   = 0x0001,  
    IMUGROUP_UNCOMPMAG   = 0x0002,  
    IMUGROUP_UNCOMPACCEL = 0x0004,  
    IMUGROUP_UNCOMPGYRO  = 0x0008,  
    IMUGROUP_TEMP        = 0x0010,  
    IMUGROUP_PRES        = 0x0020,  
    IMUGROUP_DELTATHETA  = 0x0040,  
    IMUGROUP_DELTAVEL    = 0x0080,  
    IMUGROUP_MAG         = 0x0100,  
    IMUGROUP_ACCEL       = 0x0200,  
    IMUGROUP_ANGULARRATE = 0x0400,  
};
 
enum GpsGroup
{
    GPSGROUP_NONE    = 0x0000,  
    GPSGROUP_UTC     = 0x0001,  
    GPSGROUP_TOW     = 0x0002,  
    GPSGROUP_WEEK    = 0x0004,  
    GPSGROUP_NUMSATS = 0x0008,  
    GPSGROUP_FIX     = 0x0010,  
    GPSGROUP_POSLLA =
        0x0020,  
    GPSGROUP_POSECEF  = 0x0040,  
    GPSGROUP_VELNED   = 0x0080,  
    GPSGROUP_VELECEF  = 0x0100,  
    GPSGROUP_POSU     = 0x0200,  
    GPSGROUP_VELU     = 0x0400,  
    GPSGROUP_TIMEU    = 0x0800,  
    GPSGROUP_TIMEINFO = 0x1000,  
    GPSGROUP_DOP      = 0x2000,  
};
 
enum AttitudeGroup
{
    ATTITUDEGROUP_NONE         = 0x0000,  
    ATTITUDEGROUP_VPESTATUS    = 0x0001,  
    ATTITUDEGROUP_YAWPITCHROLL = 0x0002,  
    ATTITUDEGROUP_QUATERNION   = 0x0004,  
    ATTITUDEGROUP_DCM          = 0x0008,  
    ATTITUDEGROUP_MAGNED       = 0x0010,  
    ATTITUDEGROUP_ACCELNED     = 0x0020,  
    ATTITUDEGROUP_LINEARACCELBODY =
        0x0040,  
    ATTITUDEGROUP_LINEARACCELNED =
        0x0080,  
    ATTITUDEGROUP_YPRU = 0x0100,  
};
 
enum InsGroup
{
    INSGROUP_NONE      = 0x0000,  
    INSGROUP_INSSTATUS = 0x0001,  
    INSGROUP_POSLLA    = 0x0002,  
    INSGROUP_POSECEF   = 0x0004,  
    INSGROUP_VELBODY   = 0x0008,  
    INSGROUP_VELNED    = 0x0010,  
    INSGROUP_VELECEF   = 0x0020,  
    INSGROUP_MAGECEF   = 0x0040,  
    INSGROUP_ACCELECEF = 0x0080,  
    INSGROUP_LINEARACCELECEF =
        0x0100,              
    INSGROUP_POSU = 0x0200,  
    INSGROUP_VELU = 0x0400,  
};
 
struct AntennaPosition
{
    float posX;  // Relative position of GPS antenna (X-axis)
    float posY;
    float posZ;
    float uncX;  // Uncertainty in the X-axis position measurement
    float uncY;
    float uncZ;
};
 
struct INSData
{
    uint64_t insTimestamp;
    uint16_t gpsFix;
    uint16_t insStatus;
    float yaw;
    float pitch;
    float roll;
    float latitude;
    float longitude;
    float altitude;
    float velocityX;  // Estimated velocity (NED) in m/s
    float velocityY;
    float velocityZ;
 
    static constexpr auto reflect()
    {
        return STRUCT_DEF(
            INSData,
            FIELD_DEF(insTimestamp) FIELD_DEF(gpsFix) FIELD_DEF(insStatus)
                FIELD_DEF(yaw) FIELD_DEF(pitch) FIELD_DEF(roll)
                    FIELD_DEF(latitude) FIELD_DEF(longitude) FIELD_DEF(altitude)
                        FIELD_DEF(velocityX) FIELD_DEF(velocityY)
                            FIELD_DEF(velocityZ));
    }
};
 
enum class SampleOptions : uint8_t
{
    FULL,     
    REDUCED,  
};
 
struct __attribute__((packed)) BinaryDataFull
{
    uint8_t selectedGroups;              // Indicates which groups are selected
    uint16_t selectedFieldsCommonGroup;  // Indicates which fields are selected
    uint16_t selectedFieldsGnssGroup;    // Indicates which fields are selected
    float yaw;
    float pitch;
    float roll;
    float quaternionX;
    float quaternionY;
    float quaternionZ;
    float quaternionW;
    float angularX;
    float angularY;
    float angularZ;
    float velocityX;  // Estimated velocity (NED) in m/s
    float velocityY;
    float velocityZ;
    float accelX;
    float accelY;
    float accelZ;
    float magneticX;
    float magneticY;
    float magneticZ;
    float temperature;
    float pressure;
    uint16_t insStatus;  // Status of the INS
    uint8_t numsats;     // Number of tracked gps satellites
    uint8_t gpsFix;
    double latitude;
    double longitude;
    double altitude;
    uint16_t checksum;
};
 
struct __attribute__((packed)) BinaryDataReduced
{
    uint8_t selectedGroups;              // Indicates which groups are selected
    uint16_t selectedFieldsCommonGroup;  // Indicates which fields are selected
    uint16_t selectedFieldsGnssGroup;    // Indicates which fields are selected
    float yaw;
    float pitch;
    float roll;
    float quaternionX;
    float quaternionY;
    float quaternionZ;
    float quaternionW;
    float angularX;
    float angularY;
    float angularZ;
    float accelX;
    float accelY;
    float accelZ;
    uint8_t gpsFix;
    double latitude;
    double longitude;
    double altitude;
    uint16_t checksum;
};
 
}  // namespace VN300Defs
 
}  // namespace Boardcore