firmware_registers.h

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// Define the firmware revision
#define  UM7_FIRMWARE_REVISION    (('U' << 24) | ('7' << 16) | ('1' << 8) | 'C')

// CONFIG_ARRAY_SIZE and DATA_ARRAY_SIZE specify the number of 32 bit configuration and data registers used by the firmware
// (Note: The term "register" is used loosely here.  These "registers" are not actually registers in the same sense of a
// microcontroller register.  They are simply index locations into arrays stored in global memory.  Data and configuration
// parameters are stored in arrays because it allows a common communication protocol to be used to access all data and
// configuration.  The software communicating with the sensor needs only specify the register address, and the communication
// software running on the sensor knows exactly where to find it - it needn't know what the data is.  The software communicatin
// with the sensor, on the other hand, needs to know what it is asking for (naturally...)
// This setup makes it easy to make more data immediately available when needed - simply increase the array size, add code in
// the firmware that writes data to the new array location, and then make updates to the firmware definition on the PC side.
#define CONFIG_ARRAY_SIZE    27
#define DATA_ARRAY_SIZE      52
#define COMMAND_COUNT        10

#define HIDDEN_ARRAY_SIZE    127

// Define address ranges for interpreting incoming packet data
#define CONFIG_REG_START_ADDRESS   0
#define DATA_REG_START_ADDRESS    85
#define COMMAND_START_ADDRESS    170

// Definitions of configuration registers/address
#define CREG_COM_SETTINGS      0
#define CREG_COM_RATES1        1
#define CREG_COM_RATES2        2
#define CREG_COM_RATES3        3
#define CREG_COM_RATES4        4
#define CREG_COM_RATES5        5
#define CREG_COM_RATES6        6
#define CREG_COM_RATES7        7
#define CREG_MISC_SETTINGS     8
#define CREG_HOME_NORTH        9
#define CREG_HOME_EAST        10
#define CREG_HOME_UP          11
#define CREG_GYRO_TRIM_X      12    // Floating point trim (actual angular rate)
#define CREG_GYRO_TRIM_Y      13
#define CREG_GYRO_TRIM_Z      14
#define CREG_MAG_CAL1_1       15
#define CREG_MAG_CAL1_2       16
#define CREG_MAG_CAL1_3       17
#define CREG_MAG_CAL2_1       18
#define CREG_MAG_CAL2_2       19
#define CREG_MAG_CAL2_3       20
#define CREG_MAG_CAL3_1       21
#define CREG_MAG_CAL3_2       22
#define CREG_MAG_CAL3_3       23
#define CREG_MAG_BIAS_X       24
#define CREG_MAG_BIAS_Y       25
#define CREG_MAG_BIAS_Z       26

// Bit definitions for COM_SETTINGS register
#define COM_BAUD_MASK       0x0F      // Uses 4 bits
#define COM_BAUD_START        28     // Lowest-order bit on bit 28

#define COM_GPS_BAUD_MASK   0x0F
#define COM_GPS_BAUD_START    24

#define COM_GPS_DATA_ENABLED      (1 << 8)
#define COM_GPS_SAT_DATA_ENABLED  (1 << 4)

// Definitions for controlling the baud rate of the USART
#define BAUD_9600          0
#define BAUD_14400         1
#define BAUD_19200         2
#define BAUD_38400         3
#define BAUD_57600         4
#define BAUD_115200        5
#define BAUD_128000        6
#define BAUD_153600        7
#define BAUD_230400        8
#define BAUD_256000        9
#define BAUD_460800       10
#define BAUD_921600       11

// Bit definitions for COM_RATE registers
#define RATE1_RAW_ACCEL_MASK      0x0FF
#define RATE1_RAW_ACCEL_START        24
#define RATE1_RAW_GYRO_MASK       0x0FF
#define RATE1_RAW_GYRO_START         16
#define RATE1_RAW_MAG_MASK        0x0FF
#define RATE1_RAW_MAG_START           8

#define RATE2_TEMPERATURE_MASK    0x0FF
#define RATE2_TEMPERATURE_START      24
#define RATE2_ALL_RAW_MASK        0x0FF
#define RATE2_ALL_RAW_START           0

#define RATE3_PROC_ACCEL_MASK     0x0FF
#define RATE3_PROC_ACCEL_START       24
#define RATE3_PROC_GYRO_MASK      0x0FF
#define RATE3_PROC_GYRO_START        16
#define RATE3_PROC_MAG_MASK       0x0FF
#define RATE3_PROC_MAG_START          8

#define RATE4_ALL_PROC_MASK       0x0FF
#define RATE4_ALL_PROC_START          0

#define RATE5_QUAT_MASK           0x0FF
#define RATE5_QUAT_START             24
#define RATE5_EULER_MASK          0x0FF
#define RATE5_EULER_START            16
#define RATE5_POSITION_MASK       0x0FF
#define RATE5_POSITION_START          8
#define RATE5_VELOCITY_MASK       0x0FF
#define RATE5_VELOCITY_START          0

#define RATE6_POSE_MASK           0x0FF
#define RATE6_POSE_START             24
#define RATE6_HEALTH_MASK          0x0F
#define RATE6_HEALTH_START           16

#define RATE7_NMEA_HEALTH_MASK     0x0F
#define RATE7_NMEA_HEALTH_START      28
#define RATE7_NMEA_POSE_MASK       0x0F
#define RATE7_NMEA_POSE_START        24
#define RATE7_NMEA_ATTITUDE_MASK   0x0F
#define RATE7_NMEA_ATTITUDE_START    20
#define RATE7_NMEA_SENSOR_MASK     0x0F
#define RATE7_NMEA_SENSOR_START      16
#define RATE7_NMEA_RATE_MASK       0x0F
#define RATE7_NMEA_RATE_START        12
#define RATE7_NMEA_GPS_POSE_MASK   0x0F
#define RATE7_NMEA_GPS_POSE_START     8
#define RATE7_NMEA_QUATERNION_MASK 0x0F
#define RATE7_NMEA_QUATERNION_START   4

// Bit definitions for filter settings register.
#define MAG_UPDATES_ENABLED         (1 << 0)
#define QUATERNION_MODE_ENABLED     (1 << 1)
#define ZERO_GYROS_ON_STARTUP       (1 << 2)
#define USE_TX2_AS_PPS_INPUT        (1 << 8)

// Definitions of data registers/addresses
#define DREG_HEALTH                85
#define DREG_GYRO_RAW_XY           86
#define DREG_GYRO_RAW_Z            87
#define DREG_GYRO_TIME             88
#define DREG_ACCEL_RAW_XY          89
#define DREG_ACCEL_RAW_Z           90
#define DREG_ACCEL_TIME            91
#define DREG_MAG_RAW_XY            92
#define DREG_MAG_RAW_Z             93
#define DREG_MAG_RAW_TIME          94
#define DREG_TEMPERATURE           95
#define DREG_TEMPERATURE_TIME      96
#define DREG_GYRO_PROC_X           97
#define DREG_GYRO_PROC_Y           98
#define DREG_GYRO_PROC_Z           99
#define DREG_GYRO_PROC_TIME       100
#define DREG_ACCEL_PROC_X         101
#define DREG_ACCEL_PROC_Y         102
#define DREG_ACCEL_PROC_Z         103
#define DREG_ACCEL_PROC_TIME      104
#define DREG_MAG_PROC_X           105
#define DREG_MAG_PROC_Y           106
#define DREG_MAG_PROC_Z           107
#define DREG_MAG_PROC_TIME        108
#define DREG_QUAT_AB              109
#define DREG_QUAT_CD              110
#define DREG_QUAT_TIME            111
#define DREG_EULER_PHI_THETA      112
#define DREG_EULER_PSI            113
#define DREG_EULER_PHI_THETA_DOT  114
#define DREG_EULER_PSI_DOT        115
#define DREG_EULER_TIME           116
#define DREG_POSITION_NORTH       117
#define DREG_POSITION_EAST        118
#define DREG_POSITION_UP          119
#define DREG_POSITION_TIME        120
#define DREG_VELOCITY_NORTH       121
#define DREG_VELOCITY_EAST        122
#define DREG_VELOCITY_UP          123
#define DREG_VELOCITY_TIME        124
#define DREG_GPS_LATITUDE         125
#define DREG_GPS_LONGITUDE        126
#define DREG_GPS_ALTITUDE         127
#define DREG_GPS_COURSE           128
#define DREG_GPS_SPEED            129
#define DREG_GPS_TIME             130
#define DREG_GPS_SAT_1_2          131
#define DREG_GPS_SAT_3_4          132
#define DREG_GPS_SAT_5_6          133
#define DREG_GPS_SAT_7_8          134
#define DREG_GPS_SAT_9_10         135
#define DREG_GPS_SAT_11_12        136

// Bit definitions for sensor health register
#define HEALTH_SATS_USED_MASK      0x3F  // Uses 6 bits
#define HEALTH_SATS_USED_START       26  // Lowest-order bit starts at 26
#define HEALTH_HDOP_MASK          0x3FF  // Uses 10 bits
#define HEALTH_HDOP_START            16  // Lowest-order bit starts at 16
#define HEALTH_SATS_IN_VIEW_MASK   0x3F
#define HEALTH_SATS_IN_VIEW_START    10
#define HEALTH_COM_OVERFLOW    (1 << 8)  // Set when the sensor was unable to transmit all the requested data
#define HEALTH_MAG_NORM        (1 << 5)
#define HEALTH_ACCEL_NORM      (1 << 4)
#define HEALTH_ACCEL           (1 << 3)
#define HEALTH_GYRO            (1 << 2)
#define HEALTH_MAG             (1 << 1)
#define HEALTH_GPS             (1 << 0)

// Definition of packet address for COM error codes
#define CHR_BAD_CHECKSUM        253  // Sent if the module receives a packet with a bad checksum
#define CHR_UNKNOWN_ADDRESS     254  // Sent if the module receives a packet with an unknown address
#define CHR_INVALID_BATCH_SIZE  255  // Sent if a requested batch read or write operation would go beyond the bounds of the config or data array

// Command addresses
#define CHR_GET_FW_VERSION     (COMMAND_START_ADDRESS + 0)  // Causes the device to report the firmware revision
#define CHR_FLASH_COMMIT       (COMMAND_START_ADDRESS + 1)  // Causes the device to write all configuration values to FLASH
#define CHR_RESET_TO_FACTORY   (COMMAND_START_ADDRESS + 2)  // Causes the UM6 to load default factory settings
#define CHR_ZERO_GYROS         (COMMAND_START_ADDRESS + 3)
#define CHR_SET_HOME_POSITION  (COMMAND_START_ADDRESS + 4)
#define CHR_FACTORY_COMMIT     (COMMAND_START_ADDRESS + 5)
#define CHR_SET_MAG_REFERENCE  (COMMAND_START_ADDRESS + 6)
#define CHR_RESET_EKF          (COMMAND_START_ADDRESS + 9)

// Some definitions for working with COM events
#define NMEA_HEALTH_PACKET      0
#define NMEA_POSE_PACKET        1
#define NMEA_ATTITUDE_PACKET    2
#define NMEA_SENSOR_PACKET      3
#define NMEA_RATE_PACKET        4
#define NMEA_GPS_POSE_PACKET    5
#define NMEA_QUATERNION_PACKET  6

// Definition for zeroing rate gyros and pressure sensor
#define GYRO_ZERO_SAMPLES      500
#define GYRO_X_INDEX             0
#define GYRO_Y_INDEX             1
#define GYRO_Z_INDEX             2
#define ANGLE_ZERO_SAMPLES    1000
#define ACCEL_X_INDEX            0
#define ACCEL_Y_INDEX            1
#define ACCEL_Z_INDEX            2
#define PRESSURE_ZERO_SAMPLES  250
#define AIRSPEED_ZERO_SAMPLES  500

#define PI             3.14159265f
#define PIx2           6.28318530f
#define PId2           1.57079633f
#define GRAVITY           9.80665f
#define GRAVITYx2         19.6133f
#define GRAVITYd2        4.903325f
#define RAW_TO_MBAR  (1.0f/4096.0f)
#define KPA_PER_VOLT          1.0f

#define  CHR_USE_CONFIG_ADDRESS     0
#define  CHR_USE_FACTORY_ADDRESS    1

// Start address for writing configuration to FLASH
#define FLASH_START_ADDRESS  (uint32_t)0x0800F000
// Start address for factory FLASH configuration
#define FACTORY_FLASH_ADDRESS  (uint32_t)0x0800E000

// Macro for determining whether FLASH has been initialized
#define FGET_FLASH_UNINITIALIZED()    ((uint32_t)( *(__IO uint32_t*)(FLASH_START_ADDRESS) ) == 0xFFFFFFFF)
#define FGET_FACTORY_UNINITIALIZED()  ((uint32_t)( *(__IO uint32_t*)(FACTORY_FLASH_ADDRESS) ) == 0xFFFFFFFF)

#define GYRO_ZERO_SAMPLE_SIZE  500

typedef struct __CHR_config
{
  union
  {
    uint32_t r[CONFIG_ARRAY_SIZE];
    float    f[CONFIG_ARRAY_SIZE];
  };
} CHR_config;

typedef struct __CHR_data
{
  union
  {
    uint32_t r[DATA_ARRAY_SIZE];
    float    f[DATA_ARRAY_SIZE];
  };
} CHR_data;