95 lines
2.7 KiB
C
95 lines
2.7 KiB
C
#pragma once
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdint.h>
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#define TRIKKE_WIRE_VERSION 1
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#define TRIKKE_WIRE_HEADER_SIZE 36
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#define TRIKKE_WIRE_SAMPLE_RECORD_SIZE 20
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#define TRIKKE_WIRE_METADATA_SIZE 48
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#define TRIKKE_WIRE_STATUS_SIZE 32
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#define TRIKKE_WIRE_MAX_RECORDS 8
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#define TRIKKE_WIRE_MAX_PACKET_SIZE \
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(TRIKKE_WIRE_HEADER_SIZE + \
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TRIKKE_WIRE_SAMPLE_RECORD_SIZE * TRIKKE_WIRE_MAX_RECORDS)
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#define TRIKKE_PACKET_TYPE_METADATA 1
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#define TRIKKE_PACKET_TYPE_SAMPLES 2
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#define TRIKKE_PACKET_TYPE_STATUS 3
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#define TRIKKE_PACKET_FLAG_TIMESTAMP_DELTA_SATURATED 0x01
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#define TRIKKE_WIRE_TIMESTAMP_DELTA_UNIT_US 10
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#define TRIKKE_WIRE_MAX_TIMESTAMP_DELTA_US \
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((uint64_t)UINT16_MAX * TRIKKE_WIRE_TIMESTAMP_DELTA_UNIT_US)
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#define TRIKKE_METADATA_FLAG_ACCEL_Y_NEGX_Z 0x0001
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#define TRIKKE_METADATA_FLAG_GYRO_IDENTITY 0x0002
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#define TRIKKE_METADATA_FLAG_GYRO_POLARITY 0x0004
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#define TRIKKE_METADATA_FLAG_GYRO_SCALE_NOMINAL 0x0008
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typedef struct {
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uint32_t sequence;
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int64_t timestamp_us;
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int16_t accel_x;
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int16_t accel_y;
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int16_t accel_z;
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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uint8_t accel_status;
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uint8_t gyro_status;
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} trikke_wire_sample_t;
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typedef struct {
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uint16_t sample_rate_hz;
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uint16_t accel_range_g;
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uint16_t gyro_range_dps;
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uint16_t flags;
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float accel_offset_counts[3];
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float accel_counts_per_g[3];
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float gyro_bias_counts[3];
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float gyro_mdps_per_lsb;
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} trikke_wire_metadata_t;
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typedef struct {
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uint32_t sensor_read_failure_count;
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uint32_t queue_overflow_count;
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uint32_t transport_begin_retry_count;
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uint32_t transport_disconnect_count;
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uint32_t transport_send_failure_count;
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uint32_t transport_replay_count;
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uint32_t transport_invalid_ack_count;
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} trikke_wire_status_t;
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bool trikke_wire_timestamp_delta_fits(
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int64_t previous_timestamp_us,
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int64_t timestamp_us);
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size_t trikke_encode_metadata_packet(
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uint8_t *output,
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size_t output_size,
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uint32_t packet_sequence,
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int64_t timestamp_us,
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uint32_t dropped_sample_count,
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uint32_t loop_overrun_count,
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const trikke_wire_metadata_t *metadata);
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size_t trikke_encode_sample_packet(
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uint8_t *output,
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size_t output_size,
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uint32_t packet_sequence,
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uint32_t dropped_sample_count,
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uint32_t loop_overrun_count,
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const trikke_wire_sample_t *samples,
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size_t sample_count);
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size_t trikke_encode_status_packet(
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uint8_t *output,
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size_t output_size,
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uint32_t packet_sequence,
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int64_t timestamp_us,
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uint32_t dropped_sample_count,
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uint32_t loop_overrun_count,
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const trikke_wire_status_t *status);
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