#include "std.h"

Include dependency graph for VN100.h:

This graph shows which files directly or indirectly include this file:

Data Structures
union	VN100_Param

struct	VN100_Req_Packet

struct	VN100_Res_Packet

Macros
#define	VN100_REG_MODEL 1
	Library for the VectorNav VN100 AHRS based on VN_FWLIB from vector nav.

#define	VN100_REG_HWREV 2

#define	VN100_REG_SN 3

#define	VN100_REG_FWVER 4

#define	VN100_REG_SBAUD 5

#define	VN100_REG_ADOR 6

#define	VN100_REG_ADOF 7

#define	VN100_REG_YPR 8

#define	VN100_REG_QTN 9

#define	VN100_REG_QTM 10

#define	VN100_REG_QTA 11

#define	VN100_REG_QTR 12

#define	VN100_REG_QMA 13

#define	VN100_REG_QAR 14

#define	VN100_REG_QMR 15

#define	VN100_REG_DCM 16

#define	VN100_REG_MAG 17

#define	VN100_REG_ACC 18

#define	VN100_REG_GYR 19

#define	VN100_REG_MAR 20

#define	VN100_REG_REF 21

#define	VN100_REG_SIG 22

#define	VN100_REG_HSI 23

#define	VN100_REG_ATP 24

#define	VN100_REG_ACT 25

#define	VN100_REG_RFR 26

#define	VN100_REG_YMR 27

#define	VN100_REG_ACG 28

#define	VN100_REG_MODEL_SIZE 12

#define	VN100_REG_HWREV_SIZE 4

#define	VN100_REG_SN_SIZE 12

#define	VN100_REG_FWVER_SIZE 4

#define	VN100_REG_SBAUD_SIZE 4

#define	VN100_REG_ADOR_SIZE 4

#define	VN100_REG_ADOF_SIZE 4

#define	VN100_REG_YPR_SIZE (3*4)

#define	VN100_REG_QTN_SIZE (4*4)

#define	VN100_REG_QTM_SIZE (7*4)

#define	VN100_REG_QTA_SIZE (7*4)

#define	VN100_REG_QTR_SIZE (7*4)

#define	VN100_REG_QMA_SIZE (10*4)

#define	VN100_REG_QAR_SIZE (10*4)

#define	VN100_REG_QMR_SIZE (13*4)

#define	VN100_REG_DCM_SIZE (9*4)

#define	VN100_REG_MAG_SIZE (3*4)

#define	VN100_REG_ACC_SIZE (3*4)

#define	VN100_REG_GYR_SIZE (3*4)

#define	VN100_REG_MAR_SIZE (9*4)

#define	VN100_REG_REF_SIZE (6*4)

#define	VN100_REG_SIG_SIZE (10*4)

#define	VN100_REG_HSI_SIZE (12*4)

#define	VN100_REG_ATP_SIZE (4*4)

#define	VN100_REG_ACT_SIZE (12*4)

#define	VN100_REG_RFR_SIZE (9*4)

#define	VN100_REG_YMR_SIZE (12*4)

#define	VN100_REG_ACG_SIZE 4

#define	VN100_DataSizeOfReg(_r) (_r##_SIZE)

#define	VN100_CmdID_ReadRegister 0x01

#define	VN100_CmdID_WriteRegister 0x02

#define	VN100_CmdID_WriteSettings 0x03

#define	VN100_CmdID_RestoreFactorySettings 0x04

#define	VN100_CmdID_Tare 0x05

#define	VN100_CmdID_Reset 0x06

#define	VN100_Error_None 0

#define	VN100_Error_HardFaultException 1

#define	VN100_Error_InputBufferOverflow 2

#define	VN100_Error_InvalidChecksum 3

#define	VN100_Error_InvalidCommand 4

#define	VN100_Error_NotEnoughParameters 5

#define	VN100_Error_TooManyParameters 6

#define	VN100_Error_InvalidParameter 7

#define	VN100_Error_InvalidRegister 8

#define	VN100_Error_UnauthorizedAccess 9

#define	VN100_Error_WatchdogReset 10

#define	VN100_Error_OutputBufferOverflow 11

#define	VN100_Error_InsufficientBandwidth 12

#define	VN100_ADOR_OFF 0

#define	VN100_ADOR_YPR 1

#define	VN100_ADOR_QTN 2

#define	VN100_ADOR_QTM 3

#define	VN100_ADOR_QTA 4

#define	VN100_ADOR_QTR 5

#define	VN100_ADOR_QMA 6

#define	VN100_ADOR_QAR 7

#define	VN100_ADOR_QMR 8

#define	VN100_ADOR_DCM 9

#define	VN100_ADOR_MAG 10

#define	VN100_ADOR_ACC 11

#define	VN100_ADOR_GYR 12

#define	VN100_ADOR_MAR 13

#define	VN100_ADOR_YMR 14

#define	VN100_ADOR_RAB 251

#define	VN100_ADOR_RAW 252

#define	VN100_ADOR_CMV 253

#define	VN100_ADOR_STV 254

#define	VN100_ADOR_COV 255

#define	VN100_ADOF_1HZ 1

#define	VN100_ADOF_2HZ 2

#define	VN100_ADOF_4HZ 4

#define	VN100_ADOF_5HZ 5

#define	VN100_ADOF_10HZ 10

#define	VN100_ADOF_20HZ 20

#define	VN100_ADOF_25HZ 25

#define	VN100_ADOF_40HZ 40

#define	VN100_ADOF_50HZ 50

#define	VN100_ADOF_100HZ 100

#define	VN100_ADOF_200HZ 200

#define	VN100_Baud_9600 9600

#define	VN100_Baud_19200 19200

#define	VN100_Baud_38400 38400

#define	VN100_Baud_57600 57600

#define	VN100_Baud_115200 115200

#define	VN100_Baud_128000 128000

#define	VN100_Baud_230400 230400

#define	VN100_Baud_460800 460800

#define	VN100_Baud_921600 921600

#define	VN100_AccGain_2G 0

#define	VN100_AccGain_6G 1

#define	VN100_SPI_BUFFER_SIZE 48

#define	VN100_Packet_SetBaud(_b) { VN100_CmdID_WriteRegister, VN100_REG_SBAUD, 0, 0, { _b } }

#define	VN100_Packet_SetADOR(_r) { VN100_CmdID_WriteRegister, VN100_REG_ADOR, 0, 0, { _r } }

#define	VN100_Packet_SetaDOF(_f) { VN100_CmdID_WriteRegister, VN100_REG_ADOF, 0, 0, { _f } }

#define	VN100_BytesOfWord(_w) { (uint8_t)(_w & 0xFF), (uint8_t)((_w & (0xFF<<8))>>8), (uint8_t)((_w & (0xFF<<16))>>16), (uint8_t)((_w & (0xFF<<24))>>24) }

#define	VN100_WordOfBytes(_b) (((uint32_t)(_b[3])<<24)\|((uint32_t)(_b[2])<<16)\|((uint16_t)(_b[1])<<8)\|(uint16_t)(_b[0]))

Data Structure Documentation

◆ VN100_Param

union VN100_Param

Definition at line 169 of file VN100.h.

Data Fields
float	Float
uint32_t	UInt

◆ VN100_Req_Packet

struct VN100_Req_Packet

Definition at line 178 of file VN100.h.

Collaboration diagram for VN100_Req_Packet:

Data Fields
uint8_t	CmdID
VN100_Param	Data[VN100_SPI_BUFFER_SIZE]
uint8_t	RegID
uint8_t	ZeroByte1
uint8_t	ZeroByte2

◆ VN100_Res_Packet

struct VN100_Res_Packet

Definition at line 187 of file VN100.h.

Collaboration diagram for VN100_Res_Packet:

Data Fields
uint8_t	CmdID
VN100_Param	Data[VN100_SPI_BUFFER_SIZE]
uint8_t	ErrID
uint8_t	RegID
uint8_t	ZeroByte

Macro Definition Documentation

◆ VN100_AccGain_2G

#define VN100_AccGain_2G 0

Definition at line 165 of file VN100.h.

◆ VN100_AccGain_6G

#define VN100_AccGain_6G 1

Definition at line 166 of file VN100.h.

◆ VN100_ADOF_100HZ

#define VN100_ADOF_100HZ 100

Definition at line 150 of file VN100.h.

◆ VN100_ADOF_10HZ

#define VN100_ADOF_10HZ 10

Definition at line 145 of file VN100.h.

◆ VN100_ADOF_1HZ

#define VN100_ADOF_1HZ 1

Definition at line 141 of file VN100.h.

◆ VN100_ADOF_200HZ

#define VN100_ADOF_200HZ 200

Definition at line 151 of file VN100.h.

◆ VN100_ADOF_20HZ

#define VN100_ADOF_20HZ 20

Definition at line 146 of file VN100.h.

◆ VN100_ADOF_25HZ

#define VN100_ADOF_25HZ 25

Definition at line 147 of file VN100.h.

◆ VN100_ADOF_2HZ

#define VN100_ADOF_2HZ 2

Definition at line 142 of file VN100.h.

◆ VN100_ADOF_40HZ

#define VN100_ADOF_40HZ 40

Definition at line 148 of file VN100.h.

◆ VN100_ADOF_4HZ

#define VN100_ADOF_4HZ 4

Definition at line 143 of file VN100.h.

◆ VN100_ADOF_50HZ

#define VN100_ADOF_50HZ 50

Definition at line 149 of file VN100.h.

◆ VN100_ADOF_5HZ

#define VN100_ADOF_5HZ 5

Definition at line 144 of file VN100.h.

◆ VN100_ADOR_ACC

#define VN100_ADOR_ACC 11

Definition at line 130 of file VN100.h.

◆ VN100_ADOR_CMV

#define VN100_ADOR_CMV 253

Definition at line 136 of file VN100.h.

◆ VN100_ADOR_COV

#define VN100_ADOR_COV 255

Definition at line 138 of file VN100.h.

◆ VN100_ADOR_DCM

#define VN100_ADOR_DCM 9

Definition at line 128 of file VN100.h.

◆ VN100_ADOR_GYR

#define VN100_ADOR_GYR 12

Definition at line 131 of file VN100.h.

◆ VN100_ADOR_MAG

#define VN100_ADOR_MAG 10

Definition at line 129 of file VN100.h.

◆ VN100_ADOR_MAR

#define VN100_ADOR_MAR 13

Definition at line 132 of file VN100.h.

◆ VN100_ADOR_OFF

#define VN100_ADOR_OFF 0

Definition at line 119 of file VN100.h.

◆ VN100_ADOR_QAR

#define VN100_ADOR_QAR 7

Definition at line 126 of file VN100.h.

◆ VN100_ADOR_QMA

#define VN100_ADOR_QMA 6

Definition at line 125 of file VN100.h.

◆ VN100_ADOR_QMR

#define VN100_ADOR_QMR 8

Definition at line 127 of file VN100.h.

◆ VN100_ADOR_QTA

#define VN100_ADOR_QTA 4

Definition at line 123 of file VN100.h.

◆ VN100_ADOR_QTM

#define VN100_ADOR_QTM 3

Definition at line 122 of file VN100.h.

◆ VN100_ADOR_QTN

#define VN100_ADOR_QTN 2

Definition at line 121 of file VN100.h.

◆ VN100_ADOR_QTR

#define VN100_ADOR_QTR 5

Definition at line 124 of file VN100.h.

◆ VN100_ADOR_RAB

#define VN100_ADOR_RAB 251

Definition at line 134 of file VN100.h.

◆ VN100_ADOR_RAW

#define VN100_ADOR_RAW 252

Definition at line 135 of file VN100.h.

◆ VN100_ADOR_STV

#define VN100_ADOR_STV 254

Definition at line 137 of file VN100.h.

◆ VN100_ADOR_YMR

#define VN100_ADOR_YMR 14

Definition at line 133 of file VN100.h.

◆ VN100_ADOR_YPR

#define VN100_ADOR_YPR 1

Definition at line 120 of file VN100.h.

◆ VN100_Baud_115200

#define VN100_Baud_115200 115200

Definition at line 158 of file VN100.h.

◆ VN100_Baud_128000

#define VN100_Baud_128000 128000

Definition at line 159 of file VN100.h.

◆ VN100_Baud_19200

#define VN100_Baud_19200 19200

Definition at line 155 of file VN100.h.

◆ VN100_Baud_230400

#define VN100_Baud_230400 230400

Definition at line 160 of file VN100.h.

◆ VN100_Baud_38400

#define VN100_Baud_38400 38400

Definition at line 156 of file VN100.h.

◆ VN100_Baud_460800

#define VN100_Baud_460800 460800

Definition at line 161 of file VN100.h.

◆ VN100_Baud_57600

#define VN100_Baud_57600 57600

Definition at line 157 of file VN100.h.

◆ VN100_Baud_921600

#define VN100_Baud_921600 921600

Definition at line 162 of file VN100.h.

◆ VN100_Baud_9600

#define VN100_Baud_9600 9600

Definition at line 154 of file VN100.h.

◆ VN100_BytesOfWord

#define VN100_BytesOfWord ( _w ) { (uint8_t)(_w & 0xFF), (uint8_t)((_w & (0xFF<<8))>>8), (uint8_t)((_w & (0xFF<<16))>>16), (uint8_t)((_w & (0xFF<<24))>>24) }

Definition at line 199 of file VN100.h.

◆ VN100_CmdID_ReadRegister

#define VN100_CmdID_ReadRegister 0x01

Definition at line 96 of file VN100.h.

◆ VN100_CmdID_Reset

#define VN100_CmdID_Reset 0x06

Definition at line 101 of file VN100.h.

◆ VN100_CmdID_RestoreFactorySettings

#define VN100_CmdID_RestoreFactorySettings 0x04

Definition at line 99 of file VN100.h.

◆ VN100_CmdID_Tare

#define VN100_CmdID_Tare 0x05

Definition at line 100 of file VN100.h.

◆ VN100_CmdID_WriteRegister

#define VN100_CmdID_WriteRegister 0x02

Definition at line 97 of file VN100.h.

◆ VN100_CmdID_WriteSettings

#define VN100_CmdID_WriteSettings 0x03

Definition at line 98 of file VN100.h.

◆ VN100_DataSizeOfReg

#define VN100_DataSizeOfReg ( _r ) (_r##_SIZE)

Definition at line 93 of file VN100.h.

◆ VN100_Error_HardFaultException

#define VN100_Error_HardFaultException 1

Definition at line 105 of file VN100.h.

◆ VN100_Error_InputBufferOverflow

#define VN100_Error_InputBufferOverflow 2

Definition at line 106 of file VN100.h.

◆ VN100_Error_InsufficientBandwidth

#define VN100_Error_InsufficientBandwidth 12

Definition at line 116 of file VN100.h.

◆ VN100_Error_InvalidChecksum

#define VN100_Error_InvalidChecksum 3

Definition at line 107 of file VN100.h.

◆ VN100_Error_InvalidCommand

#define VN100_Error_InvalidCommand 4

Definition at line 108 of file VN100.h.

◆ VN100_Error_InvalidParameter

#define VN100_Error_InvalidParameter 7

Definition at line 111 of file VN100.h.

◆ VN100_Error_InvalidRegister

#define VN100_Error_InvalidRegister 8

Definition at line 112 of file VN100.h.

◆ VN100_Error_None

#define VN100_Error_None 0

Definition at line 104 of file VN100.h.

◆ VN100_Error_NotEnoughParameters

#define VN100_Error_NotEnoughParameters 5

Definition at line 109 of file VN100.h.

◆ VN100_Error_OutputBufferOverflow

#define VN100_Error_OutputBufferOverflow 11

Definition at line 115 of file VN100.h.

◆ VN100_Error_TooManyParameters

#define VN100_Error_TooManyParameters 6

Definition at line 110 of file VN100.h.

◆ VN100_Error_UnauthorizedAccess

#define VN100_Error_UnauthorizedAccess 9

Definition at line 113 of file VN100.h.

◆ VN100_Error_WatchdogReset

#define VN100_Error_WatchdogReset 10

Definition at line 114 of file VN100.h.

◆ VN100_Packet_SetaDOF

#define VN100_Packet_SetaDOF ( _f ) { VN100_CmdID_WriteRegister, VN100_REG_ADOF, 0, 0, { _f } }

Definition at line 197 of file VN100.h.

◆ VN100_Packet_SetADOR

#define VN100_Packet_SetADOR ( _r ) { VN100_CmdID_WriteRegister, VN100_REG_ADOR, 0, 0, { _r } }

Definition at line 196 of file VN100.h.

◆ VN100_Packet_SetBaud

#define VN100_Packet_SetBaud ( _b ) { VN100_CmdID_WriteRegister, VN100_REG_SBAUD, 0, 0, { _b } }

Definition at line 195 of file VN100.h.

◆ VN100_REG_ACC

#define VN100_REG_ACC 18

Definition at line 51 of file VN100.h.

◆ VN100_REG_ACC_SIZE

#define VN100_REG_ACC_SIZE (3*4)

Definition at line 81 of file VN100.h.

◆ VN100_REG_ACG

#define VN100_REG_ACG 28

Definition at line 61 of file VN100.h.

◆ VN100_REG_ACG_SIZE

#define VN100_REG_ACG_SIZE 4

Definition at line 91 of file VN100.h.

◆ VN100_REG_ACT

#define VN100_REG_ACT 25

Definition at line 58 of file VN100.h.

◆ VN100_REG_ACT_SIZE

#define VN100_REG_ACT_SIZE (12*4)

Definition at line 88 of file VN100.h.

◆ VN100_REG_ADOF

#define VN100_REG_ADOF 7

Definition at line 40 of file VN100.h.

◆ VN100_REG_ADOF_SIZE

#define VN100_REG_ADOF_SIZE 4

Definition at line 70 of file VN100.h.

◆ VN100_REG_ADOR

#define VN100_REG_ADOR 6

Definition at line 39 of file VN100.h.

◆ VN100_REG_ADOR_SIZE

#define VN100_REG_ADOR_SIZE 4

Definition at line 69 of file VN100.h.

◆ VN100_REG_ATP

#define VN100_REG_ATP 24

Definition at line 57 of file VN100.h.

◆ VN100_REG_ATP_SIZE

#define VN100_REG_ATP_SIZE (4*4)

Definition at line 87 of file VN100.h.

◆ VN100_REG_DCM

#define VN100_REG_DCM 16

Definition at line 49 of file VN100.h.

◆ VN100_REG_DCM_SIZE

#define VN100_REG_DCM_SIZE (9*4)

Definition at line 79 of file VN100.h.

◆ VN100_REG_FWVER

#define VN100_REG_FWVER 4

Definition at line 37 of file VN100.h.

◆ VN100_REG_FWVER_SIZE

#define VN100_REG_FWVER_SIZE 4

Definition at line 67 of file VN100.h.

◆ VN100_REG_GYR

#define VN100_REG_GYR 19

Definition at line 52 of file VN100.h.

◆ VN100_REG_GYR_SIZE

#define VN100_REG_GYR_SIZE (3*4)

Definition at line 82 of file VN100.h.

◆ VN100_REG_HSI

#define VN100_REG_HSI 23

Definition at line 56 of file VN100.h.

◆ VN100_REG_HSI_SIZE

#define VN100_REG_HSI_SIZE (12*4)

Definition at line 86 of file VN100.h.

◆ VN100_REG_HWREV

#define VN100_REG_HWREV 2

Definition at line 35 of file VN100.h.

◆ VN100_REG_HWREV_SIZE

#define VN100_REG_HWREV_SIZE 4

Definition at line 65 of file VN100.h.

◆ VN100_REG_MAG

#define VN100_REG_MAG 17

Definition at line 50 of file VN100.h.

◆ VN100_REG_MAG_SIZE

#define VN100_REG_MAG_SIZE (3*4)

Definition at line 80 of file VN100.h.

◆ VN100_REG_MAR

#define VN100_REG_MAR 20

Definition at line 53 of file VN100.h.

◆ VN100_REG_MAR_SIZE

#define VN100_REG_MAR_SIZE (9*4)

Definition at line 83 of file VN100.h.

◆ VN100_REG_MODEL

#define VN100_REG_MODEL 1

Library for the VectorNav VN100 AHRS based on VN_FWLIB from vector nav.

Definition at line 34 of file VN100.h.

◆ VN100_REG_MODEL_SIZE

#define VN100_REG_MODEL_SIZE 12

Definition at line 64 of file VN100.h.

◆ VN100_REG_QAR

#define VN100_REG_QAR 14

Definition at line 47 of file VN100.h.

◆ VN100_REG_QAR_SIZE

#define VN100_REG_QAR_SIZE (10*4)

Definition at line 77 of file VN100.h.

◆ VN100_REG_QMA

#define VN100_REG_QMA 13

Definition at line 46 of file VN100.h.

◆ VN100_REG_QMA_SIZE

#define VN100_REG_QMA_SIZE (10*4)

Definition at line 76 of file VN100.h.

◆ VN100_REG_QMR

#define VN100_REG_QMR 15

Definition at line 48 of file VN100.h.

◆ VN100_REG_QMR_SIZE

#define VN100_REG_QMR_SIZE (13*4)

Definition at line 78 of file VN100.h.

◆ VN100_REG_QTA

#define VN100_REG_QTA 11

Definition at line 44 of file VN100.h.

◆ VN100_REG_QTA_SIZE

#define VN100_REG_QTA_SIZE (7*4)

Definition at line 74 of file VN100.h.

◆ VN100_REG_QTM

#define VN100_REG_QTM 10

Definition at line 43 of file VN100.h.

◆ VN100_REG_QTM_SIZE

#define VN100_REG_QTM_SIZE (7*4)

Definition at line 73 of file VN100.h.

◆ VN100_REG_QTN

#define VN100_REG_QTN 9

Definition at line 42 of file VN100.h.

◆ VN100_REG_QTN_SIZE

#define VN100_REG_QTN_SIZE (4*4)

Definition at line 72 of file VN100.h.

◆ VN100_REG_QTR

#define VN100_REG_QTR 12

Definition at line 45 of file VN100.h.

◆ VN100_REG_QTR_SIZE

#define VN100_REG_QTR_SIZE (7*4)

Definition at line 75 of file VN100.h.

◆ VN100_REG_REF

#define VN100_REG_REF 21

Definition at line 54 of file VN100.h.

◆ VN100_REG_REF_SIZE

#define VN100_REG_REF_SIZE (6*4)

Definition at line 84 of file VN100.h.

◆ VN100_REG_RFR

#define VN100_REG_RFR 26

Definition at line 59 of file VN100.h.

◆ VN100_REG_RFR_SIZE

#define VN100_REG_RFR_SIZE (9*4)

Definition at line 89 of file VN100.h.

◆ VN100_REG_SBAUD

#define VN100_REG_SBAUD 5

Definition at line 38 of file VN100.h.

◆ VN100_REG_SBAUD_SIZE

#define VN100_REG_SBAUD_SIZE 4

Definition at line 68 of file VN100.h.

◆ VN100_REG_SIG

#define VN100_REG_SIG 22

Definition at line 55 of file VN100.h.

◆ VN100_REG_SIG_SIZE

#define VN100_REG_SIG_SIZE (10*4)

Definition at line 85 of file VN100.h.

◆ VN100_REG_SN

#define VN100_REG_SN 3

Definition at line 36 of file VN100.h.

◆ VN100_REG_SN_SIZE

#define VN100_REG_SN_SIZE 12

Definition at line 66 of file VN100.h.

◆ VN100_REG_YMR

#define VN100_REG_YMR 27

Definition at line 60 of file VN100.h.

◆ VN100_REG_YMR_SIZE

#define VN100_REG_YMR_SIZE (12*4)

Definition at line 90 of file VN100.h.

◆ VN100_REG_YPR

#define VN100_REG_YPR 8

Definition at line 41 of file VN100.h.

◆ VN100_REG_YPR_SIZE

#define VN100_REG_YPR_SIZE (3*4)

Definition at line 71 of file VN100.h.

◆ VN100_SPI_BUFFER_SIZE

#define VN100_SPI_BUFFER_SIZE 48

Definition at line 175 of file VN100.h.

◆ VN100_WordOfBytes

#define VN100_WordOfBytes ( _b ) (((uint32_t)(_b[3])<<24)|((uint32_t)(_b[2])<<16)|((uint16_t)(_b[1])<<8)|(uint16_t)(_b[0]))

Definition at line 200 of file VN100.h.

Data Structures

Macros