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ardrone_autonomy/ARDroneLib/Soft/Common/navdata_common.h
T
Mani Monajjemi a3f9cff1a6 Upgrading to Parrot SDK 2.0.1
2013-10-21 11:07:21 -07:00

762 linhas
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/**
* \file navdata_common.h
* \brief Common navdata configuration
* \author Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
*/
#ifndef _NAVDATA_COMMON_H_
#define _NAVDATA_COMMON_H_
/*------------------------------------------ NAVDATA STRUCTURES DECLARATIONS ---------------------------------------------------------------*/
#include <config.h>
#include <vision_common.h>
#include <VP_Os/vp_os_types.h>
#include <Maths/maths.h>
#include <Maths/matrices.h>
#if defined(_MSC_VER)
#define _ATTRIBUTE_PACKED_
/* Asks Visual C++ to pack structures from now on*/
#pragma pack(1)
#else
#define _ATTRIBUTE_PACKED_ __attribute__ ((packed))
#endif
// Define constants for gyrometers handling
typedef enum {
GYRO_X = 0,
GYRO_Y = 1,
GYRO_Z = 2,
NB_GYROS = 3
} def_gyro_t;
// Define constants for accelerometers handling
typedef enum {
ACC_X = 0,
ACC_Y = 1,
ACC_Z = 2,
NB_ACCS = 3
} def_acc_t;
/**
* \struct _velocities_t
* \brief Velocities in float32_t format
*/
typedef struct _velocities_t {
float32_t x;
float32_t y;
float32_t z;
} velocities_t;
// Default control loops gains TODO Put these values in flash memory
// To avoid divisions in embedded software, gains are defined as ratios where
// - the numerator is an integer
// - the denominator is an integer
/**
* \var CTRL_DEFAULT_NUM_PQ_KP
* \brief Numerator of default proportionnal gain for pitch (p) and roll (q) angular rate control loops
*/
/**
* \var CTRL_DEFAULT_NUM_EA_KP
* \brief Numerator of default proportionnal gain for Euler Angle control loops
*/
/**
* \var CTRL_DEFAULT_NUM_EA_KI
* \brief Numerator of default integral gain for Euler Angle control loops
*/
#define CTRL_DEFAULT_NUM_PQ_KP_NO_SHELL /*30000 26000 */ 40000
#define CTRL_DEFAULT_NUM_EA_KP_NO_SHELL /*7000 9000 7000 */ 8000
#define CTRL_DEFAULT_NUM_EA_KI_NO_SHELL /*4000 7000 6000 */ 7000
#define CTRL_DEFAULT_NUM_PQ_KP_SHELL /*30000 23000*/ 40000
#define CTRL_DEFAULT_NUM_EA_KP_SHELL /*9000 10000*/ 9000
#define CTRL_DEFAULT_NUM_EA_KI_SHELL /*5000 9000*/ 8000
/**
* \var CTRL_DEFAULT_NUM_H_R
* \brief Numerator of default proportionnal gain for yaw (r) angular rate control loop
*/
#define CTRL_DEFAULT_NUM_R_KP 200000
/**
* \var CTRL_DEFAULT_NUM_R_KI
* \brief Numerator of default integral gain for yaw control loops
*/
#define CTRL_DEFAULT_NUM_R_KI 3000
/**
* \var CTRL_DEFAULT_DEN_W
* \brief Denominator of default proportionnal gain of pitch (p) roll (q) and yaw (r) angular rate control loops
*/
#define CTRL_DEFAULT_DEN_W 1024.0 //2^10
/**
* \var CTRL_DEFAULT_DEN_EA
* \brief Denominator of default gains for Euler Angle control loops
*/
#define CTRL_DEFAULT_DEN_EA 1024.0 //2^10
/**
* \var CTRL_DEFAULT_NUM_ALT_KP
* \brief Numerator of default proportionnal gain for Altitude control loop
*/
#ifdef ALT_CONTROL
#define CTRL_DEFAULT_NUM_ALT_KP 210
#else
#define CTRL_DEFAULT_NUM_ALT_KP 3000
#endif
/**
* \var CTRL_DEFAULT_NUM_ALT_KI
* \brief Numerator of default integral gain for Altitude control loop
*/
#ifdef ALT_CONTROL
#define CTRL_DEFAULT_NUM_ALT_KI 100
#else
#define CTRL_DEFAULT_NUM_ALT_KI 400
#endif
/**
* \var CTRL_DEFAULT_NUM_ALT_KD
* \brief Numerator of default derivative gain for Altitude control loop
*/
#ifdef ALT_CONTROL
#define CTRL_DEFAULT_NUM_VZ_KP 100
#else
#define CTRL_DEFAULT_NUM_VZ_KP 200
#endif
/**
* \var CTRL_DEFAULT_NUM_ALT_TD
* \brief Numerator of default derivative time constant gain for Altitude control loop
*/
#define CTRL_DEFAULT_NUM_VZ_KI 100
/**
* \var CTRL_DEFAULT_DEN_ALT
* \brief Denominator of default gains for Altitude control loop
*/
#define CTRL_DEFAULT_DEN_ALT 1024.0
/**
* \var CTRL_DEFAULT_NUM_HOVER_KP
* \brief Numerator of default proportionnal gain for hovering control loop
*/
#define CTRL_DEFAULT_NUM_HOVER_KP_SHELL /*5000* 8000*/ 8000
#define CTRL_DEFAULT_NUM_HOVER_KP_NO_SHELL /*6000 12000 5000*/ 7000
/**
* \var CTRL_DEFAULT_NUM_HOVER_KP
* \brief Numerator of default proportionnal gain for hovering beacon control loop
*/
#define CTRL_DEFAULT_NUM_HOVER_B_KP_SHELL 1200
#define CTRL_DEFAULT_NUM_HOVER_B_KP_NO_SHELL 1200
/**
* \var CTRL_DEFAULT_NUM_HOVER_KI
* \brief Numerator of default integral gain for hovering control loop
*/
#define CTRL_DEFAULT_NUM_HOVER_KI_SHELL /*3000 10000*/ 8000
#define CTRL_DEFAULT_NUM_HOVER_KI_NO_SHELL /*3000 8000 5000*/ 6000
/**
* \var CTRL_DEFAULT_NUM_HOVER_KI
* \brief Numerator of default integral gain for hovering beacon control loop
*/
#define CTRL_DEFAULT_NUM_HOVER_B_KI_SHELL 500
#define CTRL_DEFAULT_NUM_HOVER_B_KI_NO_SHELL 500
/*
* \var CTRL_DEFAULT_DEN_HOVER
* \brief Numerator of default proportionnal gain for hovering control loop
*/
#define CTRL_DEFAULT_DEN_HOVER 32768.0 //2^15
#define CTRL_DEFAULT_NUM_HOVER_B_KP2_NO_SHELL 22937
#define CTRL_DEFAULT_NUM_HOVER_B_KI2_NO_SHELL 8192
#define CTRL_DEFAULT_NUM_HOVER_B_KD2_NO_SHELL 8000
#define CTRL_DEFAULT_NUM_HOVER_B_KP2_SHELL 22937
#define CTRL_DEFAULT_NUM_HOVER_B_KI2_SHELL 8192
#define CTRL_DEFAULT_NUM_HOVER_B_KD2_SHELL 8000
/* Timeout for mayday maneuvers*/
static const int32_t MAYDAY_TIMEOUT[ARDRONE_NB_ANIM_MAYDAY] = {
1000, // ARDRONE_ANIM_PHI_M30_DEG
1000, // ARDRONE_ANIM_PHI_30_DEG
1000, // ARDRONE_ANIM_THETA_M30_DEG
1000, // ARDRONE_ANIM_THETA_30_DEG
1000, // ARDRONE_ANIM_THETA_20DEG_YAW_200DEG
1000, // ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG
5000, // ARDRONE_ANIM_TURNAROUND
5000, // ARDRONE_ANIM_TURNAROUND_GODOWN
2000, // ARDRONE_ANIM_YAW_SHAKE
5000, // ARDRONE_ANIM_YAW_DANCE
5000, // ARDRONE_ANIM_PHI_DANCE
5000, // ARDRONE_ANIM_THETA_DANCE
5000, // ARDRONE_ANIM_VZ_DANCE
5000, // ARDRONE_ANIM_WAVE
5000, // ARDRONE_ANIM_PHI_THETA_MIXED
5000, // ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED
15, // ARDRONE_ANIM_FLIP_AHEAD
15, // ARDRONE_ANIM_FLIP_BEHIND
15, // ARDRONE_ANIM_FLIP_LEFT
15, // ARDRONE_ANIM_FLIP_RIGHT
};
#define NAVDATA_SEQUENCE_DEFAULT 1
#define NAVDATA_HEADER 0x55667788
#define NAVDATA_MAX_SIZE 4096
#define NAVDATA_MAX_CUSTOM_TIME_SAVE 20
/* !!! Warning !!! - changing the value below would break compatibility with older applications
* DO NOT CHANGE THIS */
#define NB_NAVDATA_DETECTION_RESULTS 4
/**
* @brief Tags identifying navdata blocks in a Navdata UDP packet
* This tag is stored in the first two bytes of any navdata block (aka 'option').
*/
#define NAVDATA_OPTION_DEMO(STRUCTURE,NAME,TAG) TAG = 0,
#define NAVDATA_OPTION(STRUCTURE,NAME,TAG) TAG ,
#define NAVDATA_OPTION_CKS(STRUCTURE,NAME,TAG) NAVDATA_NUM_TAGS, TAG = 0xFFFF
typedef enum _navdata_tag_t {
#include <navdata_keys.h>
} navdata_tag_t;
#define NAVDATA_OPTION_MASK(option) ( 1 << (option) )
#define NAVDATA_OPTION_FULL_MASK ((1<<NAVDATA_NUM_TAGS)-1)
typedef struct _navdata_option_t {
uint16_t tag;
uint16_t size;
#if defined _MSC_VER || defined (__ARMCC_VERSION)
/* Do not use flexible arrays (C99 feature) with these compilers */
uint8_t data[1];
#else
uint8_t data[];
#endif
} navdata_option_t;
/**
* @brief Navdata structure sent over the network.
*/
typedef struct _navdata_t {
uint32_t header; /*!< Always set to NAVDATA_HEADER */
uint32_t ardrone_state; /*!< Bit mask built from def_ardrone_state_mask_t */
uint32_t sequence; /*!< Sequence number, incremented for each sent packet */
bool_t vision_defined;
navdata_option_t options[1];
}_ATTRIBUTE_PACKED_ navdata_t;
/**
* All navdata options can be extended (new values AT THE END) except navdata_demo whose size must be constant across versions
* New navdata options may be added, but must not be sent in navdata_demo mode unless requested by navdata_options.
*/
/*----------------------------------------------------------------------------*/
/**
* @brief Minimal navigation data for all flights.
*/
typedef struct _navdata_demo_t {
uint16_t tag; /*!< Navdata block ('option') identifier */
uint16_t size; /*!< set this to the size of this structure */
uint32_t ctrl_state; /*!< Flying state (landed, flying, hovering, etc.) defined in CTRL_STATES enum. */
uint32_t vbat_flying_percentage; /*!< battery voltage filtered (mV) */
float32_t theta; /*!< UAV's pitch in milli-degrees */
float32_t phi; /*!< UAV's roll in milli-degrees */
float32_t psi; /*!< UAV's yaw in milli-degrees */
int32_t altitude; /*!< UAV's altitude in centimeters */
float32_t vx; /*!< UAV's estimated linear velocity */
float32_t vy; /*!< UAV's estimated linear velocity */
float32_t vz; /*!< UAV's estimated linear velocity */
uint32_t num_frames; /*!< streamed frame index */ // Not used -> To integrate in video stage.
// Camera parameters compute by detection
matrix33_t detection_camera_rot; /*!< Deprecated ! Don't use ! */
vector31_t detection_camera_trans; /*!< Deprecated ! Don't use ! */
uint32_t detection_tag_index; /*!< Deprecated ! Don't use ! */
uint32_t detection_camera_type; /*!< Type of tag searched in detection */
// Camera parameters compute by drone
matrix33_t drone_camera_rot; /*!< Deprecated ! Don't use ! */
vector31_t drone_camera_trans; /*!< Deprecated ! Don't use ! */
}_ATTRIBUTE_PACKED_ navdata_demo_t;
/*----------------------------------------------------------------------------*/
/**
* @brief Last navdata option that *must* be included at the end of all navdata packets
* + 6 bytes
*/
typedef struct _navdata_cks_t {
uint16_t tag;
uint16_t size;
// Checksum for all navdatas (including options)
uint32_t cks;
}_ATTRIBUTE_PACKED_ navdata_cks_t;
/*----------------------------------------------------------------------------*/
/**
* @brief Timestamp
* + 6 bytes
*/
typedef struct _navdata_time_t {
uint16_t tag;
uint16_t size;
uint32_t time; /*!< 32 bit value where the 11 most significant bits represents the seconds, and the 21 least significant bits are the microseconds. */
}_ATTRIBUTE_PACKED_ navdata_time_t;
/*----------------------------------------------------------------------------*/
/**
* @brief Raw sensors measurements
*/
typedef struct _navdata_raw_measures_t {
uint16_t tag;
uint16_t size;
// +12 bytes
uint16_t raw_accs[NB_ACCS]; // filtered accelerometers
int16_t raw_gyros[NB_GYROS]; // filtered gyrometers
int16_t raw_gyros_110[2]; // gyrometers x/y 110 deg/s
uint32_t vbat_raw; // battery voltage raw (mV)
uint16_t us_debut_echo;
uint16_t us_fin_echo;
uint16_t us_association_echo;
uint16_t us_distance_echo;
uint16_t us_courbe_temps;
uint16_t us_courbe_valeur;
uint16_t us_courbe_ref;
uint16_t flag_echo_ini;
// TODO: uint16_t frame_number; // from ARDrone_Magneto
uint16_t nb_echo;
uint32_t sum_echo;
int32_t alt_temp_raw;
int16_t gradient;
}_ATTRIBUTE_PACKED_ navdata_raw_measures_t;
// split next struc into magneto_navdata_t and pressure_navdata_t
typedef struct _navdata_pressure_raw_t {
uint16_t tag;
uint16_t size;
int32_t up;
int16_t ut;
int32_t Temperature_meas;
int32_t Pression_meas;
}_ATTRIBUTE_PACKED_ navdata_pressure_raw_t;
typedef struct _navdata_magneto_t {
uint16_t tag;
uint16_t size;
int16_t mx;
int16_t my;
int16_t mz;
vector31_t magneto_raw; // magneto in the body frame, in mG
vector31_t magneto_rectified;
vector31_t magneto_offset;
float32_t heading_unwrapped;
float32_t heading_gyro_unwrapped;
float32_t heading_fusion_unwrapped;
char magneto_calibration_ok;
uint32_t magneto_state;
float32_t magneto_radius;
float32_t error_mean;
float32_t error_var;
}_ATTRIBUTE_PACKED_ navdata_magneto_t;
typedef struct _navdata_wind_speed_t {
uint16_t tag;
uint16_t size;
float32_t wind_speed; // estimated wind speed [m/s]
float32_t wind_angle; // estimated wind direction in North-East frame [rad] e.g. if wind_angle is pi/4, wind is from South-West to North-East
float32_t wind_compensation_theta;
float32_t wind_compensation_phi;
float32_t state_x1;
float32_t state_x2;
float32_t state_x3;
float32_t state_x4;
float32_t state_x5;
float32_t state_x6;
float32_t magneto_debug1;
float32_t magneto_debug2;
float32_t magneto_debug3;
}_ATTRIBUTE_PACKED_ navdata_wind_speed_t;
typedef struct _navdata_kalman_pressure_t{
uint16_t tag;
uint16_t size;
float32_t offset_pressure;
float32_t est_z;
float32_t est_zdot;
float32_t est_bias_PWM;
float32_t est_biais_pression;
float32_t offset_US;
float32_t prediction_US;
float32_t cov_alt;
float32_t cov_PWM;
float32_t cov_vitesse;
bool_t bool_effet_sol;
float32_t somme_inno;
bool_t flag_rejet_US;
float32_t u_multisinus;
float32_t gaz_altitude;
bool_t Flag_multisinus;
bool_t Flag_multisinus_debut;
}_ATTRIBUTE_PACKED_ navdata_kalman_pressure_t;
// TODO: depreciated struct ? remove it ?
typedef struct navdata_zimmu_3000_t {
uint16_t tag;
uint16_t size;
int32_t vzimmuLSB;
float32_t vzfind;
}_ATTRIBUTE_PACKED_ navdata_zimmu_3000_t;
typedef struct _navdata_phys_measures_t {
uint16_t tag;
uint16_t size;
float32_t accs_temp;
uint16_t gyro_temp;
float32_t phys_accs[NB_ACCS];
float32_t phys_gyros[NB_GYROS];
uint32_t alim3V3; // 3.3volt alim [LSB]
uint32_t vrefEpson; // ref volt Epson gyro [LSB]
uint32_t vrefIDG; // ref volt IDG gyro [LSB]
}_ATTRIBUTE_PACKED_ navdata_phys_measures_t;
typedef struct _navdata_gyros_offsets_t {
uint16_t tag;
uint16_t size;
float32_t offset_g[NB_GYROS];
}_ATTRIBUTE_PACKED_ navdata_gyros_offsets_t;
typedef struct _navdata_euler_angles_t {
uint16_t tag;
uint16_t size;
float32_t theta_a;
float32_t phi_a;
}_ATTRIBUTE_PACKED_ navdata_euler_angles_t;
typedef struct _navdata_references_t {
uint16_t tag;
uint16_t size;
int32_t ref_theta;
int32_t ref_phi;
int32_t ref_theta_I;
int32_t ref_phi_I;
int32_t ref_pitch;
int32_t ref_roll;
int32_t ref_yaw;
int32_t ref_psi;
float32_t vx_ref;
float32_t vy_ref;
float32_t theta_mod;
float32_t phi_mod;
float32_t k_v_x;
float32_t k_v_y;
uint32_t k_mode;
float32_t ui_time;
float32_t ui_theta;
float32_t ui_phi;
float32_t ui_psi;
float32_t ui_psi_accuracy;
int32_t ui_seq;
}_ATTRIBUTE_PACKED_ navdata_references_t;
typedef struct _navdata_trims_t {
uint16_t tag;
uint16_t size;
float32_t angular_rates_trim_r;
float32_t euler_angles_trim_theta;
float32_t euler_angles_trim_phi;
}_ATTRIBUTE_PACKED_ navdata_trims_t;
typedef struct _navdata_rc_references_t {
uint16_t tag;
uint16_t size;
int32_t rc_ref_pitch;
int32_t rc_ref_roll;
int32_t rc_ref_yaw;
int32_t rc_ref_gaz;
int32_t rc_ref_ag;
}_ATTRIBUTE_PACKED_ navdata_rc_references_t;
typedef struct _navdata_pwm_t {
uint16_t tag;
uint16_t size;
uint8_t motor1;
uint8_t motor2;
uint8_t motor3;
uint8_t motor4;
uint8_t sat_motor1;
uint8_t sat_motor2;
uint8_t sat_motor3;
uint8_t sat_motor4;
float32_t gaz_feed_forward;
float32_t gaz_altitude;
float32_t altitude_integral;
float32_t vz_ref;
int32_t u_pitch;
int32_t u_roll;
int32_t u_yaw;
float32_t yaw_u_I;
int32_t u_pitch_planif;
int32_t u_roll_planif;
int32_t u_yaw_planif;
float32_t u_gaz_planif;
uint16_t current_motor1;
uint16_t current_motor2;
uint16_t current_motor3;
uint16_t current_motor4;
//WARNING: new navdata (FC 26/07/2011)
float32_t altitude_prop;
float32_t altitude_der;
}_ATTRIBUTE_PACKED_ navdata_pwm_t;
typedef struct _navdata_altitude_t {
uint16_t tag;
uint16_t size;
int32_t altitude_vision;
float32_t altitude_vz;
int32_t altitude_ref;
int32_t altitude_raw;
float32_t obs_accZ;
float32_t obs_alt;
vector31_t obs_x;
uint32_t obs_state;
vector21_t est_vb;
uint32_t est_state ;
}_ATTRIBUTE_PACKED_ navdata_altitude_t;
typedef struct _navdata_vision_raw_t {
uint16_t tag;
uint16_t size;
float32_t vision_tx_raw;
float32_t vision_ty_raw;
float32_t vision_tz_raw;
}_ATTRIBUTE_PACKED_ navdata_vision_raw_t;
typedef struct _navdata_vision_t {
uint16_t tag;
uint16_t size;
uint32_t vision_state;
int32_t vision_misc;
float32_t vision_phi_trim;
float32_t vision_phi_ref_prop;
float32_t vision_theta_trim;
float32_t vision_theta_ref_prop;
int32_t new_raw_picture;
float32_t theta_capture;
float32_t phi_capture;
float32_t psi_capture;
int32_t altitude_capture;
uint32_t time_capture; // time in TSECDEC format (see config.h)
velocities_t body_v;
float32_t delta_phi;
float32_t delta_theta;
float32_t delta_psi;
uint32_t gold_defined;
uint32_t gold_reset;
float32_t gold_x;
float32_t gold_y;
}_ATTRIBUTE_PACKED_ navdata_vision_t;
typedef struct _navdata_vision_perf_t {
uint16_t tag;
uint16_t size;
// +44 bytes
float32_t time_szo;
float32_t time_corners;
float32_t time_compute;
float32_t time_tracking;
float32_t time_trans;
float32_t time_update;
float32_t time_custom[NAVDATA_MAX_CUSTOM_TIME_SAVE];
}_ATTRIBUTE_PACKED_ navdata_vision_perf_t;
typedef struct _navdata_trackers_send_t {
uint16_t tag;
uint16_t size;
int32_t locked[DEFAULT_NB_TRACKERS_WIDTH * DEFAULT_NB_TRACKERS_HEIGHT];
screen_point_t point[DEFAULT_NB_TRACKERS_WIDTH * DEFAULT_NB_TRACKERS_HEIGHT];
}_ATTRIBUTE_PACKED_ navdata_trackers_send_t;
typedef struct _navdata_vision_detect_t {
/* !! Change the function 'navdata_server_reset_vision_detect()' if this structure is modified !! */
uint16_t tag;
uint16_t size;
uint32_t nb_detected;
uint32_t type[NB_NAVDATA_DETECTION_RESULTS];
uint32_t xc[NB_NAVDATA_DETECTION_RESULTS];
uint32_t yc[NB_NAVDATA_DETECTION_RESULTS];
uint32_t width[NB_NAVDATA_DETECTION_RESULTS];
uint32_t height[NB_NAVDATA_DETECTION_RESULTS];
uint32_t dist[NB_NAVDATA_DETECTION_RESULTS];
float32_t orientation_angle[NB_NAVDATA_DETECTION_RESULTS];
matrix33_t rotation[NB_NAVDATA_DETECTION_RESULTS];
vector31_t translation[NB_NAVDATA_DETECTION_RESULTS];
uint32_t camera_source[NB_NAVDATA_DETECTION_RESULTS];
}_ATTRIBUTE_PACKED_ navdata_vision_detect_t;
typedef struct _navdata_vision_of_t {
uint16_t tag;
uint16_t size;
float32_t of_dx[5];
float32_t of_dy[5];
}_ATTRIBUTE_PACKED_ navdata_vision_of_t;
typedef struct _navdata_watchdog_t {
uint16_t tag;
uint16_t size;
// +4 bytes
int32_t watchdog;
}_ATTRIBUTE_PACKED_ navdata_watchdog_t;
typedef struct _navdata_adc_data_frame_t {
uint16_t tag;
uint16_t size;
uint32_t version;
uint8_t data_frame[32];
}_ATTRIBUTE_PACKED_ navdata_adc_data_frame_t;
typedef struct _navdata_video_stream_t {
uint16_t tag;
uint16_t size;
uint8_t quant; // quantizer reference used to encode frame [1:31]
uint32_t frame_size; // frame size (bytes)
uint32_t frame_number; // frame index
uint32_t atcmd_ref_seq; // atmcd ref sequence number
uint32_t atcmd_mean_ref_gap; // mean time between two consecutive atcmd_ref (ms)
float32_t atcmd_var_ref_gap;
uint32_t atcmd_ref_quality; // estimator of atcmd link quality
// drone2
uint32_t out_bitrate; // measured out throughput from the video tcp socket
uint32_t desired_bitrate; // last frame size generated by the video encoder
// misc temporary data
int32_t data1;
int32_t data2;
int32_t data3;
int32_t data4;
int32_t data5;
// queue usage
uint32_t tcp_queue_level;
uint32_t fifo_queue_level;
}_ATTRIBUTE_PACKED_ navdata_video_stream_t;
typedef enum
{
NAVDATA_HDVIDEO_STORAGE_FIFO_IS_FULL = (1<<0),
NAVDATA_HDVIDEO_USBKEY_IS_PRESENT = (1<<8),
NAVDATA_HDVIDEO_USBKEY_IS_RECORDING = (1<<9),
NAVDATA_HDVIDEO_USBKEY_IS_FULL = (1<<10)
}_navdata_hdvideo_states_t;
typedef struct _navdata_hdvideo_stream_t {
uint16_t tag;
uint16_t size;
uint32_t hdvideo_state;
uint32_t storage_fifo_nb_packets;
uint32_t storage_fifo_size;
uint32_t usbkey_size; /*! USB key in kbytes - 0 if no key present */
uint32_t usbkey_freespace; /*! USB key free space in kbytes - 0 if no key present */
uint32_t frame_number; /*! 'frame_number' PaVE field of the frame starting to be encoded for the HD stream */
uint32_t usbkey_remaining_time; /*! time in seconds */
}_ATTRIBUTE_PACKED_ navdata_hdvideo_stream_t;
typedef struct _navdata_games_t {
uint16_t tag;
uint16_t size;
uint32_t double_tap_counter;
uint32_t finish_line_counter;
}_ATTRIBUTE_PACKED_ navdata_games_t;
typedef struct _navdata_wifi_t {
uint16_t tag;
uint16_t size;
uint32_t link_quality;
}_ATTRIBUTE_PACKED_ navdata_wifi_t;
#if defined(_MSC_VER)
/* Go back to default packing policy */
#pragma pack()
#endif
#endif // _NAVDATA_COMMON_H_
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