/* ---------------------------------------------------------------------- */ /* S150Formats.h */ /* ---------------------------------------------------------------------- */ /* */ /* (c) Copyright 2007 EdgeTech, */ /* */ /* This file contains proprietary information, and trade secrets of */ /* EdgeTech, and may not be disclosed or reproduced without the prior */ /* written consent of EdgeTech. */ /* */ /* EdgeTech is not responsible for the consequences of the use or misuse */ /* of this software, even if they result from defects in it. */ /* */ /* ---------------------------------------------------------------------- */ /* */ /* This file contains the EdgeTech headers for reading S-150 data from */ /* the input serial data stream. */ /* ---------------------------------------------------------------------- */ #pragma once /* ---------------------------------------------------------------------- */ /* Interface board data packet format */ /* ---------------------------------------------------------------------- */ typedef struct { /* Offset : Description */ /* 0 - 3 : Header ID string */ /* header string should always be $ADC */ unsigned char headerID[4]; /* 4 - 5 : Battery Voltage */ /* battery voltage = (50.0 * ((value & 0x0fff) / 4096.0)) + 0.35 volts */ unsigned short batteryVoltage; /* 6 - 7 : Towfish Cable Voltage */ /* towfish cable voltage = 100.0 * ((value & 0x0fff) / 4096.0) volts */ unsigned short towfishCableVoltage; /* 8 - 9 : Camera Depth */ /* camera depth = 2.5 * ((value & 0x0fff) / 4096.0) */ unsigned short cameraDepth; /* 10 - 11 : Cable Current */ /* cable current = 2.5 * ((value & 0x0fff) / 4096.0) Amperes */ unsigned short cableCurrent; /* 12 - 14 : Reserved */ /* not specified in received documentation */ unsigned char reserved[3]; /* 15 - 15 : Checksum */ /* checksum 8 bit XOR */ unsigned char checksum; /* 16 - 17 : Asterisks */ /* packet should always end with two asterisks ** */ unsigned char asterisks[2]; } InterfaceBoardDataType; /* ---------------------------------------------------------------------- */ /* S-150 towfish data packet header format */ /* ---------------------------------------------------------------------- */ typedef struct { /* Offset : Description */ /* 0 - 5 : Header ID */ /* header string should always be TK2004 */ unsigned char headerID[6]; /* 6 - 7 : Block counter */ unsigned short blockCounter; /* 8 - 9 : Altitude - first peak */ unsigned short altitude; /* 10 - 11 : Altitude - second peak */ unsigned short altitude2; /* 12 - 13 : Altitude Amps - debug info */ unsigned short altitudeAmps; /* 14 - 15 : Depth */ unsigned short depth; /* 16 - 17 : Water Temperature */ unsigned short waterTemperature; /* 18 - 19 : Heading */ unsigned short heading; /* 20 - 21 : Pitch */ unsigned short pitch; /* 22 - 23 : Roll */ unsigned short roll; /* 24 - 24 : counter - debug info */ unsigned char counterB; /* 25 - 25 : state - debug info */ unsigned char statep2; /* 26 - 27 : temperature - debug info */ unsigned short tempMot; /* 28 - 28 : nspi - debug info */ unsigned char nspi; /* 29 - 29 : npc - debug info */ unsigned char npc; /* 30 - 31 : temperature - debug info */ unsigned short tempTrbCpu; /* 32 - 32 : Pulse Length */ /* pulse length = value * 2.5 uS */ unsigned char pulseLength; /* 33 - 33 : zero - always zero */ unsigned char zero0; /* 34 - 35 : Data Length */ unsigned short dataLength; /* 36 - 36 : Channel Emission */ /* 0 - LR Off, 1 - L On R Off, 2 - L Off R On, 3 - LR On */ unsigned char channelEmission; /* 37 - 37 : Channel Gain */ /* 0 - LR Norm, 1 - L High R Norm, 2 - L Norm R High, 3 - LR High */ unsigned char channelGain; /* 38 - 38 : Work Frequency */ /* 10 - 100kHz, 40 - 400kHz, 120 - 1250kHz */ unsigned char workFrequency; /* 39 - 39 : Output Data Rate */ /* 1 - 50kSamp/Sec, 2 - 25kSamp/Sec, 5 - 10kSamp/Sec */ unsigned char outputDataRate; /* 40 - 40 : TVG */ /* 0 - -10dB, 1 - 0dB, 2 - 10dB */ unsigned char TVG; /* 41 - 41 : zero - always zero */ unsigned char zero1; /* 42 - 43 : Cable Voltage */ unsigned short cableVoltage; /* 44 - 45 : Depth Sensor Channel */ unsigned short depthSensorChannel; /* 46 - 46 : zero - always zero */ unsigned char zero2; /* 47 - 47 : Checksum */ /* checksum 8 bit XOR */ unsigned char headerChecksum; /* 48 - 48 : L */ unsigned char left; /* 49 - 49 : R */ unsigned char right; /* data follows */ } TowfishDataHeaderType; /* ---------------------------------------------------------------------- */ /* S-150 towfish data packet tail format */ /* ---------------------------------------------------------------------- */ typedef struct { /* data preceeds */ /* Offset : Description */ /* 0 - 0 : L */ unsigned char left; /* 1 - 1 : R */ unsigned char right; /* 2 - 2 : zero - always zero */ unsigned char zero; /* 3 - 3 : Checksum */ /* checksum 8 bit XOR */ unsigned char dataChecksum; /* 4 - 7 : Final string should always be END0 */ unsigned char finalString[4]; } TowfishDataTailType; /* ---------------------------------------------------------------------- */ /* end S150Formats.cpp */ /* ---------------------------------------------------------------------- */