navdata.h File Reference

ardrone2 navdata aquisition driver. More...

#include "std.h"
#include <unistd.h>

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Data Structures
struct	navdata_measure_t
	Main navdata structure from the navdata board This is received from the navdata board at ~200Hz. More...
struct	bmp180_calib_t
struct	navdata_t

Macros
#define	NAVDATA_PACKET_SIZE   60
#define	NAVDATA_START_BYTE   0x3A
#define	NAVDATA_CMD_START   0x01
#define	NAVDATA_CMD_STOP   0x02
#define	NAVDATA_CMD_BARO_CALIB   0x17
#define	ARDRONE_GPIO_PORT   0x32524
#define	ARDRONE_GPIO_PIN_NAVDATA   177

Functions
bool	navdata_init (void)
	Initialize the navdata board. More...
void	navdata_update (void)
	Update the navdata (event loop) More...
int16_t	navdata_height (void)
ssize_t	full_write (int fd, const uint8_t *buf, size_t count)
	Write to fd even while being interrupted. More...
ssize_t	full_read (int fd, uint8_t *buf, size_t count)
	Read from fd even while being interrupted. More...

Variables
struct navdata_t	navdata

Detailed Description

ardrone2 navdata aquisition driver.

The ardrone2 provides a navdata stream of packets containing info about all sensors at a rate of 200Hz.

Definition in file navdata.h.

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Data Structure Documentation

navdata_measure_t

struct navdata_measure_t

Main navdata structure from the navdata board This is received from the navdata board at ~200Hz.

Definition at line 43 of file navdata.h.

Data Fields
uint16_t	ax
uint16_t	ay
uint16_t	az
uint16_t	chksum
uint16_t	flag_echo_ini
int16_t	gradient
int16_t	mx
int16_t	my
int16_t	mz
uint16_t	nb_echo
uint16_t	nu_trame
int32_t	pressure
uint32_t	sum_echo
uint16_t	taille
uint16_t	temperature_acc
uint16_t	temperature_gyro
uint16_t	temperature_pressure
uint16_t	ultrasound
uint16_t	us_association_echo
uint16_t	us_curve_ref
uint16_t	us_curve_time
uint16_t	us_curve_value
uint16_t	us_debut_echo
uint16_t	us_distance_echo
uint16_t	us_fin_echo
int16_t	vx
int16_t	vy
int16_t	vz

bmp180_calib_t

struct bmp180_calib_t

Definition at line 87 of file navdata.h.

Data Fields
int16_t	ac1
int16_t	ac2
int16_t	ac3
uint16_t	ac4
uint16_t	ac5
uint16_t	ac6
int16_t	b1
int16_t	b2
int32_t	b5
int16_t	mb
int16_t	mc
int16_t	md

navdata_t

struct navdata_t

Definition at line 115 of file navdata.h.

Collaboration diagram for navdata_t:

Data Fields
bool	baro_available	Whenever the baro is available.
bool	baro_calibrated	Whenever the baro is calibrated.
struct bmp180_calib_t	bmp180_calib	BMP180 calibration receieved from navboard.
uint32_t	checksum_errors
int	fd	The navdata file pointer.
bool	imu_lost	Whenever the imu is lost.
bool	is_initialized	Check if the navdata board is initialized.
uint16_t	last_packet_number
uint32_t	lost_imu_frames
struct navdata_measure_t	measure	Main navdata packet receieved from navboard.
uint32_t	packetsRead
uint32_t	totalBytesRead

Macro Definition Documentation

ARDRONE_GPIO_PIN_NAVDATA

#define ARDRONE_GPIO_PIN_NAVDATA   177

Definition at line 112 of file navdata.h.

ARDRONE_GPIO_PORT

#define ARDRONE_GPIO_PORT   0x32524

Definition at line 111 of file navdata.h.

NAVDATA_CMD_BARO_CALIB

#define NAVDATA_CMD_BARO_CALIB   0x17

Definition at line 109 of file navdata.h.

NAVDATA_CMD_START

#define NAVDATA_CMD_START   0x01

Definition at line 107 of file navdata.h.

NAVDATA_CMD_STOP

#define NAVDATA_CMD_STOP   0x02

Definition at line 108 of file navdata.h.

NAVDATA_PACKET_SIZE

#define NAVDATA_PACKET_SIZE   60

Definition at line 105 of file navdata.h.

NAVDATA_START_BYTE

#define NAVDATA_START_BYTE   0x3A

Definition at line 106 of file navdata.h.

Function Documentation

full_read()

ssize_t full_read	(	int	fd,
		uint8_t *	buf,
		size_t	count
	)

Read from fd even while being interrupted.

Definition at line 139 of file navdata.c.

References fd.

Referenced by actuators_ardrone_cmd(), and navdata_baro_calib().

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full_write()

ssize_t full_write	(	int	fd,
		const uint8_t *	buf,
		size_t	count
	)

Write to fd even while being interrupted.

Definition at line 119 of file navdata.c.

References fd.

Referenced by actuators_ardrone_cmd(), actuators_ardrone_set_leds(), actuators_ardrone_set_pwm(), and navdata_cmd_send().

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navdata_height()

int16_t navdata_height

(

void

)

navdata_init()

bool navdata_init

(

void

)

Initialize the navdata board.

Definition at line 202 of file navdata.c.

References accel_neutral, accel_scale, ARDRONE_GPIO_PIN_NAVDATA, ARDRONE_GPIO_PORT, B460800, navdata_t::baro_available, navdata_t::baro_calibrated, navdata_t::checksum_errors, DefaultPeriodic, navdata_t::fd, gpio_set(), gpio_setup_output(), gyro_scale, IMU_BOARD_ID, navdata_t::imu_lost, imu_set_defaults_accel(), imu_set_defaults_gyro(), imu_set_defaults_mag(), navdata_t::is_initialized, navdata_t::last_packet_number, navdata_t::lost_imu_frames, mag_scale, navdata, navdata_available, navdata_baro_calib(), navdata_cmd_send(), NAVDATA_CMD_START, NAVDATA_CMD_STOP, NAVDATA_PACKET_SIZE, navdata_read(), navdata_t::packetsRead, register_periodic_telemetry(), send_navdata(), and navdata_t::totalBytesRead.

Referenced by imu_ardrone2_init(), and navdata_update().

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navdata_update()

void navdata_update

(

void

)

Update the navdata (event loop)

Definition at line 390 of file navdata.c.

References AGL_SONAR_ARDRONE2_ID, baro_update_logic(), get_sys_time_usec(), navdata_t::is_initialized, navdata_t::last_packet_number, navdata_t::lost_imu_frames, mag_freeze_check(), navdata_t::measure, navdata, navdata_available, navdata_buffer, navdata_cond, navdata_init(), navdata_mutex, NAVDATA_PACKET_SIZE, navdata_publish_imu(), navdata_measure_t::nu_trame, p, navdata_t::packetsRead, navdata_measure_t::pressure, SONAR_OFFSET, SONAR_SCALE, navdata_measure_t::temperature_pressure, and navdata_measure_t::ultrasound.

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Variable Documentation

navdata

struct navdata_t navdata

extern

Definition at line 56 of file navdata.c.

Referenced by ardrone_baro_event(), baro_apply_calibration(), baro_apply_calibration_temp(), baro_update_logic(), mag_freeze_check(), navdata_baro_calib(), navdata_cmd_send(), navdata_init(), navdata_publish_imu(), navdata_read(), navdata_update(), and send_navdata().