ahrs_chimu_spi.c File Reference

#include <stdbool.h>
#include "mcu_periph/spi.h"
#include "mcu_periph/spi_slave_hs_arch.h"
#include "state.h"
#include "modules/gps/gps.h"
#include "modules/ahrs/ahrs.h"
#include "generated/airframe.h"
#include "modules/ins/ins_module.h"
#include "modules/ins/imu_chimu.h"
#include "modules/ahrs/ahrs_chimu.h"
#include "led.h"
#include "modules/core/abi.h"

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Macros
#define	AHRS_CHIMU_GPS_ID   GPS_MULTI_ID
	ABI binding for gps data. More...

Functions
void	ahrs_chimu_update_gps (uint8_t gps_fix, uint16_t gps_speed_3d)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static bool	ahrs_chimu_enable_output (bool enable)
void	ahrs_chimu_register (void)
void	ahrs_chimu_init (void)
void	parse_ins_msg (void)

Variables
CHIMU_PARSER_DATA	CHIMU_DATA
INS_FORMAT	ins_roll_neutral
INS_FORMAT	ins_pitch_neutral
struct AhrsChimu	ahrs_chimu
static abi_event	gps_ev

Macro Definition Documentation

AHRS_CHIMU_GPS_ID

#define AHRS_CHIMU_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 47 of file ahrs_chimu_spi.c.

Function Documentation

ahrs_chimu_enable_output()

static bool ahrs_chimu_enable_output ( bool  enable )

static

Definition at line 58 of file ahrs_chimu_spi.c.

References ahrs_chimu, and AhrsChimu::is_enabled.

Referenced by ahrs_chimu_register().

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ahrs_chimu_init()

void ahrs_chimu_init

(

void

)

Definition at line 71 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_register().

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ahrs_chimu_register()

void ahrs_chimu_register

(

void

)

Definition at line 64 of file ahrs_chimu_spi.c.

ahrs_chimu_update_gps()

void ahrs_chimu_update_gps	(	uint8_t	gps_fix,
		uint16_t	gps_speed_3d
	)

Definition at line 150 of file ahrs_chimu_spi.c.

References CHIMU_Checksum(), FloatSwap, GpsFixValid, and InsSend.

Referenced by gps_cb().

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gps_cb()

static void gps_cb ( uint8_t  sender_id, uint32_t stamp  , struct GpsState *  gps_s  )

static

Definition at line 51 of file ahrs_chimu_spi.c.

References ahrs_chimu_update_gps().

Referenced by ahrs_chimu_register().

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parse_ins_msg()

static void parse_ins_msg ( void  )

inline

Definition at line 107 of file ahrs_chimu_spi.c.

References ahrs_chimu, CHIMU_DATA, CHIMU_Msg_3_IMU_Attitude, CHIMU_Parse(), DefaultChannel, DefaultDevice, dev, CHIMU_attitude_data::euler, InsLinkDevice, AhrsChimu::is_aligned, AhrsChimu::is_enabled, LED_TOGGLE, CHIMU_PARSER_DATA::m_attitude, CHIMU_PARSER_DATA::m_attrates, CHIMU_PARSER_DATA::m_MsgID, CHIMU_PARSER_DATA::m_sensor, new_ins_attitude, CHIMU_Euler::phi, CHIMU_Euler::psi, CHIMU_sensor_data::rate, stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), and CHIMU_Euler::theta.

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Variable Documentation

ahrs_chimu

struct AhrsChimu ahrs_chimu

Definition at line 36 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_enable_output(), ahrs_chimu_init(), and parse_ins_msg().

CHIMU_DATA

CHIMU_PARSER_DATA CHIMU_DATA

Definition at line 33 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_init(), and parse_ins_msg().

gps_ev

abi_event gps_ev

static

Definition at line 50 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_register().

ins_pitch_neutral

INS_FORMAT ins_pitch_neutral

Definition at line 36 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_init().

ins_roll_neutral

INS_FORMAT ins_roll_neutral

Definition at line 35 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_init().