fbr-telemetry-visualisation/telemetry.fbs at main · Full-Blue-Racing/fbr-telemetry-visualisation · GitHub

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namespace Telemetry;

struct Vec3 {
  x:float;
  y:float;
  z:float;
}

struct GPSFrame {
  lat:float;
  lng:float;
  speed:float;
  altitude:float;
  heading:float;
}

struct IMUFrame {
  acceleration:Vec3;
  angular_velocity:Vec3;
  magnemometer:Vec3;
}

struct Timestamp {
  seconds:uint64;
  nanoseconds:uint64;
}

struct Nanos {
  time:uint64;
}

struct WheelSpeedFrame {
  front_left:float;
  front_right:float;
  back_left:float;
  back_right:float;
}

struct DamperPositionFrame {
  front_left:float;
  front_right:float;
  back_left:float;
  back_right:float;
}

struct CANBusMessage {
  id:uint32;
  rtr:bool;
  data_len:uint32;
  data:[uint8:8];
}

table Frame {
  // System information
  time:Timestamp;
  clocks:Nanos (required);

  // GPS Data
  gps_frame:GPSFrame;

  // IMU Data
  imu_frame:IMUFrame;

  // Wheel Speed Data
  wheel_frame:WheelSpeedFrame;

  // DamperFrame
  damper_frame:DamperPositionFrame;

  // CAN Bus msgs
  can_bus:[CANBusMessage];
}

root_type Frame;