/* ----------------------------------------------------------------------- */ /* DeviceMessages.h */ /* */ /* ----------------------------------------------------------------------- */ /* */ /* (c) Copyright 1998, 1999, 2000, 2001 EdgeTech Inc */ /* */ /* 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. */ /* */ /* Messages for controlling attached devices */ /* ----------------------------------------------------------------------- */ #ifndef __DEVICE_MESSAGES_H__ #define __DEVICE_MESSAGES_H__ /* ----------------------------------------------------------------------- */ /* includes */ /* ----------------------------------------------------------------------- */ #include "SonarMessages.h" #include "Subsystem.h" #include "Timestamp.h" #include "PublicMessageOffsets.h" /* ----------------------------------------------------------------------- */ /* A list of device messages */ /* ----------------------------------------------------------------------- */ typedef enum { /* Note: Use SONAR_MESSAGE_DATA_NETWORK, SONAR_MESSAGE_DATA_DISK to */ /* enable / disable data output on a device. */ /* -------------------------------------------------------------------- */ /* A Serial Port allows the reading and writing of data to a port. */ /* -------------------------------------------------------------------- */ /* Read or write bytes of (raw) data to the port (DEVDataType) */ DEV_SERIAL_DATA = MESSAGE_OFFSET_DEV, /* Receives baud rate, etc - eg (DEVSerialParametersType) */ DEV_SERIAL_PARAMETERS, /* -------------------------------------------------------------------- */ /* NMEA Data */ /* -------------------------------------------------------------------- */ /* Validated RS232 Data from a NMEA Source. */ /* Format is the same as serial port data DEV_SERIAL_DATA (DEVDataType) */ /* Each message is a single NMEA string excluding the / */ DEV_SERIAL_NMEA_DATA, /* Serial Break - (DEVDataType) */ DEV_SERIAL_BREAK, /* -------------------------------------------------------------------- */ /* Generic device control - reserved for future expansion. */ /* -------------------------------------------------------------------- */ /* Read or write bytes of data to the port (DEVDeviceDataType) */ DEV_DEVICE_DATA = MESSAGE_OFFSET_DEV_GENERIC, /* Receives device parameters. Size is specific to device subsystem. */ DEV_DEVICE_PARAMETERS, /* Send a special command to the device (SonarMessageLongType) */ DEV_DEVICE_COMMAND, /* -------------------------------------------------------------------- */ /* Special device messages */ /* -------------------------------------------------------------------- */ /* A Pitch Roll Sensor Can Profile: */ /* 3 axis accelerometers, */ /* 3 axis rate gyros, */ /* Pitch, Roll */ /* Heave */ /* Heading */ /* It is a serial device. */ /* -------------------------------------------------------------------- */ /* Sends data of type (DEVDataType + PitchRollDataType) */ DEV_PITCHROLL_DATA = MESSAGE_OFFSET_DEV_PITCHROLL, /* Calibrate Sensor. */ /* Currently only the Crossbow DMU6 Pitch Roll uses to Calibrate its */ /* Rate Gyros */ DEV_PITCHROLL_CALIBRATE, /* Receives baud rate, etc. - e.g. (DeviceDMU6ParametersType) */ /* This is a special message which is retained for backward */ /* compatibility. Not recommended for new systems. */ DEV_PITCHROLL_DMU6_PARAMETERS, /* -------------------------------------------------------------------- */ /* Low rate analog IO messages */ /* -------------------------------------------------------------------- */ /* This is misc analog sampled data. Not generally used. */ /* -------------------------------------------------------------------- */ /* Sends data of type (AnalogIOItemType) on a get */ DEV_ANALOGIO_DATA = MESSAGE_OFFSET_DEV_ANALOGIO, /* Set parameters for analog IO data (DeviceAnalogIOParametersType) */ DEV_ANALOGIO_PARAMETERS, /* -------------------------------------------------------------------- */ /* A Pressure sensor reads pressure and optionally temp / salinity. */ /* -------------------------------------------------------------------- */ /* Sends data of type (DEVDataType + DEVPressureType) */ DEV_PRESSURE_DATA = MESSAGE_OFFSET_DEV_PRESSURE, /* -------------------------------------------------------------------- */ /* Altitude sensor */ /* -------------------------------------------------------------------- */ /* Altitude readings. The message header is followed by */ /* (DEVDataType + DEVAltitudeType) */ DEV_ALTITUDE_DATA = MESSAGE_OFFSET_DEV_ALTITUDE, /* -------------------------------------------------------------------- */ /* Dopler Velocity Log */ /* -------------------------------------------------------------------- */ /* DVL readings. The message header is followed by */ /* (DEVDataType + DEVDVLType) */ DEV_DVL_DATA = MESSAGE_OFFSET_DEV_DVL, /* -------------------------------------------------------------------- */ /* Add more device messages here */ /* -------------------------------------------------------------------- */ } DeviceMessagesType; /* ---------------------------------------------------------------------- */ /* Special subsystem IDs for message headers. */ /* ---------------------------------------------------------------------- */ typedef enum { /* Raw serial device messages */ /* This subsystem is used to control raw data IO. */ DEVICE_SUBSYSTEM_SERIAL_RAW = SUBSYSTEM_OFFSET_DEVICE, /* Parsed Serial device messages. */ /* This subsystem is used to control parsed data io. */ /* Note: The main difference between the RAW and PARSED subsystems is */ /* that the SONAR_MESSAGE_DATA_ENABLE must be associated with the */ /* correct subsystem number to select either / or both raw and */ /* processed receipt of data. Baud rate settings, etc should be sent */ /* via the raw subsystem. Specific parser device commands, if any, */ /* should be sent to the parsed subsystem. */ DEVICE_SUBSYSTEM_SERIAL_PARSED, /* Analog IO (low rate IO) messages */ DEVICE_SUBSYSTEM_ANALOGIO, } DeviceSubsystemType; /* ---------------------------------------------------------------------- */ /* Understanding device data */ /* ---------------------------------------------------------------------- */ /* Device data such as serial data ALWAYS consists of TWO parts: */ /* 1) Overall Common Header of type DEVDataType */ /* 2) Device Specific Data (eg pitch roll readings or raw serial data) */ /* */ /* In addition: Device messages, as do all messages also contain a */ /* standard message header. Here are a few examples: */ /* */ /* Pitch Roll: (SonarMessageHeaderType)(DEVDataType)(DEVPitchRollDataType)*/ /* Serial Data:(SonarMessageHeaderType)(DEVDataType)(Raw Serial Data) */ /* Pressure: (SonarMessageHeaderType)(DEVDataType)(DEVPressureType) */ /* ---------------------------------------------------------------------- */ /* ---------------------------------------------------------------------- */ /* The common device header for device data being received. */ /* ---------------------------------------------------------------------- */ typedef struct { /* 0 - 7 : Timestamp */ TimestampType timestamp; /* Reserved for future expansion. */ unsigned char reserved[4]; /* Begins at byte 12, This is serial port or other data. */ /* data[]; */ } DEVDataType; /* ---------------------------------------------------------------------- */ /* Parameters for a serial port */ /* Note that .ini files are provided to set these parameters and messages */ /* are not normally needed to configure the ports. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Parity 0: even, 1: odd, 2: none, 3: mark, 4: space */ unsigned char parity; /* Stop bits */ unsigned char stopBits; /* Non-zero to enable output to a topside via the network interface on */ /* the data socket. */ unsigned char enableNetworkOutput; /* Non-zero to enable output to a topside based RS232 port. */ unsigned char enableTopsideSerialIO; /* Approximate Interval for polling port in bottle for input data in ms */ unsigned short wetPortCheckInterval; /* Approximate Interval for polling port in topside for input data in ms*/ unsigned short dryPortCheckInterval; /* Baud rate */ unsigned long baud; /* Reserved information for extended parsing of serial port data. May */ /* be used to specify special parsing / EOL processing in the future */ /* releases. Set to 0 for compatibility. */ unsigned char extendedParsingInfo; /* Data bits. */ unsigned char dataBits; /* Reserverd for future use (Round to 64 bytes). */ unsigned char reserved[50]; } DEVSerialParametersType; /* ---------------------------------------------------------------------- */ /* Each analog IO data set is timestamped. Up to 8 value are reported. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Decimation factor for reporting of analog IO data. */ long int decimation; } DeviceAnalogIOParametersType; /* ---------------------------------------------------------------------- */ /* Each analog IO data set is timestamped. Up to 8 value are reported. */ /* These values are ADC4 and ADC6 for each of 4 mux inputs on the ADC64. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Data for this sample */ short int data[8]; /* Reserved for future use */ unsigned char reserved[8]; } AnalogIOItemType; /* ---------------------------------------------------------------------- */ /* The data structure for Crossbow DMU6 Parameters. */ /* Note that these can be set in the .ini file so no messages are required*/ /* ---------------------------------------------------------------------- */ typedef struct { /* Calibration constant (0 - 255). It takes approx that many seconds */ /* to calibrate the device */ int calFactor; /* Time constant (0 - 255). Weigh the rate gyros with respect to the */ /* accelerometers for computing pitch and roll. */ int timeConstant; /* Decimation factor. Use a positive number to decimate with */ /* continuous sampling (1 => full rate of about 80 hz). Use a negative */ /* number for polled operation at that number of milliseconds per sample*/ /* (-100 => 10 times per second) */ int decimation; } DeviceDMU6ParametersType; /* ---------------------------------------------------------------------- */ /* The data structure for Pitch roll data. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Acceleration in x : Multiply by (20 * 1.5) / (32768) to get Gs */ short int ax; /* Acceleration in y : Multiply by (20 * 1.5) / (32768) to get Gs */ short int ay; /* Acceleration in x : Multiply by (20 * 1.5) / (32768) to get Gs */ short int az; /* Rate Gyro in x : Multiply by (500 * 1.5) / (32768) to get Degrees/Sec*/ short int rx; /* Rate Gyro in y : Multiply by (500 * 1.5) / (32768) to get Degrees/Sec*/ short int ry; /* Rate Gyro in y : Multiply by (500 * 1.5) / (32768) to get Degrees/Sec*/ short int rz; /* Pitch : Multiply by (180.0 / 32768.0) to get Degrees */ short int pitch; /* Roll : Multiply by (180.0 / 32768.0) to get Degrees */ short int roll; /* Temperature int units of 1/10 of a degree C. */ /* Degrees C = (temperature / 10.0). */ /* There is difference between the original and new DMU6 (with DSP). */ /* Internally, the raw DMU6 is converted to C via the following formula */ /* Old DMU6 : Degrees C = (temperature * 4 / 4096 - 1.375) / 0.0225 */ /* New DMU6 : Degrees C = (temperature * 5 / 4096 - 1.375) / 0.0225 */ short int temperature; /* Device specific info. This is device specific info provided for */ /* Diagnostic purposes. */ /* For the Crossbow DMU, this is the internal counter which ticks at */ /* about 6.25 us */ unsigned short devInfo; /* Estimated Heave in millimeters. */ short heave; /* Heading in units of 0.01 Degrees (0..360) */ unsigned short heading; /* Data valid flags: */ /* Bit 0: ax */ /* Bit 1: ay */ /* Bit 2: az */ /* Bit 3: rx */ /* Bit 4: ry */ /* Bit 5: rz */ /* Bit 6: pitch */ /* Bit 7: roll */ /* Bit 8: heave */ /* Bit 9: heading */ /* Bit 10: temperature */ /* Bit 11: devInfo */ long int flags; /* Reserved for future expansion. */ long int reserved; } PitchRollDataType; /* ---------------------------------------------------------------------- */ /* The data structure for Pressure sensor readings. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Pressure in PSI * 1000 */ long int pressure; /* Temperature in Degrees C * 1000. */ long int temperature; /* Salinity in Parts Per Million. */ long int saltPPM; /* Data valid flags: */ /* Bit 0: pressure */ /* Bit 1: temp */ /* Bit 2: saltPPM */ long int flags; /* Reserved for future information. */ long int reserved[12]; } DEVPressureType; /* ---------------------------------------------------------------------- */ /* The data structure for Dopler Velocity Log sensor readings. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Indicates which values are present. */ /* Bit 0 : X, Y Velocity present */ /* Bit 1 : 1 => Velocity in ship coords, 0 => Earth coords. */ /* Bit 2 : Z (Vertical Velocity) present. */ /* Bit 3 : X, Y Water Velocity present. */ /* Bit 4 : Z (Vertical Water Velocity) present. */ /* Bit 5 : Distance to bottom present. */ /* Bit 6 : Heading present. */ /* Bit 7 : Pitch present. */ /* Bit 8 : Roll present. */ /* Bit 9 : Temperature present. */ /* Bit 10: Depth present. */ /* Bit 11: Salinity present. */ /* Bit 31: Error detected. */ /* rest : Reserved, presently 0. */ unsigned long flags; /* Distance to bottom in cm for up to 4 beams. */ /* A 0 value indicates an invalid or non-existing reading. */ long altitude[4]; /* Velocity with respect to the bottom in mm / second */ /* Positive => Starboard or East. */ /* -32768 indicates and invalid reading. */ short xVelocity; /* Positive => Forward or North */ short yVelocity; /* Vertical velocity : Positive => Upward. */ short zVelocity; /* Velocity with respect to water layer in mm / second */ short xVelocityWater; short yVelocityWater; short zVelocityWater; /* Depth from depth sensor in deci-meters. */ unsigned short depth; /* Pitch, roll -180 to 180 degrees * 100 (0.01 of a degree units) */ short pitch; short roll; /* Heading : 0 to 360 degrees * 100 (0.01 of a degree units) */ unsigned short heading; /* Salinity in 1 part per thousand. */ unsigned short salinity; /* Temperature in degrees C * 100 */ short temperature; /* Reserved for future expansion. */ short reserved[8]; } DEVDVLType; /* ---------------------------------------------------------------------- */ /* The data structure for Altitude sensor readings. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Indicates which values are present. */ /* Bit 0 : Altitude present */ /* Bit 1 : Forward Velocity present. */ /* Bit 2 : Across Track Velocity present. */ /* Rest : Reserved, presently 0. */ long flags; /* Altitude in mm (or -1 if no valid reading - bottom detect failed) */ long altitude; /* Forward velocity in mm per second. */ long forwardVelocity; /* Cross track velocity in mm per second. */ long crossTrackVelocity; /* Reserved for future expansion. */ long reserved[4]; } DEVAltitudeType; #endif /* __DEVICE_MESSAGES_H__ */ /* ---------------------------------------------------------------------- */ /* end DeviceMessages.h */ /* ---------------------------------------------------------------------- */