xb/build
0
0
Fork 0
Code Issues Activity

Initial commit from DCSP - 2026/1/15 15:11:58

Browse Source
This commit is contained in:
xb
2026-01-15 15:11:58 +08:00
commit c93536b187
100 changed files with 59765 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
sensor/include/orbit_info.h Normal file
View File

@@ -0,0 +1,49 @@
#ifndef _SENSOR_ORBIT_INFO_H_
#define _SENSOR_ORBIT_INFO_H_
#include <stdint.h>
#include <iostream>
using namespace std;
/// @brief 步进指令和步进反馈指令中的公共部分
typedef struct __attribute__((packed))
{
uint8_t pack_id; //节点编号
double posi_x_J2000; //X轴位置
double posi_y_J2000; //Y轴位置
double posi_z_J2000; //Z轴位置
double velo_x_J2000; //X轴速度
double velo_y_J2000; //Y轴速度
double velo_z_J2000; //Z轴速度
double q0_J2000; //惯性系四元数
double q1_J2000;
double q2_J2000;
double q3_J2000;
} BASIC_CMDER;
/// @brief 步进反馈指令
typedef struct __attribute__((packed))
{
double Epoch; //历元时间
BASIC_CMDER resCmder;
} STEP_CMDER_RES;
uint8_t orbit_info_initz(string path);
uint8_t set_orbit_info(uint8_t *frame,double AttiVelECI[3], double EulerVVLH[3], double AttiMtxVVLH[3][3], double MtxECI2VVLH[3][3]);
uint8_t get_orbit_info(uint8_t *frame,uint8_t id);
uint8_t generate_orbit_info(double orbInfo[6], double Tar_orbInfo[6], double AttiVelECI[3],
double EulerVVLH[3], double AttiMtxVVLH[3][3], double MtxECI2VVLH[3][3],
double* mjd, double* Epoch2017,
double SatMass, double SatMtxI[3][3], double ThrustForce[3], double Tq[3], double WheelAM[3]);
uint8_t get_orbit_epoic(double *Epoch);
uint8_t get_orbit_posi(double *posi);
uint8_t get_orbit_velo(double *velo);
uint8_t get_orbit_Q(double *Q);
uint8_t get_orbit_flag(void);
//double get_orbit_mjd(void);
uint8_t get_orbit_source_flag(void);
#endif

369
sensor/include/sensor_gnss.h Normal file
View File

@@ -0,0 +1,369 @@
#ifndef _SENSOR_GNSS_H_
#define _SENSOR_GNSS_H_
#include <stdint.h>
#define GPS_Hk_FRAME_LENGTH 372
typedef union {
uint8_t data;
struct{
uint8_t post_staus : 1;//定位状态
uint8_t orbit_staus : 2;//定轨状态
uint8_t resolve_staus:3;//解算状态
uint8_t work_staus:2; //工作状态
};
} PostionStatus;//定位状态
typedef union {
uint16_t data;
struct{
uint8_t gps_available_num:4; //GPS可用星数
uint8_t gps_catch_num:4; // GPS捕获星数
uint8_t bd_available_num:4; //bd可用星数
uint8_t bd_catch_num:4; // bd捕获星数
};
}GNSS_Star_Num;//星星
typedef union {
uint8_t data;
struct{
uint8_t A_B_flag:1; //A/B机标识
uint8_t master_slave_flag:2; //主从核通信状态
uint8_t Tmark_flag:1; //Tmark状态
uint8_t Orbit_enable_flag:2; //定轨输出使能标记
uint8_t pulse_enable_flag:2; //秒脉冲输出使能标记
};
}GNSSSReceiverStatus;//监控状态
typedef union
{
uint8_t data;
struct
{
uint8_t rs422_init_couse:4; //422总线初始化原因
uint8_t rs422_init_num:4; //422总线初始化计数(总线需求类型1)，初始化一次+1
};
}RS422_Status;//RS422状态
typedef union
{
uint16_t data;
struct
{
uint8_t gps_carrier_noise_46:4; //载噪比大于46的GPS星数；
uint8_t gps_carrier_noise_less40:4; //载噪比40~46的GPS星数
uint8_t bd_carrier_noise_46:4; //载噪比大于46的bd星数；
uint8_t bd_carrier_noise_less40:4; //载噪比40~46的bd星数
};
}GNSS_CarrierNoise;//载噪比分布
typedef union
{
uint8_t data;
struct
{
uint8_t cpusoft_reset_num:4; //导航信息处理软件复位次数
uint8_t orbitsoft_reset_num:4; //定轨接口软件复位次数
};
}GNSS_Reset;//GNSS接收机复位计数
typedef union
{
uint8_t data;
struct
{
uint8_t not_posi_reason:4; //非定位原因
uint8_t reset_reason_core:4; //从核复位原因
};
}GNSS_CPUSoft_Status;//航信息处理软件状态
typedef union
{
uint8_t data[12];
struct
{
uint8_t thoroughfare0:4; //通道0
uint8_t thoroughfare1:4; //通道1
uint8_t thoroughfare2:4; //通道2
uint8_t thoroughfare3:4; //通道3
uint8_t thoroughfare4:4; //通道4
uint8_t thoroughfare5:4; //通道5
uint8_t thoroughfare6:4; //通道6
uint8_t thoroughfare7:4; //通道7
uint8_t thoroughfare8:4; //通道8
uint8_t thoroughfare9:4; //通道9
uint8_t thoroughfare10:4; //通道10
uint8_t thoroughfare11:4; //通道11
uint8_t thoroughfare12:4; //通道12
uint8_t thoroughfare13:4; //通道13
uint8_t thoroughfare14:4; //通道14
uint8_t thoroughfare15:4; //通道15
uint8_t thoroughfare16:4; //通道16
uint8_t thoroughfare17:4; //通道17
uint8_t thoroughfare18:4; //通道18
uint8_t thoroughfare19:4; //通道19
uint8_t thoroughfare20:4; //通道20
uint8_t thoroughfare21:4; //通道21
uint8_t thoroughfare22:4; //通道22
uint8_t thoroughfare23:4; //通道23
};
}GNSS_Orbit_Reject_Reason;//定轨剔除原因
typedef union
{
uint8_t data;
struct
{
uint8_t filter_conver_flag:2; //滤波器收敛标志
uint8_t Orbit_init_flag:2; //定轨初始化标记
uint8_t reset_reason_master_core:4; //主核复位原因
};
}GNSS_OrbitSoft_Status;//定轨接口软件状态
//该结构体中使用2字节的增量数据长度导致memcpy时数据丢失,暂不使用
typedef union
{
uint32_t data;
struct
{
uint16_t data_length:15;//增量数据长度
uint8_t soft_version:8;//程序版本号
uint8_t inject_cmd:2;//上注命令
uint8_t crc_return_value:3;//校验返回值
uint8_t program_inject_logo:3; //程序上注标识
uint8_t boot:1; //boot引导区
};
}GNSS_Soft_Injection_Status;//上注状态
typedef union
{
uint8_t data;
struct
{
uint8_t param_type:2; //上注参数类型
uint8_t param_flash_flag:2; //上注参数写FLASH标识
uint8_t track_parameter_source:2; //轨道参数来源
uint8_t eop_param_source:2; //EOP参数来源
};
}GNSS_Param_Injection_Status;//参数上注信息
typedef union
{
uint16_t data;
struct
{
uint8_t channel_reject:8; //通道剔除原因
uint8_t reserve:2; //保留
uint8_t track_param:4; //跟踪参数
uint8_t track_status:2; //跟踪状态
};
}Satellite_Channel_Status;//通道卫星状态
typedef struct __attribute__((packed))
{
uint8_t satellite_num; //卫星号
uint8_t Signal_noise_ratio;//信噪比
Satellite_Channel_Status sat_channel_status;//通道卫星状态
uint8_t channel_orbit_status;//通道定轨状态
uint32_t pseudo_range_integer; //伪距整数部分
uint16_t pseudo_range_decimal; //伪距小数部分
uint32_t signal_carrier_integer; //载波相位整数部分
uint32_t signal_carrier_decimal; //载波相位小数部分
}GPS_Channel_Observe_with_pseu; //带伪距伪距率输出的GPS卫星信息
typedef struct __attribute__((packed))
{
uint8_t satellite_num; //卫星号
uint8_t Signal_noise_ratio;//信噪比
Satellite_Channel_Status sat_channel_status;//通道卫星状态
uint8_t channel_orbit_status;//通道定轨状态
}GPS_Channel_Observe_without_pseu; //带伪距伪距率输出的卫星信息
typedef struct __attribute__((packed))
{
uint8_t satellite_num; //卫星号
uint8_t Signal_noise_ratio;//信噪比
Satellite_Channel_Status satellite_channel_status;//通道卫星状态
uint8_t channel_orbit_status;//通道定轨状态
uint32_t pseudo_range_integer; //伪距整数部分
uint16_t pseudo_range_decimal; //伪距小数部分
}BD_Channel_Observe_with_pseu; //带伪距伪距率输出的BD卫星信息
typedef struct __attribute__((packed))
{
uint8_t satellite_num; //卫星号
uint8_t Signal_noise_ratio;//信噪比
Satellite_Channel_Status satellite_channel_status;//通道卫星状态
uint8_t channel_orbit_status;//通道定轨状态
}BD_Channel_Observe_without_pseu; //带伪距伪距率输出的BD卫星信息
typedef union
{
uint8_t data;
struct
{
uint8_t time_top_param_type:1; //上注参数类型：(time参数上注状态)
uint8_t time_param_source:1; //参数来源(time参数上注状态)
uint8_t time_write_flash_flag:2; //写FLASH标识(time参数上注状态)
uint8_t bd_top_param_type:1; //上注参数类型：(BD参数上注状态)
uint8_t bd_param_source:1; //参数标识(BD参数上注状态)
uint8_t bd_write_flash_flag:2; //写FLASH标识(BD参数上注状态)
};
}BD_Time_Param_Status; //BD及时间基准参数上注状态
/******基本遥测数据******/
typedef struct __attribute__((packed))
{
uint8_t header[2];
uint16_t length;
uint8_t datatype;
uint8_t telemetry_cnt; //遥测请求计数
uint8_t rec_cmd_cnt; //接收指令计数
uint8_t error_cmd_cnt; //错误指令计数
uint8_t recent_cmd; //最近执行指令码
//PostionStatus posi_status; //状态
uint8_t posi_status;
uint16_t bds_week; //BDS周
uint8_t bds_second[3]; //BDS秒
uint32_t bds_microsecond; //bds纳秒
uint16_t gps_week; //gps周
uint8_t gps_second[3]; //gps秒
uint32_t gps_microsecond; //gps纳秒
uint32_t rx_star_broadcast_second; //收到星上秒值
uint32_t rx_star_broadcast_microsecond; //收到星上毫秒值
int8_t diff_seconds; //GNSS与星务时间差秒
int16_t diff_m_seconds; //GNSS与星务时间差毫秒
int32_t GNSS_X_POS_inJ2000; //J2000坐标系，X轴位置；不定位时输出AAH
int32_t GNSS_Y_POS_inJ2000; //J2000坐标系，Y轴位置；不定位时输出AAH
int32_t GNSS_Z_POS_inJ2000; //J2000坐标系，Z轴位置；不定位时输出AAH
int32_t GNSS_X_SPEED_inJ2000; //J2000坐标系，X轴速度；不定位时输出AAH
int32_t GNSS_Y_SPEED_inJ2000; //J2000坐标系，Y轴速度；不定位时输出AAH
int32_t GNSS_Z_SPEED_inJ2000; //J2000坐标系，Z轴速度；不定位时输出AAH
int32_t GNSS_X_POS_inWGS84; //WGS-84坐标系，X轴位置；不定位时输出AAH
int32_t GNSS_Y_POS_inWGS84; //WGS-84坐标系，Y轴位置；不定位时输出AAH
int32_t GNSS_Z_POS_inWGS84; //WGS-84坐标系，Z轴位置；不定位时输出AAH
int32_t GNSS_X_SPEED_inWGS84; //WGS-84坐标系，X轴速度；不定位时输出AAH
int32_t GNSS_Y_SPEED_inWGS84; //WGS-84坐标系，Y轴速度；不定位时输出AAH
int32_t GNSS_Z_SPEED_inWGS84; //WGS-84坐标系，Z轴速度；不定位时输出AAH
int32_t GNSS_X_ORBIT_POS_inJ2000; //GNSS定轨X位置,J2000坐标系
int32_t GNSS_Y_ORBIT_POS_inJ2000; //GNSS定轨Y位置,J2000坐标系
int32_t GNSS_Z_ORBIT_POS_inJ2000; //GNSS定轨Z位置,J2000坐标系
int32_t GNSS_X_ORBIT_SPEED_inJ2000; //GNSS定轨X速度,J2000坐标系
int32_t GNSS_Y_ORBIT_SPEED_inJ2000; //GNSS定轨Y速度,J2000坐标系
int32_t GNSS_Z_ORBIT_SPEED_inJ2000; //GNSS定轨Z速度,J2000坐标系
int32_t GNSS_X_ORBIT_POS_inWGS84; //GNSS定轨X位置,WGS-84坐标系
int32_t GNSS_Y_ORBIT_POS_inWGS84; //GNSS定轨Y位置,WGS-84坐标系
int32_t GNSS_Z_ORBIT_POS_inWGS84; //GNSS定轨Z位置,WGS-84坐标系
int32_t GNSS_X_ORBIT_SPEED_inWGS84; //GNSS定轨X速度,WGS-84坐标系
int32_t GNSS_Y_ORBIT_SPEED_inWGS84; //GNSS定轨Y速度,WGS-84坐标系
int32_t GNSS_Z_ORBIT_SPEED_inWGS84; //GNSS定轨Z速度,WGS-84坐标系
GNSS_Star_Num gnss_star_num;
uint32_t utc_time; //UTC累计秒整数
uint32_t tic_time; //tic计数
uint8_t gps_leap_seconds; //GPS定位计算结果当前使用的跳秒值
uint8_t bd2_leap_seconds; //BDS定位计算结果当前使用的跳秒值
uint16_t GDOP_value; //GNSS定位计算结果GDOP值
int32_t gps_solve_clock_diff; //GPS定位计算结果时钟偏差量
int32_t BD_solve_clock_diff; //BDS定位计算结果时钟偏差量
int32_t GNSS_drift; //GNSS定位计算结果时钟漂移值
GNSSSReceiverStatus receiver_status; //监控状态标识
RS422_Status rs422_status; //422总线初始化原因及计数(总线需求类型1)
uint8_t reserve; //保留
GNSS_CarrierNoise gnss_carrier_noise; //载噪比分布
GNSS_Reset gnss_reset_num; //GNSS接收机复位计数
GNSS_CPUSoft_Status navigation_status; //导航信息处理软件状态
GNSS_OrbitSoft_Status orbitsoft_status; //定轨接口软件状态
uint8_t slave_core_sram_err_num; //从核SRAM监控错误计数
uint8_t mater_core_sram_err_num; //主核SRAM监控错误计数
uint8_t Single_point_use_star ; //单点定位使用星数
uint8_t filter_point_use_star ; //滤波使用星数
uint8_t orbit_param_PDOP ; //定轨参数PDOP
uint8_t orbit_param_pos_residual; //定轨参数位置残差
uint8_t orbit_param_speed_residual; //定轨参数速度残差
uint8_t orbit_convergence_value; //定轨收敛值
uint8_t orbit_infor_standard_deviation; //定轨先验信息的标准差
uint8_t measure_update_standard_deviation; //量测更新后的标准差
uint32_t orbit_module_run_flag; //定轨模块运行标记
GNSS_Orbit_Reject_Reason orbit_reject_reasion; //定轨剔除原因
uint8_t orbit_health[3]; //当前定轨健康字
//GNSS_Soft_Injection_Status soft_injection_Status;//上注状态
uint32_t soft_injection_Status;//上注状态
GNSS_Param_Injection_Status param_injection_Status;//参数上注信息
uint8_t reserve2; //保留
GPS_Channel_Observe_with_pseu gps_channel_1_observe_amount;//GPS第1通道卫星观测量
GPS_Channel_Observe_with_pseu gps_channel_2_observe_amount;//GPS第2通道卫星观测量
GPS_Channel_Observe_with_pseu gps_channel_3_observe_amount;//GPS第3通道卫星观测量
GPS_Channel_Observe_without_pseu gps_channel_4_observe_amount;//GPS第4通道卫星观测量
GPS_Channel_Observe_without_pseu gps_channel_5_observe_amount;//GPS第5通道卫星观测量
GPS_Channel_Observe_without_pseu gps_channel_6_observe_amount;//GPS第6通道卫星观测量
GPS_Channel_Observe_without_pseu gps_channel_7_observe_amount;//GPS第7通道卫星观测量
GPS_Channel_Observe_without_pseu gps_channel_8_observe_amount;//GPS第8通道卫星观测量
BD_Channel_Observe_with_pseu bd_channel_1_observe_amount;//bd第1通道卫星观测量
BD_Channel_Observe_with_pseu bd_channel_2_observe_amount;//bd第2通道卫星观测量
BD_Channel_Observe_with_pseu bd_channel_3_observe_amount;//bd第3通道卫星观测量
BD_Channel_Observe_without_pseu bd_channel_4_observe_amount;//bd第4通道卫星观测量
BD_Channel_Observe_without_pseu bd_channel_5_observe_amount;//bd第5通道卫星观测量
BD_Channel_Observe_without_pseu bd_channel_6_observe_amount;//bd第6通道卫星观测量
BD_Channel_Observe_without_pseu bd_channel_7_observe_amount;//bd第7通道卫星观测量
BD_Channel_Observe_without_pseu bd_channel_8_observe_amount;//bd第8通道卫星观测量
BD_Time_Param_Status bd_time_param_status;
uint8_t navigation_frame_number; //导航星历帧序号
uint8_t navigation_frame_data[20]; //导航星历数据
uint16_t navigation_frame_checksum; //导航星历校验和
uint16_t checksum; //数据长度和有效数据字段的校验和
uint16_t tail; //桢尾
} GNSS_Base_t;
typedef struct __attribute__((packed))
{
uint16_t header; //桢头
uint16_t data_length; //数据长度
uint8_t type; //数据类型
uint8_t cmd[6];
uint16_t checksum;//校验和
uint16_t tail;//桢尾
}GNSS_Cmd;
uint8_t generate_gnss_frame(uint8_t *frame, double PosVelECIReal[6], double mjd, double Epoch_J2000);
#endif

25
sensor/include/sensor_gyro.h Normal file
View File

@@ -0,0 +1,25 @@
#ifndef _SENSOR_GYRO_H_
#define _SENSOR_GYRO_H_
#include <stdint.h>
#define GYRO_FRAME_LENGTH 27
//光纤陀螺通信协议帧格式
typedef struct __attribute__((packed)){
uint8_t header;
uint8_t x_angle_delta[3]; //陀螺X输出角度增量
uint16_t x_integral_time; //陀螺X积分时间
uint8_t y_angle_delta[3]; //陀螺Y输出角度增量
uint16_t y_integral_time; //陀螺Y积分时间
uint8_t z_angle_delta[3]; //陀螺Z输出角度增量
uint16_t z_integral_time; //陀螺Z积分时间
uint8_t rsvd[10];
uint8_t checksum;
}Gyro_Frame;
uint8_t generate_gyro_frame(uint8_t *frame, double AttiVelECI[3]);
#endif

33
sensor/include/sensor_mems.h Normal file
View File

@@ -0,0 +1,33 @@
#ifndef _SENSOR_MEMS_H_
#define _SENSOR_MEMS_H_
#include <stdint.h>
#define MEMS_FRAME_LENGTH 44
typedef struct __attribute__((packed)){
uint8_t header;
uint8_t x_angle_delta[3];
uint16_t x_mems_integral_Cnt;
uint8_t y_angle_delta[3];
uint16_t y_mems_integral_Cnt;
uint8_t z_angle_delta[3];
uint16_t z_mems_integral_Cnt;
uint8_t x_acc_v_delta[3];
uint16_t x_acc_integral_time;
uint8_t y_acc_v_delta[3];
uint16_t y_acc_integral_time;
uint8_t z_acc_v_delta[3];
uint16_t z_acc_integral_time;
uint16_t x_gyro_temp;
uint16_t y_gyro_temp;
uint16_t z_gyro_temp;
uint16_t x_acc_temp;
uint16_t y_acc_temp;
uint16_t z_acc_temp;
uint8_t checksum;
}MEMS_Frame;
uint8_t generate_mems_frame(uint8_t *frame, double AttiVelECI[3]);
#endif

54
sensor/include/sensor_optical.h Normal file
View File

@@ -0,0 +1,54 @@
#ifndef _SENSOR_OPTICAL_H_
#define _SENSOR_OPTICAL_H_
#include <stdint.h>
#define OPTIC_FRAME_LENGTH 60+164+4
typedef struct __attribute__((__packed__))
{
uint16_t FRAME_HEAD ; //帧头
uint8_t length;
float AI01; //远距离测距（m），精度0.1m
float AI02; //近距离测距(m)，精度0.02m
int16_t AI03; //远距离摆镜水平角（角秒）
int16_t AI04; //近距离摆镜俯仰角（角秒）
uint8_t AI05; //远距离测距3.3V电源遥测
uint8_t AI06; //近距离测距5V电源遥测
uint16_t AI07; //远距离激光测量计数
uint16_t AI08; //近距离激光测量计数
uint8_t AI09; //接收指令计数
uint8_t AI10; //遥测计数
int32_t AI11; //遥测时间戳
uint16_t AI12; //远距离相机工作状态
int32_t AI13; //远距离相机曝光时间参数，单位：us
uint8_t AI14; //远距离相机增益设置参数
uint8_t AI15; //远距离相机输出图像帧计数
uint8_t AI16; //远距离相机3.3V电压遥测1
uint8_t AI17; //远距离相机5V电压遥测1
uint16_t AI18; //近距离相机工作状态
int32_t AI19; //近距离相机曝光时间参数，单位：us
uint8_t AI20; //近距离相机增益设置参数
uint8_t AI21; //近距离相机输出图像帧计数
uint8_t AI22; //近距离相机3.3V电压遥测
uint8_t AI23; //近距离相机5V电压遥测
uint8_t AI_far; //远距激光测量有效标志
uint8_t AI_close; //近距激光测量有效标志
uint8_t AI25; //图像处理3.3V电压遥测
uint8_t AI26; //图像处理5V电压遥测
int32_t AI27; //综合控制板工作状态
uint8_t AI28; //综合控制板3.3V电压遥测
uint8_t AI29; //综合控制板5V电压遥测
uint32_t AI_time_s;
uint16_t AI_time_ms;
uint8_t resvd[164];
uint8_t Check_sum; //校验和
} OPTICAL_TLM_STR; //OPTICAL遥测数据包
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);
void generate_photo_frame(uint8_t *frame);
#endif

89
sensor/include/sensor_star.h Normal file
View File

@@ -0,0 +1,89 @@
#ifndef _SENSOR_STAR_H_
#define _SENSOR_STAR_H_
#include <stdint.h>
#define CAK_TLM_1_Info_Length 64
typedef union
{
uint8_t ext;
struct
{
unsigned int str_state1_data4 : 1; // 1（默认）
unsigned int str_state1_data3 : 1; // 0：光信号激励（默认）1：电信号激励
unsigned int str_state1_data2 : 2; //01：数据有效（姿态测量更新）
//10：数据无效
//00：数据有效（姿态滤波更新）
unsigned int str_state1_data1 : 4; //0001:星跟踪模式
//0010:全天识别模式
//0100:测试模式
//1000:星图成像及数据下传模式
//1010:启动模式
//1111:待机模式
unsigned int str_state2_data5 : 1; //0:在轨标定关（默认）1:在轨标定开
unsigned int str_state2_data4 : 1; //0：PPS校时使能开1：PPS信号使能关
unsigned int str_state2_data3 : 1; //0:UTC校时有1:UTC校时无
unsigned int str_state2_data2 : 2; //001:执行Flash第一份用户程序(默认)
// 010:执行Flash第二份用户程序
//011:执行Flash第三份用户程序
unsigned int str_state2_data1 : 2; //01：执行第一份BOOT程序（默认）
//10：执行第二份BOOT程序
//11：执行第三份BOOT程序
unsigned int pro_state_data8 : 1; // APP3程序校验状态。1：正确，0：错误
unsigned int pro_state_data7 : 1; // APP2程序校验状态。1：正确，0：错误
unsigned int pro_state_data6 : 1; // APP1程序校验状态。1：正确，0：错误
unsigned int pro_state_data5 : 1; // 默认0
unsigned int pro_state_data4 : 1; // BOOT3程序校验状态，1：正确，0：错误
unsigned int pro_state_data3 : 1; // BOOT2程序校验状态，1：正确，0：错误
unsigned int pro_state_data2 : 1; // BOOT1程序校验状态，1：正确，0：错误
unsigned int pro_state_data1 : 1; // Loader程序校验状态，1：正确，0：错误
};
} Bitpara_State;
typedef struct __attribute__((__packed__))
{
uint16_t FRAME_HEAD ; //帧头
uint16_t TLM_FRAME_ID; //帧标识
int32_t q0; //四元数q0
int32_t q1; //四元数q1
int32_t q2; //四元数q2
int32_t q3; //四元数q3
//Bitpara_State Bitpara_State_data; //星敏感器状态字
uint8_t para1;
uint8_t para2;
uint8_t UTC[5]; //曝光中点时刻UTC时间
uint16_t GRAY_MEAN; // 图像灰度均值
uint16_t PPS_CNT; // ETR脉冲计数
int16_t PPS_DT; // 曝光时差
uint8_t STAR_NUM_S; // 探测星数
uint8_t STAR_NUM_G; // 导航星数
uint8_t STAR_NUM_D; // 定姿星数
uint8_t THR_OFST; // 星点提取阈值偏移量
uint8_t TEMP_SEN; // 探测器温度
uint8_t TEMP_SHL; // 处理器温度
uint8_t EXP_TIME; // 曝光时间
uint8_t CAK_BYTE[3]; // 命令应答字
uint16_t STRLT_FLAG; // 杂散光标志字
int16_t OMIGA_X; // 角速率ωx
int16_t OMIGA_Y; // 角速率ωy
int16_t OMIGA_Z; // 角速率ωz
int16_t L3G_OMIG_X; //片上MEMS陀螺角速率X
uint16_t FOCAL_L; // 焦距值
uint8_t STAR_NUM_T; // 跟踪星数
uint8_t REC_NUM_PRO; // 处理波门数
int16_t L3G_OMIG_Y; // 片上MEMS陀螺角速率Y
int16_t L3G_OMIG_Z; // 片上MEMS陀螺角速率Z
uint8_t Bitpara_STATE; //软件健康状态字
uint8_t WD_CNT; // 看门狗复位次数
uint8_t SUM; // 累加和
} CAK_TLM_1_STRUCT; //遥测数据包1（CAK_TLM_1）
uint8_t generate_star_1_frame(uint8_t *frame, double QuatECI[4], double AttiVelECI[3]);
uint8_t generate_star_2_frame(uint8_t *frame, double QuatECI[4], double AttiVelECI[3]);
#endif

8
sensor/include/sensor_thrust.h Normal file
View File

@@ -0,0 +1,8 @@
#ifndef _SENSOR_THRUST_H_
#define _SENSOR_THRUST_H_
#include <stdint.h>
void sensor_ThrustMeas(double ThrustForce[3], double ThrustTorque[3], double* SatMass, double SatMtxI[3][3], double JetPWMPlan[12]);
//void sensor_ThrustMeas(double ThrustForce[3], double ThrustTorque[3], double* SatMass, double SatMtxI[3][3], double JetPWMPlan[12]);
#endif

163
sensor/include/sensor_tx2.h Normal file
View File

@@ -0,0 +1,163 @@
#ifndef _SENSOR_TX2_H_
#define _SENSOR_TX2_H_
#include <stdint.h>
#define VISION_Info_Length 164+6 //164字节数据+5字节头+1字节校验
typedef union
{
uint16_t ext;
struct
{
uint8_t VISION_state1_data7 : 3; //输出单帧图像中点的检测数量，范围[0~5]。
uint8_t VISION_state1_data6 : 3; //预留
uint8_t VISION_state1_data5 : 2; //00：第一个簇是目标;
//01：第一个簇识别错误;
//10：第一个簇识别错误;
//11：第一个簇是恒星
uint8_t VISION_state1_data4 : 2; //00：第二个簇是目标;
//01：第二个簇识别错误;
//10：第二个簇识别错误;
//11：第二个簇是恒星
uint8_t VISION_state1_data3 : 2; //00：第三个簇是目标;
//01：第三个簇识别错误;
//10：第三个簇识别错误;
//11：第三个簇是恒星
uint8_t VISION_state1_data2 : 2; //00：第四个簇是目标;
//01：第四个簇识别错误;
//10：第四个簇识别错误;
//11：第四个簇是恒星
uint8_t VISION_state1_data1 : 2; //00：第五个簇是目标;
//01：第五个簇识别错误;
//10：第五个簇识别错误;
//11：第五个簇是恒星
};
} Star_Removal_Brightness_Rec_State;
typedef union
{
uint8_t ext;
struct
{
uint8_t Flag0 : 4; //远距标志
uint8_t Flag1 : 4; //近距标志
};
}TX2_Image_Flag;
typedef struct __attribute__((__packed__))
{
uint8_t recog_Valid; //识别结果,0b00：数据无效; 0b11：数据有效
float recog_Alpha ; //计算俯仰角α1
float recog_Beta ; //计算俯仰角α1
}RecResult;
typedef struct __attribute__((__packed__))
{
uint16_t FRAME_HEAD; //帧头 0xEB90
uint8_t Type_Code; //类型码 0xF0
uint16_t Code_Length; //帧长度
uint16_t FRAME_RESERVE1; //预留-1 0x8AA1
uint8_t star_Q_flag;
uint8_t Image_flag;
uint8_t Telemetry_Counter; //遥测帧计数器
Star_Removal_Brightness_Rec_State SRBRS_State_data; //远距恒星剔除和亮度识别算法检测情况
float TARGET_Horizontal; //图像中目标点的横向坐标
float TARGET_Vertical ; //图像中目标点的横向坐标
float TARGET_Brightness ; //图像中目标点的亮度信息
uint8_t Target_Capture_Flag; //目标稳定捕获标志（0b01：已稳定捕获，进入跟踪阶段；0b00：未稳定捕获）
uint8_t Image_Number; //目标识别阶段已识别到目标的图像数量
float frame_noise_ratio ; //图像的信噪比
float frame_contrast; //图像对比度
uint8_t Area_Number_far; //远距相机检测到的区域数量
uint8_t Area_Number_close; //近距相机检测到的区域数量
uint8_t far_Core_Size_far; //远距相机存储开运算核的尺寸
uint8_t far_Core_Size_close; //近距相机存储开运算核的尺寸
uint8_t Area_Brightness_far; //远距相机图像平均亮度
uint8_t Area_Brightness_close; //近距相机图像平均亮度
uint8_t Target_Edge_Integrity_Flag_far; //远距相机完整性标志;0b00：完整；0b11：不完整
uint8_t Target_Edge_Integrity_Flag_close; //近距相机完整性标志;0b00：完整；0b11：不完整
uint8_t Missed_Number; //跟踪目标脱靶次数
uint8_t line_of_sight_flag_far; //远距相机视线距可靠标志位;0b00：不可靠;0b11：可靠
uint8_t line_of_sight_flag_close; //近距相机视线距可靠标志位;0b00：不可靠;0b11：可靠
float Line_Distance_far; //远距相机视线距离
float Line_Distance_close; //近距相机视线距离
uint32_t Image_time_sec; //照片时间戳整秒
uint16_t Image_time_ms; //照片时间戳毫秒
RecResult Left_Sail_far; //远距相机左帆板
RecResult Right_Sail_far; //远距相机右帆板
RecResult Self_plat_far; //远距相机本体
RecResult Left_Sail_close; //近距相机左帆板
RecResult Right_Sail_close; //近距相机右帆板
RecResult Self_plat_close; //近距相机本体
uint8_t Corrosion_size_far_cmd; //远距相机腐蚀核尺寸指令执行结果
uint8_t Corrosion_size_far; //远距相机腐蚀核尺寸
uint8_t Corrosion_size_close_cmd; //近距相机腐蚀核尺寸指令执行结果
uint8_t Corrosion_size_close; //近距相机腐蚀核尺寸
uint8_t removal_match_radius_cmd; //恒星剔除匹配半径指令执行结果
uint8_t removal_match_radius; //恒星剔除匹配半径
uint8_t Capture_flag_cmd; //捕获标志位指令执行结果
uint8_t Capture_flag; //捕获标志位
uint8_t Target_Stable_Threshold_cmd; //目标稳定捕获判定阈值指令执行结果
uint8_t Target_Stable_Threshold; //目标稳定捕获判定阈值
uint8_t alg_Threshold_far_cmd; //远距相机算法阈值分割系数指令执行结果
float alg_Threshold_far; //远距相机算法阈值分割系数
uint8_t target_track_cmd; //追踪目标信息遥控指令接收结果
uint8_t target_track_fan_flag; //追踪目标信息帆板单双侧标志
float target_track_fan_coef; //追踪目标信息帆板比例系数
float target_track_target_length; //追踪目标信息目标整体长度
float target_track_target_width; //追踪目标信息目标帆板宽度
uint8_t far_alg_change_cmd; //远距相机远近距算法切换阈值指令
uint8_t far_alg_change_Threshold; //远距相机远近距算法切换阈值
uint8_t far_camera_Threshold_cmd; //远距相机依据像素大小判断目标阈值指令
uint8_t far_camera_Threshold; //远距相机依据像素大小判断目标阈值
uint8_t moon_exist_cmd; //月亮存在标志指令
uint8_t moon_exist; //月亮存在标志
uint8_t close_alg_change_cmd; //近距相机远近距算法切换阈值指令
uint8_t close_alg_change_Threshold; //近距相机远近距算法切换阈值
uint8_t close_camera_Threshold_cmd; //近距相机依据像素大小判断目标阈值指令
uint8_t close_camera_Threshold; //近距相机依据像素大小判断目标阈值
uint32_t Identification_time_sec; //识别结果时间整秒
uint16_t Identification_time_ms; //识别结果时间毫秒
TX2_Image_Flag image_exist_flag; //图像无目标标志
TX2_Image_Flag far_close_alg_change_flag; //远近距算法切换标志
TX2_Image_Flag target_edge_flag; //目标边缘标志
// uint8_t image_exist_flag;
// uint8_t far_close_alg_change_flag; //远近距算法切换标志
// uint8_t target_edge_flag; //目标边缘标志
float frame_noise_ratio_close ; //近距图像的信噪比
float frame_contrast_close; //近距图像对比度
uint8_t checksum;
}VISION_TLM_STRUCT; //视觉遥测数据包
uint8_t generate_tx2_frame(uint8_t *frame, double LOS_Remote[9], double R_Plane[2], double TarRVECI[6], double ChaRVECI[6], double ChaMtxVVLH2Body[3][3], double ChaMtxECI2VVLH[3][3], int TargetFLAG);
#endif

28
sensor/include/sensor_wheel.h Normal file
View File

@@ -0,0 +1,28 @@
#ifndef _SENSOR_WHEEL_H_
#define _SENSOR_WHEEL_H_
#include <stdint.h>
#define WHEEL_FRAME_LENGTH 19
#define WHEEL_EXP 1000
#define WHEEL_LIMIT4 4.294967296e9
typedef struct __attribute__((packed))
{
uint8_t header;
uint8_t rotate_speed[4]; //飞轮转速
uint8_t current[4]; //飞轮电流
uint8_t control_state[4]; //控制状态
uint8_t acc_torque[4]; //飞轮加速力矩指令
uint8_t id; //飞轮ID
uint8_t checksum;
}FlyWheel_Frame;
//uint8_t generate_wheel_frame(uint8_t *frame);
uint8_t generate_wheel_frame(uint8_t *frame,double CmdWheel);
double cal_message_para(int s1, int s2, int s3, int s4, int exp);
void sensor_WheelMeas(double WheelTorqueBody[3], double WheelAM[3], double CmdWheel[3]);
#endif