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ins_vn100.h File Reference

Interface for the VectorNav VN100 AHRS use the binary protocal on the SPI link. More...

#include "std.h"
#include "VN100.h"
#include "math/pprz_algebra_float.h"
+ Include dependency graph for ins_vn100.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Macros

#define VN100_ADOR   VN100_ADOR_OFF
 
#define VN100_ADOF   VN100_ADOF_5HZ
 
#define VN100_BAUD   VN100_Baud_57600
 
#define INS_VN100_SET_BAUD   0
 
#define INS_VN100_SET_ADOR   1
 
#define INS_VN100_SET_ADOF   2
 
#define INS_VN100_READY   3
 
#define PERIODIC_SEND_AHRS(_chan, _dev)
 

Functions

void vn100_init (void)
 
void vn100_periodic_task (void)
 
void vn100_event_task (void)
 
void vn100_report_task (void)
 

Variables

float ins_roll_neutral
 
float ins_pitch_neutral
 
float ins_yaw_neutral
 
struct FloatEulers ins_eulers
 
struct FloatQuat ins_quat
 
struct FloatRates ins_rates
 
struct FloatRMat ins_rmat
 
struct FloatVect3 ins_accel
 
struct FloatVect3 ins_mag
 
volatile uint8_t ins_msg_received
 
VN100_Res_Packet last_received_packet
 
VN100_Req_Packet last_send_packet
 
uint32_t ins_ador
 
uint32_t ins_adof
 
uint32_t ins_baud
 
uint8_t ins_init_status
 

Detailed Description

Interface for the VectorNav VN100 AHRS use the binary protocal on the SPI link.

Definition in file ins_vn100.h.

Macro Definition Documentation

#define INS_VN100_READY   3

Definition at line 81 of file ins_vn100.h.

Referenced by ins_configure().

#define INS_VN100_SET_ADOF   2

Definition at line 80 of file ins_vn100.h.

Referenced by ins_configure().

#define INS_VN100_SET_ADOR   1

Definition at line 79 of file ins_vn100.h.

Referenced by ins_configure().

#define INS_VN100_SET_BAUD   0

Definition at line 78 of file ins_vn100.h.

Referenced by ins_configure(), and vn100_init().

#define PERIODIC_SEND_AHRS (   _chan,
  _dev 
)
Value:
DOWNLINK_SEND_AHRS_LKF(_chan, _dev, \
struct FloatVect3 ins_accel
Definition: ins_vn100.c:61
struct FloatQuat ins_quat
Definition: ins_vn100.c:58
struct FloatEulers ins_eulers
Definition: ins_vn100.c:57
float phi
in radians
float r
in rad/s
float psi
in radians
float q
in rad/s
float p
in rad/s
struct FloatVect3 ins_mag
Definition: ins_vn100.c:62
float theta
in radians
struct FloatRates ins_rates
Definition: ins_vn100.c:59

Definition at line 84 of file ins_vn100.h.

#define VN100_ADOF   VN100_ADOF_5HZ

Definition at line 70 of file ins_vn100.h.

Referenced by vn100_init().

#define VN100_ADOR   VN100_ADOR_OFF

Definition at line 67 of file ins_vn100.h.

Referenced by vn100_init().

#define VN100_BAUD   VN100_Baud_57600

Definition at line 73 of file ins_vn100.h.

Referenced by vn100_init().

Function Documentation

Variable Documentation

struct FloatVect3 ins_accel

Definition at line 61 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

uint32_t ins_adof

Definition at line 73 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

uint32_t ins_ador

Definition at line 72 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

uint32_t ins_baud

Definition at line 74 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

struct FloatEulers ins_eulers

Definition at line 57 of file ins_vn100.c.

Referenced by parse_ins_msg(), vn100_event_task(), and vn100_report_task().

uint8_t ins_init_status

Definition at line 76 of file ins_vn100.c.

Referenced by ins_configure(), and vn100_init().

struct FloatVect3 ins_mag

Definition at line 62 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

volatile uint8_t ins_msg_received

Definition at line 64 of file ins_vn100.c.

float ins_pitch_neutral

Definition at line 15 of file ins_arduimu.c.

struct FloatQuat ins_quat

Definition at line 58 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

struct FloatRates ins_rates

Definition at line 59 of file ins_vn100.c.

Referenced by parse_ins_msg(), vn100_event_task(), and vn100_report_task().

struct FloatRMat ins_rmat

Definition at line 60 of file ins_vn100.c.

float ins_roll_neutral

Definition at line 14 of file ins_arduimu.c.

float ins_yaw_neutral

Definition at line 55 of file ins_vn100.c.

Referenced by vn100_init().

VN100_Res_Packet last_received_packet

Definition at line 67 of file ins_vn100.c.

VN100_Req_Packet last_send_packet

Definition at line 69 of file ins_vn100.c.