Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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ahrs_gx3.h
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1 /*
2  * Copyright (C) 2013 Michal Podhradsky
3  * Utah State University, http://aggieair.usu.edu/
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  */
32 #ifndef AHRS_GX3_H
33 #define AHRS_GX3_H
34 
35 #include "generated/airframe.h"
36 #include "subsystems/imu.h"
37 #include "subsystems/ins.h"
38 #include "subsystems/gps.h"
39 #include "mcu_periph/uart.h"
40 
41 #include "state.h"
42 #include "led.h"
43 
44 #define GX3_MAX_PAYLOAD 128
45 #define GX3_MSG_LEN 67
46 #define GX3_HEADER 0xC8
47 #define GX3_MIN_FREQ 300
48 
49 #define IMU_GX3_LONG_DELAY 4000000
50 
51 extern void gx3_packet_read_message(void);
52 extern void gx3_packet_parse(uint8_t c);
53 
54 struct GX3Packet {
61 };
62 
66 };
67 
68 
69 //AHRS
70 struct AhrsGX3 {
72  float mag_offset;
73 
74  struct GX3Packet packet;
75  float freq;
79  struct FloatVect3 accel;
80  struct FloatRates rate;
81  struct FloatRMat rmat;
82  bool is_aligned;
83 };
84 
85 extern struct AhrsGX3 ahrs_gx3;
86 
87 #ifndef PRIMARY_AHRS
88 #define PRIMARY_AHRS ahrs_gx3
89 #endif
90 
91 extern void ahrs_gx3_init(void);
92 extern void ahrs_gx3_align(void);
93 extern void ahrs_gx3_register(void);
94 extern void ahrs_gx3_publish_imu(void);
95 
96 extern void imu_gx3_init(void);
97 extern void imu_gx3_periodic(void);
98 extern void imu_gx3_event(void);
99 
100 #endif /* AHRS_GX3_H*/
unsigned short uint16_t
Definition: types.h:16
void ahrs_gx3_init(void)
Definition: ahrs_gx3.c:327
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
void gx3_packet_read_message(void)
Definition: ahrs_gx3.c:226
float freq
data frequency
Definition: ahrs_gx3.h:75
bool msg_available
Definition: ahrs_gx3.h:55
uint8_t msg_buf[GX3_MAX_PAYLOAD]
Definition: ahrs_gx3.h:58
void ahrs_gx3_align(void)
Definition: ahrs_gx3.c:75
void imu_gx3_event(void)
Definition: ahrs_gx3.c:368
uint32_t hdr_error
Definition: ahrs_gx3.h:57
Integrated Navigation System interface.
void ahrs_gx3_publish_imu(void)
Definition: ahrs_gx3.c:353
void gx3_packet_parse(uint8_t c)
Definition: ahrs_gx3.c:294
GX3PacketStatus
Definition: ahrs_gx3.h:63
void ahrs_gx3_register(void)
Definition: ahrs_gx3.c:340
float mag_offset
Difference between true and magnetic north.
Definition: ahrs_gx3.h:72
struct FloatQuat ltp_to_imu_quat
Rotation from LocalTangentPlane to IMU frame as quaternions.
Definition: ahrs_gx3.h:71
Roation quaternion.
bool is_aligned
Definition: ahrs_gx3.h:82
struct FloatVect3 accel
measured acceleration in IMU frame
Definition: ahrs_gx3.h:79
struct AhrsGX3 ahrs_gx3
Axis definition: X axis pointing forward, Y axis pointing to the right and Z axis pointing down...
Definition: ahrs_gx3.c:47
uint8_t status
Definition: ahrs_gx3.h:59
Device independent GPS code (interface)
unsigned long uint32_t
Definition: types.h:18
uint32_t time
GX3 time stamp.
Definition: ahrs_gx3.h:77
uint32_t chksm_error
Definition: ahrs_gx3.h:56
void imu_gx3_periodic(void)
Definition: ahrs_gx3.c:218
Inertial Measurement Unit interface.
#define GX3_MAX_PAYLOAD
Definition: ahrs_gx3.h:44
void imu_gx3_init(void)
Definition: ahrs_gx3.c:106
unsigned char uint8_t
Definition: types.h:14
API to get/set the generic vehicle states.
struct FloatRMat rmat
measured attitude in IMU frame (rotational matrix)
Definition: ahrs_gx3.h:81
rotation matrix
arch independent LED (Light Emitting Diodes) API
struct GX3Packet packet
Packet struct.
Definition: ahrs_gx3.h:74
uint16_t chksm
aux variable for checksum
Definition: ahrs_gx3.h:76
struct FloatRates rate
measured angular rates in IMU frame
Definition: ahrs_gx3.h:80
uint8_t msg_idx
Definition: ahrs_gx3.h:60
uint32_t ltime
aux time stamp
Definition: ahrs_gx3.h:78
angular rates