54 lines
2.4 KiB
C
54 lines
2.4 KiB
C
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#ifndef _SENSOR_OPTICAL_H_
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#define _SENSOR_OPTICAL_H_
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#include <stdint.h>
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#define OPTIC_FRAME_LENGTH 60+164+4
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typedef struct __attribute__((__packed__))
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{
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uint16_t FRAME_HEAD ; //帧头
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uint8_t length;
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float AI01; //远距离测距（m），精度0.1m
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float AI02; //近距离测距(m)，精度0.02m
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int16_t AI03; //远距离摆镜水平角（角秒）
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int16_t AI04; //近距离摆镜俯仰角（角秒）
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uint8_t AI05; //远距离测距3.3V电源遥测
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uint8_t AI06; //近距离测距5V电源遥测
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uint16_t AI07; //远距离激光测量计数
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uint16_t AI08; //近距离激光测量计数
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uint8_t AI09; //接收指令计数
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uint8_t AI10; //遥测计数
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int32_t AI11; //遥测时间戳
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uint16_t AI12; //远距离相机工作状态
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int32_t AI13; //远距离相机曝光时间参数，单位：us
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uint8_t AI14; //远距离相机增益设置参数
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uint8_t AI15; //远距离相机输出图像帧计数
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uint8_t AI16; //远距离相机3.3V电压遥测1
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uint8_t AI17; //远距离相机5V电压遥测1
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uint16_t AI18; //近距离相机工作状态
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int32_t AI19; //近距离相机曝光时间参数，单位：us
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uint8_t AI20; //近距离相机增益设置参数
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uint8_t AI21; //近距离相机输出图像帧计数
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uint8_t AI22; //近距离相机3.3V电压遥测
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uint8_t AI23; //近距离相机5V电压遥测
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uint8_t AI_far; //远距激光测量有效标志
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uint8_t AI_close; //近距激光测量有效标志
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uint8_t AI25; //图像处理3.3V电压遥测
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uint8_t AI26; //图像处理5V电压遥测
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int32_t AI27; //综合控制板工作状态
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uint8_t AI28; //综合控制板3.3V电压遥测
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uint8_t AI29; //综合控制板5V电压遥测
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uint32_t AI_time_s;
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uint16_t AI_time_ms;
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uint8_t resvd[164];
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uint8_t Check_sum; //校验和
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} OPTICAL_TLM_STR; //OPTICAL遥测数据包
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void generate_xgd_frame(uint8_t *frame, double TarRVECI[6], double ChaRVECI[6], double MtxECI2VVLH[3][3], double MtxVVLH2Body[3][3], double LOS_Remote[9], double Euler[3], double R_Plane[2], int TargetFLAG);
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void generate_photo_frame(uint8_t *frame);
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#endif
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