ins_arduimu.c File Reference

#include <stdbool.h>
#include "modules/ins/ins_arduimu.h"
#include "firmwares/fixedwing/main_fbw.h"
#include "mcu_periph/i2c.h"
#include "state.h"
#include "modules/gps/gps.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"

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Macros
#define	ARDUIMU_I2C_DEV   i2c0
#define	ArduIMU_SLAVE_ADDR   0x22

Functions
void	ArduIMU_init (void)
void	ArduIMU_periodicGPS (void)
void	ArduIMU_periodic (void)
void	IMU_Daten_verarbeiten (void)

Variables
int32_t	GPS_Data [14]
struct i2c_transaction	ardu_gps_trans
struct i2c_transaction	ardu_ins_trans
static int16_t	recievedData [NB_DATA]
float	ArduIMU_data [NB_DATA]
	ArduIMU simulation. More...
int8_t	messageNr
int8_t	imu_daten_angefordert
int8_t	gps_daten_abgespeichert
int8_t	gps_daten_versendet_msg1
int8_t	gps_daten_versendet_msg2
float	ins_roll_neutral
float	ins_pitch_neutral
float	throttle_slew

Macro Definition Documentation

ARDUIMU_I2C_DEV

#define ARDUIMU_I2C_DEV   i2c0

Definition at line 24 of file ins_arduimu.c.

ArduIMU_SLAVE_ADDR

#define ArduIMU_SLAVE_ADDR   0x22

Definition at line 30 of file ins_arduimu.c.

Function Documentation

ArduIMU_init()

void ArduIMU_init

(

void

)

Definition at line 53 of file ins_arduimu.c.

References ardu_gps_trans, i2c_transaction::buf, gps_daten_abgespeichert, gps_daten_versendet_msg1, gps_daten_versendet_msg2, imu_daten_angefordert, ins_pitch_neutral, INS_PITCH_NEUTRAL_DEFAULT, ins_roll_neutral, INS_ROLL_NEUTRAL_DEFAULT, messageNr, throttle_slew, and V_CTL_THROTTLE_SLEW.

ArduIMU_periodic()

void ArduIMU_periodic

(

void

)

Definition at line 166 of file ins_arduimu.c.

References ardu_ins_trans, ARDUIMU_I2C_DEV, ArduIMU_SLAVE_ADDR, i2c_receive(), imu_daten_angefordert, IMU_Daten_verarbeiten(), and TRUE.

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ArduIMU_periodicGPS()

void ArduIMU_periodicGPS

(

void

)

Definition at line 69 of file ins_arduimu.c.

References LlaCoor_i::alt, ardu_gps_trans, ARDUIMU_I2C_DEV, ArduIMU_SLAVE_ADDR, i2c_transaction::buf, GpsState::course, FALSE, GpsState::fix, gps, GPS_Data, gps_daten_abgespeichert, gps_daten_versendet_msg1, gps_daten_versendet_msg2, gps_ubx, GpsState::gspeed, GpsState::hmsl, i2c_transmit(), imu_daten_angefordert, IMU_Daten_verarbeiten(), LlaCoor_i::lat, GpsState::lla_pos, LlaCoor_i::lon, messageNr, GpsState::ned_vel, GpsState::num_sv, GpsState::speed_3d, GpsUbx::status_flags, GpsState::tow, TRUE, and NedCoor_i::z.

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IMU_Daten_verarbeiten()

void IMU_Daten_verarbeiten

(

void

)

Definition at line 193 of file ins_arduimu.c.

References ardu_ins_trans, ArduIMU_data, i2c_transaction::buf, DefaultChannel, DefaultDevice, imu_daten_angefordert, ins_pitch_neutral, ins_roll_neutral, FloatEulers::phi, FloatEulers::psi, recievedData, stateSetNedToBodyEulers_f(), and FloatEulers::theta.

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Variable Documentation

ardu_gps_trans

struct i2c_transaction ardu_gps_trans

Definition at line 21 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

ardu_ins_trans

struct i2c_transaction ardu_ins_trans

Definition at line 21 of file ins_arduimu.c.

Referenced by ArduIMU_periodic(), and IMU_Daten_verarbeiten().

ArduIMU_data

float ArduIMU_data[NB_DATA]

ArduIMU simulation.

Sim provides attitude.

Definition at line 41 of file ins_arduimu.c.

GPS_Data

int32_t GPS_Data[14]

Definition at line 21 of file ins_arduimu.c.

Referenced by ArduIMU_periodicGPS().

gps_daten_abgespeichert

int8_t gps_daten_abgespeichert

Definition at line 44 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

gps_daten_versendet_msg1

int8_t gps_daten_versendet_msg1

Definition at line 45 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

gps_daten_versendet_msg2

int8_t gps_daten_versendet_msg2

Definition at line 46 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

imu_daten_angefordert

int8_t imu_daten_angefordert

Definition at line 43 of file ins_arduimu.c.

Referenced by ArduIMU_init(), ArduIMU_periodic(), ArduIMU_periodicGPS(), and IMU_Daten_verarbeiten().

ins_pitch_neutral

float ins_pitch_neutral

Definition at line 49 of file ins_arduimu.c.

ins_roll_neutral

float ins_roll_neutral

Definition at line 48 of file ins_arduimu.c.

messageNr

int8_t messageNr

Definition at line 42 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

recievedData

int16_t recievedData[NB_DATA]

static

Definition at line 40 of file ins_arduimu.c.

Referenced by IMU_Daten_verarbeiten().

throttle_slew

float throttle_slew

Definition at line 51 of file ins_arduimu.c.