imu_vectornav.h

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/*
 * Copyright (C) 2016 Michal Podhradsky, michal.podhradsky@aggiemail.usu.edu
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
 
#ifndef IMU_VECTORNAV_H
#define IMU_VECTORNAV_H
 
// Subsystem
#include "modules/imu/imu.h"
 
// Peripheral
#include "peripherals/vn200_serial.h"
 
 
struct ImuVectornav {
  // Packet data
  struct VNPacket vn_packet;
  struct VNData vn_data; 
  enum VNStatus vn_status;  
  float vn_freq;            
};
 
 
extern struct ImuVectornav imu_vn;
 
void imu_vectornav_init(void);
void imu_vectornav_event(void);
void imu_vectornav_periodic(void);
void imu_vectornav_propagate(void);
 
#endif /* IMU_VECTORNAV_H */