Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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ins_module.h File Reference
#include "std.h"
#include "led.h"
#include "mcu_periph/uart.h"
+ Include dependency graph for ins_module.h:
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Go to the source code of this file.

Macros

#define INS_FORMAT   float
 
#define __InsLink(dev, _x)   dev##_x
 
#define _InsLink(dev, _x)   __InsLink(dev, _x)
 
#define InsLink(_x)   _InsLink(INS_LINK, _x)
 
#define InsBuffer()   InsLink(ChAvailable())
 
#define ReadInsBuffer()   { while (InsLink(ChAvailable())&&!ins_msg_received) parse_ins_buffer(InsLink(Getch())); }
 
#define InsSend1(c)   InsLink(Transmit(c))
 
#define InsUartSend1(c)   InsSend1(c)
 
#define InsSend(_dat, _len)   { for (uint8_t i = 0; i< (_len); i++) InsSend1(_dat[i]); };
 
#define InsUartSetBaudrate(_b)   InsLink(SetBaudrate(_b))
 
#define InsUartRunning   InsLink(TxRunning)
 
#define InsEventCheckAndHandle(handler)
 !SITL More...
 

Functions

void ins_init (void)
 
void ins_periodic_task (void)
 
void handle_ins_msg (void)
 
void parse_ins_msg (void)
 
void parse_ins_buffer (uint8_t)
 

Variables

INS_FORMAT ins_x
 
INS_FORMAT ins_y
 
INS_FORMAT ins_z
 
INS_FORMAT ins_vx
 
INS_FORMAT ins_vy
 
INS_FORMAT ins_vz
 
INS_FORMAT ins_phi
 
INS_FORMAT ins_theta
 
INS_FORMAT ins_psi
 
INS_FORMAT ins_p
 
INS_FORMAT ins_q
 
INS_FORMAT ins_r
 
INS_FORMAT ins_ax
 
INS_FORMAT ins_ay
 
INS_FORMAT ins_az
 
INS_FORMAT ins_mx
 
INS_FORMAT ins_my
 
INS_FORMAT ins_mz
 
INS_FORMAT ins_roll_neutral
 driver for the VectorNav VN100 More...
 
INS_FORMAT ins_pitch_neutral
 
volatile uint8_t ins_msg_received
 
volatile uint8_t new_ins_attitude
 

Macro Definition Documentation

#define __InsLink (   dev,
  _x 
)    dev##_x

Definition at line 81 of file ins_module.h.

#define _InsLink (   dev,
  _x 
)    __InsLink(dev, _x)

Definition at line 82 of file ins_module.h.

#define INS_FORMAT   float

Definition at line 38 of file ins_module.h.

Referenced by parse_ins_msg().

#define InsBuffer ( )    InsLink(ChAvailable())

Definition at line 85 of file ins_module.h.

#define InsEventCheckAndHandle (   handler)
Value:
{ \
if (InsBuffer()) { \
} \
handler; \
} \
}
volatile uint8_t ins_msg_received
Definition: ins_vn100.c:49
#define InsBuffer()
Definition: ins_module.h:85
#define FALSE
Definition: imu_chimu.h:141
void parse_ins_msg(void)
Definition: ins_chimu_spi.c:70
#define LED_TOGGLE(i)
Definition: led_hw.h:30
#define ReadInsBuffer()
Definition: ins_module.h:86

!SITL

Definition at line 95 of file ins_module.h.

#define InsLink (   _x)    _InsLink(INS_LINK, _x)

Definition at line 83 of file ins_module.h.

Referenced by parse_ins_msg().

#define InsSend (   _dat,
  _len 
)    { for (uint8_t i = 0; i< (_len); i++) InsSend1(_dat[i]); };

Definition at line 89 of file ins_module.h.

Referenced by chimu_update_gps(), and ins_init().

#define InsSend1 (   c)    InsLink(Transmit(c))

Definition at line 87 of file ins_module.h.

Referenced by ins_init().

#define InsUartRunning   InsLink(TxRunning)

Definition at line 91 of file ins_module.h.

#define InsUartSend1 (   c)    InsSend1(c)

Definition at line 88 of file ins_module.h.

Referenced by ins_init().

#define InsUartSetBaudrate (   _b)    InsLink(SetBaudrate(_b))

Definition at line 90 of file ins_module.h.

#define ReadInsBuffer ( )    { while (InsLink(ChAvailable())&&!ins_msg_received) parse_ins_buffer(InsLink(Getch())); }

Definition at line 86 of file ins_module.h.

Function Documentation

void ins_init ( void  )

Definition at line 38 of file fw_ins_vn100.c.

void ins_periodic_task ( void  )

Definition at line 85 of file fw_ins_vn100.c.

void parse_ins_buffer ( uint8_t  )
void parse_ins_msg ( void  )

Definition at line 70 of file ins_chimu_spi.c.

Variable Documentation

INS_FORMAT ins_ax

Definition at line 63 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_ay

Definition at line 64 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_az

Definition at line 65 of file ins_xsens.c.

Referenced by parse_ins_msg().

volatile uint8_t ins_msg_received

Definition at line 49 of file ins_vn100.c.

INS_FORMAT ins_mx

Definition at line 67 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_my

Definition at line 68 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_mz

Definition at line 69 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_p

Definition at line 59 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_phi

Definition at line 55 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_pitch_neutral

Definition at line 15 of file ins_arduimu.c.

INS_FORMAT ins_psi

Definition at line 57 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_q

Definition at line 60 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_r

Definition at line 61 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_roll_neutral

driver for the VectorNav VN100

Definition at line 14 of file ins_arduimu.c.

INS_FORMAT ins_theta

Definition at line 56 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_vx

Definition at line 51 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_vy

Definition at line 52 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_vz

Definition at line 53 of file ins_xsens.c.

Referenced by handle_ins_msg(), and parse_ins_msg().

INS_FORMAT ins_x

Definition at line 47 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_y

Definition at line 48 of file ins_xsens.c.

Referenced by parse_ins_msg().

INS_FORMAT ins_z

Definition at line 49 of file ins_xsens.c.

Referenced by parse_ins_msg().

volatile uint8_t new_ins_attitude

Definition at line 36 of file ins_chimu_spi.c.

Referenced by ins_init(), and parse_ins_msg().