control_tables.h

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#ifndef CONTROL_TABLES_H_
#define CONTROL_TABLES_H_


#include "compiler.h"
#include "nav_types.h"

typedef const struct {
        uint8_t header;
        void (*cmd_response)(uint8_t**);
        uint8_t nrb_payload;
        uint8_t nr_fields;
        uint8_t field_widths[];
} command_structure;

typedef const struct {
        uint8_t id;
        void (*func_p)(void);
        int max_proc_time; 
} proc_func_info;

typedef const struct {
        uint8_t id;
        void* state_p;
        int state_size;
} state_t_info;



#define UPDATE_BUFFER 0x04
#define INITIAL_ALIGNMENT 0x05
#define MECHANIZATION 0x06
#define TIME_UPDATE 0x07
#define ZUPT_DETECTOR 0x08
#define ZUPT_UPDATE 0x09
#define GYRO_CALIBRATION 0x10
#define ACCELEROMETER_CALIBRATION 0x11



// Maximum value of state ID (255)
#define SID_LIMIT 0xFF
// State IDs
// IMU measurements
#define SPECIFIC_FORCE_SID 0x01
#define ANGULAR_RATE_SID 0x02
#define IMU_TEMPERATURS_SID 0x03
#define IMU_SUPPLY_VOLTAGE_SID 0x04
// Filtering states
#define POSITION_SID 0x11
#define VELOCITY_SID 0x12
#define QUATERNION_SID 0x13
#define ZUPT_SID 0x14
// System states
#define INTERRUPT_COUNTER_SID 0x21
// "Other" states
#define ACCELEROMETER_BIASES_SID 0x35



#define ONLY_ACK 0x01
#define MCU_ID 0x02
#define OUTPUT_STATE 0x20
#define OUTPUT_ALL_OFF 0x21
#define OUTPUT_ONOFF_INERT 0x22
#define OUTPUT_POSITION_PLUS_ZUPT 0x23
#define OUTPUT_NAVIGATIONAL_STATES 0x24
#define PROCESSING_FUNCTION_ONOFF 0x30
#define RESET_ZUPT_AIDED_INS 0x10
#define GYRO_CALIBRATION_INIT 0x11
#define ACC_CALIBRATION_INIT 0x12
#define SET_LOWPASS_FILTER_IMU 0x13
#define ADD_SYNC_OUTPUT 0x25
#define SYNC_OUTPUT 0x26


// Global variables used to access command information
extern uint8_t command_header_table[32];
extern command_structure* command_info_array[256];
void commands_init(void);

inline bool is_valid_header(uint8_t header){
        return command_header_table[header>>3] & (1<<(header & 7));}
        
inline command_structure* get_command_info(uint8_t header){
        return command_info_array[header];}


// Array containing the processing functions to run
extern proc_func_info* processing_functions_by_id[256];
void processing_functions_init(void);


// Global variables used to access information about states
extern state_t_info* state_info_access_by_id[SID_LIMIT];
void system_states_init(void);


#endif /* CONTROL_TABLES_H_ */