curvace.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
 * 
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 * modification, are permitted provided that the following conditions are met:
 * 
 * 1. Redistributions of source code must retain the above copyright notice, 
 * this list of conditions and the following disclaimer.
 * 
 * 2. Redistributions in binary form must reproduce the above copyright notice, 
 * this list of conditions and the following disclaimer in the documentation 
 * and/or other materials provided with the distribution.
 * 
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
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 ******************************************************************************/

/*******************************************************************************
 * \file curvace.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Driver for the cylindrical curvace
 *
 ******************************************************************************/


#ifndef CURVACE_H_
#define CURVACE_H_

#ifdef __cplusplus
    extern "C" {
#endif

#include <stdint.h>
#include "quaternions.h"
#include "ahrs.h"
#include "mavlink_stream.h"

#define CURVACE_NB_OF 108


typedef struct 
{
    int16_t x;
    int16_t y;  
} curvace_raw_of_vector_t;


typedef union
{
    int16_t data[2 * CURVACE_NB_OF];
    struct
    {
        curvace_raw_of_vector_t left_hemisphere[ CURVACE_NB_OF / 2 ];
        curvace_raw_of_vector_t right_hemisphere[ CURVACE_NB_OF / 2 ];
    };
    struct
    {
        curvace_raw_of_vector_t all[ CURVACE_NB_OF ];
    };
} curvace_raw_data_t;


typedef struct
{
    float x;
    float y;
} curvace_of_vector_t;


typedef union
{
    float data[ 2 * CURVACE_NB_OF ];
    struct
    {
        curvace_of_vector_t left_hemisphere[ CURVACE_NB_OF / 2 ];
        curvace_of_vector_t right_hemisphere[ CURVACE_NB_OF / 2 ];
    };
    struct
    {
        curvace_of_vector_t all[ CURVACE_NB_OF ];
    };
} curvace_data_t;


typedef struct
{
    uint8_t x;      
    uint8_t y;      
} curvace_pixel_coordinates_t;


typedef struct
{
    float azimuth;      
    float elevation;    
} curvace_viewing_direction_t;


 typedef union
 {
    float data[ CURVACE_NB_OF * 2 ];
    struct
    {
        curvace_viewing_direction_t left_hemisphere[ CURVACE_NB_OF / 2 ];
        curvace_viewing_direction_t right_hemisphere[ CURVACE_NB_OF / 2 ];
    };
    curvace_viewing_direction_t all[ CURVACE_NB_OF ];
 } curvace_roi_coord_t;


typedef struct
{
    float Arx;
    float Apx;
    float Ayx;
    float Ary;
    float Apy;
    float Ayy;
} derotation_matrix_t;


typedef struct
{
    float elevation;
    float azimuth;
} curvace_scale_factor_t;

typedef union
{
    float data[ 2 * CURVACE_NB_OF ];
    curvace_scale_factor_t  scale[ CURVACE_NB_OF ];
} curvace_calibration_factor_t;


typedef union
{
    float data[ CURVACE_NB_OF * 6 ];
    struct
    {
        derotation_matrix_t left_hemisphere[ CURVACE_NB_OF / 2 ];
        derotation_matrix_t right_hemisphere[ CURVACE_NB_OF / 2 ];
    };
    derotation_matrix_t all[ CURVACE_NB_OF ];
} curvace_calibration_matrix_t;


typedef struct
{
    curvace_data_t                  of;
    curvace_raw_data_t              raw_of;
    curvace_roi_coord_t             roi_coord;
    curvace_calibration_matrix_t    calib_matrix;
    curvace_calibration_factor_t    calib_factor;
    quat_t                          orientation;    
    const ahrs_t*                   ahrs;
    const mavlink_stream_t*         mavlink_stream;
} curvace_t;



void curvace_init(curvace_t* curvace, const ahrs_t* ahrs, const mavlink_stream_t* mavlink_stream);


void curvace_update(curvace_t* curvace);


void curvace_send_telemetry(const curvace_t* curvace);

#ifdef __cplusplus
    }
#endif

#endif