/****************************************************************************
 *
 *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * 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 PX4 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
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/**
 * @file i2c_frame.h
 * Definition of i2c frames.
 * @author Thomas Boehm <thomas.boehm@fortiss.org>
 * @author James Goppert <james.goppert@gmail.com>
 */

#ifndef I2C_FRAME_H_
#define I2C_FRAME_H_
#include <inttypes.h>


typedef  struct i2c_frame
{
    uint16_t frame_count;
    int16_t pixel_flow_x_sum;
    int16_t pixel_flow_y_sum;
    int16_t flow_comp_m_x;
    int16_t flow_comp_m_y;
    int16_t qual;
    int16_t gyro_x_rate;
    int16_t gyro_y_rate;
    int16_t gyro_z_rate;
    uint8_t gyro_range;
    uint8_t sonar_timestamp;
    int16_t ground_distance;
} i2c_frame;

#define I2C_FRAME_SIZE (sizeof(i2c_frame))


typedef struct i2c_integral_frame
{
    uint16_t frame_count_since_last_readout;
    int16_t pixel_flow_x_integral;
    int16_t pixel_flow_y_integral;
    int16_t gyro_x_rate_integral;
    int16_t gyro_y_rate_integral;
    int16_t gyro_z_rate_integral;
    uint32_t integration_timespan;
    uint32_t sonar_timestamp;
    uint16_t ground_distance;
    int16_t gyro_temperature;
    uint8_t qual;
} i2c_integral_frame;

#define I2C_INTEGRAL_FRAME_SIZE (sizeof(i2c_integral_frame))

#endif /* I2C_FRAME_H_ */