scottp
295abb37ee
Firmware for an autonomous wave-measurement buoy (ATmega2560-based WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU, samples GPS and battery state, and reports back over Iridium SBD satellite telemetry. Originally developed 2012-2024. This is the first public release. Code, documentation, and field-tested operating modes (Capture, Sleep, Position, ManualTest, SelfTest, LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE. See README.md for an overview and build instructions, CONTRIBUTING.md for how to contribute, and DEPLOYMENTS.md for the field-deployment log.
147 lines
3.3 KiB
C
147 lines
3.3 KiB
C
// SPDX-License-Identifier: Apache-2.0
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// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
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//
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// This file is part of WII5 Buoy firmware.
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// See LICENSE for full terms.
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/**
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* @file WII5DataShared.h
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* @brief Cross-class shared data structures and constants.
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*/
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// **********************************************************************
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// *** This file belongs in WII5_SD_Block ***
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// **********************************************************************
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// NOTE: Manually copied from WII5_Buoy - but unlikely to change
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// NOTE: Not aligned - must manually extract characters
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typedef struct {
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uint8_t byteCount;
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uint8_t status; // 3 bits error, 5 bits protocol
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uint8_t channel;
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float pose_x;
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float pose_y;
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float pose_z;
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// float mag_x;
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// float mag_y;
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// float mag_z;
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float accel_x;
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float accel_y;
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float accel_z;
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// float gyro_x;
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// float gyro_y;
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// float gyro_z;
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uint32_t stamp;
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uint16_t crc;
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} WII5_DATA_SpartonBinary;
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// Max size in Block Store = 488
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// NOTE: Manually copied from WII5_Buoy - Very likely to change !!!
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typedef struct {
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// 4. This device and Current Record
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uint32_t deviceId;
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uint32_t recordCount;
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// 12. Date, Time etc
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time_t last;
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uint32_t age; // Update as written to disk - (now() - last)
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uint32_t uptime; // Uptime in minutes (not sure how this goes wih sleep)
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// 4. Software Versions
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uint32_t version; // Bytes.... 0,n.n.n = vn.n.n
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// 8. Temperature
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int32_t temperatureValue;
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uint32_t temperatureAge;
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// 8. Battery
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int32_t batteryValue;
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uint32_t batteryAge;
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// 24. GPS
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float gpsLat;
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float gpsLon;
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float gpsAlt;
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int32_t gpsSat;
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int32_t gpsHdop;
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uint32_t gpsFixTime;
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uint32_t gpsAge;
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// Iridium ?
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// 24. Capture
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uint32_t captureWriteMax;
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uint32_t captureWriteMin;
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uint32_t captureWriteOver;
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uint32_t captureTimeError;
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uint32_t captureSizeError;
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uint32_t captureStartTime;
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// 1. mode - what is current
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uint8_t mode;
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// TODO more !!!
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uint32_t iridiumFixTime;
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uint32_t iridiumSignalQuality;
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// CAPTURE Info - e.g. number of errors etc
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} WII5MetaDataObject;
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// **********************************************************************
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// *** This file belongs in WII5_SD_Block ***
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// **********************************************************************
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// Processed output data
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typedef struct {
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// Reordered version
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float part1float[73]; // 73*4 = 292 bytes
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/*
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float hz_max[4];
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float hcm_max[4];
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float htm_max[4];
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float tz_max[4];
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float tp;
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float hmo;
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float psd[55];
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*/
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} WII5Processed1;
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typedef struct {
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// Reordered version
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float part2float[20]; // 20*4 = 80
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int part2int[62]; // 62*2 = 124
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// Total = 204
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/*
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float moments[7];
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float theta;
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float dp;
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float s;
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float r;
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float hs_dir;
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float a;
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float b;
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float nstd;
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float f2;
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float qf_mvar;
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int qf_kist;
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int qf_imu;
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int qf_p_kist;
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int qf_p_accel;
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int qf_p_gyro;
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int qf_p_mag;
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int qf_head;
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float power_diff;
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float yaw_std;
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int open_water;
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int direction[54];
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*/
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} WII5Processed2;
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typedef struct {
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WII5Processed1 processed1;
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WII5Processed2 processed2;
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} WII5Processed;
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// **********************************************************************
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// *** This file belongs in WII5_SD_Block ***
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// **********************************************************************
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