Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Parser for the Xsens protocol. More...
#include "xsens.h"
#include "generated/airframe.h"
#include "led.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
Go to the source code of this file.
Macros | |
#define | XSENS_OUTPUT_MODE 0x1836 |
#define | XSENS_OUTPUT_SETTINGS 0x80000C05 |
Functions | |
void | parse_xsens_buffer (uint8_t c) |
void | xsens_init (void) |
void | xsens_periodic (void) |
void | parse_xsens_msg (void) |
Variables | |
uint8_t | xsens_errorcode |
uint8_t | xsens_msg_status |
uint16_t | xsens_time_stamp |
uint16_t | xsens_output_mode |
uint32_t | xsens_output_settings |
float | xsens_declination = 0 |
float | xsens_gps_arm_x = 0 |
float | xsens_gps_arm_y = 0 |
float | xsens_gps_arm_z = 0 |
volatile int | xsens_configured = 0 |
struct Xsens | xsens |
void parse_xsens_buffer | ( | uint8_t | c | ) |
void parse_xsens_msg | ( | void | ) |
Definition at line 184 of file xsens.c.
References Xsens::accel, Xsens::accel_available, LlaCoor_f::alt, XsensTime::day, DefaultChannel, DefaultDevice, Xsens::euler, gps, GPS_FIX_3D, GPS_FIX_NONE, GPS_NB_CHANNELS, GPS_VALID_HMSL_BIT, GPS_VALID_POS_LLA_BIT, GPS_VALID_VEL_NED_BIT, Xsens::gyro, Xsens::gyro_available, XsensTime::hour, XsensParser::id, LlaCoor_f::lat, LED_ON, LED_TOGGLE, LLA_BFP_OF_REAL, Xsens::lla_f, LlaCoor_f::lon, Xsens::mag, Xsens::mag_available, Min, XsensTime::min, XsensTime::month, XsensParser::msg_buf, XsensTime::nanosec, Xsens::new_attitude, offset, FloatRates::p, Xsens::parser, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatQuat::qi, Xsens::quat, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, XsensTime::sec, FloatEulers::theta, Xsens::time, Xsens::time_stamp, TRUE, GpsState::valid_fields, Xsens::vel, wgs84_ellipsoid_to_geoid_i(), FloatVect3::x, xsens, xsens_declination, xsens_errorcode, xsens_gps_arm_x, xsens_gps_arm_y, xsens_gps_arm_z, xsens_msg_status, xsens_output_mode, xsens_output_settings, FloatVect3::y, XsensTime::year, and FloatVect3::z.
Referenced by imu_xsens_event(), and ins_xsens_event().
void xsens_init | ( | void | ) |
Definition at line 113 of file xsens.c.
References Xsens::parser, XsensParser::status, UNINIT, xsens, xsens_configured, xsens_msg_status, XSENS_OUTPUT_MODE, xsens_output_mode, XSENS_OUTPUT_SETTINGS, xsens_output_settings, and xsens_time_stamp.
Referenced by imu_xsens_init(), and ins_xsens_init().
void xsens_periodic | ( | void | ) |
Definition at line 124 of file xsens.c.
References xsens_configured, xsens_declination, xsens_output_mode, and xsens_output_settings.
struct Xsens xsens |
Definition at line 107 of file xsens.c.
Referenced by handle_ins_msg(), imu_xsens_event(), ins_xsens_event(), parse_xsens_msg(), update_state_interface(), xsens_init(), and xsens_parser_func().
volatile int xsens_configured = 0 |
Definition at line 107 of file xsens.c.
Referenced by xsens_init(), and xsens_periodic().
float xsens_declination = 0 |
Definition at line 102 of file xsens.c.
Referenced by parse_xsens_msg(), and xsens_periodic().
uint8_t xsens_errorcode |
Definition at line 95 of file xsens.c.
Referenced by parse_xsens_msg().
float xsens_gps_arm_x = 0 |
Definition at line 103 of file xsens.c.
Referenced by parse_xsens_msg().
float xsens_gps_arm_y = 0 |
Definition at line 104 of file xsens.c.
Referenced by parse_xsens_msg().
float xsens_gps_arm_z = 0 |
Definition at line 105 of file xsens.c.
Referenced by parse_xsens_msg().
uint8_t xsens_msg_status |
Definition at line 96 of file xsens.c.
Referenced by parse_xsens_msg(), and xsens_init().
uint16_t xsens_output_mode |
Definition at line 98 of file xsens.c.
Referenced by parse_xsens_msg(), xsens_init(), and xsens_periodic().
uint32_t xsens_output_settings |
Definition at line 99 of file xsens.c.
Referenced by parse_xsens_msg(), xsens_init(), and xsens_periodic().
uint16_t xsens_time_stamp |
Definition at line 97 of file xsens.c.
Referenced by xsens_init().