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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"
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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 ins_init (void)
 
void ins_periodic_task (void)
 
void ins_event_task (void)
 
void ins_report_task (void)
 
void parse_ins_msg (void)
 

Variables

float ins_roll_neutral
 driver for the VectorNav VN100 More...
 
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 84 of file ins_vn100.h.

Referenced by ins_configure().

#define INS_VN100_SET_ADOF   2

Definition at line 83 of file ins_vn100.h.

Referenced by ins_configure().

#define INS_VN100_SET_ADOR   1

Definition at line 82 of file ins_vn100.h.

Referenced by ins_configure().

#define INS_VN100_SET_BAUD   0

Definition at line 81 of file ins_vn100.h.

Referenced by ins_configure(), and ins_init().

#define PERIODIC_SEND_AHRS (   _chan,
  _dev 
)
Value:
DOWNLINK_SEND_AHRS_LKF(_chan, _dev, \
struct FloatVect3 ins_accel
Definition: ins_vn100.c:46
struct FloatQuat ins_quat
Definition: ins_vn100.c:43
struct FloatEulers ins_eulers
Definition: ins_vn100.c:42
float psi
in radians
float theta
in radians
struct FloatVect3 ins_mag
Definition: ins_vn100.c:47
float p
in rad/s^2
float phi
in radians
struct FloatRates ins_rates
Definition: ins_vn100.c:44
float r
in rad/s^2
float q
in rad/s^2

Definition at line 87 of file ins_vn100.h.

#define VN100_ADOF   VN100_ADOF_5HZ

Definition at line 73 of file ins_vn100.h.

Referenced by ins_init().

#define VN100_ADOR   VN100_ADOR_OFF

Definition at line 70 of file ins_vn100.h.

Referenced by ins_init().

#define VN100_BAUD   VN100_Baud_57600

Definition at line 76 of file ins_vn100.h.

Referenced by ins_init().

Function Documentation

void ins_event_task ( void  )
void ins_init ( void  )

Definition at line 38 of file fw_ins_vn100.c.

void parse_ins_msg ( void  )

Definition at line 70 of file ins_chimu_spi.c.

References LlaCoor_i::alt, UtmCoor_i::alt, CHIMU_Msg_3_IMU_Attitude, CHIMU_Parse(), SVinfo::cno, VN100_Res_Packet::Data, DefaultChannel, DefaultDevice, UtmCoor_f::east, UtmCoor_i::east, VN100_Res_Packet::ErrID, EstimatorSetAtt, EstimatorSetRate, CHIMU_attitude_data::euler, GpsState::fix, SVinfo::flags, VN100_Param::Float, FLOAT_EULERS_OF_QUAT, gps, GPS_FIX_2D, GPS_FIX_3D, GPS_FIX_NONE, GPS_NB_CHANNELS, GpsState::hmsl, ins_accel, ins_adof, ins_ador, ins_ax, ins_ay, ins_az, ins_baud, ins_eulers, INS_FORMAT, ins_mag, ins_mx, ins_my, ins_mz, ins_p, ins_phi, ins_psi, ins_q, ins_quat, ins_r, ins_rates, ins_theta, ins_vx, ins_vy, ins_vz, ins_x, ins_y, ins_z, InsLink, GpsState::last_fix_time, LlaCoor_f::lat, LlaCoor_i::lat, LED_TOGGLE, lla_f, GpsState::lla_pos, LlaCoor_f::lon, LlaCoor_i::lon, CHIMU_PARSER_DATA::m_attitude, CHIMU_PARSER_DATA::m_attrates, CHIMU_PARSER_DATA::m_MsgID, CHIMU_PARSER_DATA::m_sensor, Min, nav_utm_zone0, GpsState::nb_channels, sys_time::nb_sec, GpsState::ned_vel, new_ins_attitude, UtmCoor_f::north, UtmCoor_i::north, GpsState::num_sv, FloatRates::p, GpsState::pacc, GpsState::pdop, FloatEulers::phi, CHIMU_Euler::phi, FloatEulers::psi, CHIMU_Euler::psi, FloatRates::q, SVinfo::qi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, CHIMU_sensor_data::rate, VN100_Res_Packet::RegID, GpsState::sacc, SVinfo::svid, GpsState::svinfos, FloatEulers::theta, CHIMU_Euler::theta, GpsState::tow, VN100_Param::UInt, utm_f, utm_of_lla_f(), GpsState::utm_pos, VN100_Error_None, VN100_REG_ADOF, VN100_REG_ADOR, VN100_REG_QAR, VN100_REG_QMA, VN100_REG_QMR, VN100_REG_QTA, VN100_REG_QTM, VN100_REG_QTN, VN100_REG_QTR, VN100_REG_SBAUD, VN100_REG_YMR, VN100_REG_YPR, GpsState::week, WGS84_ELLIPSOID_TO_GEOID, FloatVect3::x, NedCoor_i::x, xsens_day, xsens_declination, xsens_errorcode, xsens_gps_arm_x, xsens_gps_arm_y, xsens_gps_arm_z, xsens_hour, xsens_id, xsens_len, xsens_min, xsens_month, xsens_msg_buf, xsens_msg_status, xsens_msg_statusword, xsens_nanosec, xsens_output_mode, xsens_output_settings, xsens_sec, xsens_time_stamp, xsens_year, FloatVect3::y, NedCoor_i::y, FloatVect3::z, NedCoor_i::z, UtmCoor_f::zone, and UtmCoor_i::zone.

Referenced by ins_event_task().

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Variable Documentation

struct FloatVect3 ins_accel

Definition at line 46 of file ins_vn100.c.

Referenced by ins_report_task(), and parse_ins_msg().

uint32_t ins_adof

Definition at line 58 of file ins_vn100.c.

Referenced by ins_init(), and parse_ins_msg().

uint32_t ins_ador

Definition at line 57 of file ins_vn100.c.

Referenced by ins_init(), and parse_ins_msg().

uint32_t ins_baud

Definition at line 59 of file ins_vn100.c.

Referenced by ins_init(), and parse_ins_msg().

struct FloatEulers ins_eulers

Definition at line 42 of file ins_vn100.c.

Referenced by ins_event_task(), ins_report_task(), and parse_ins_msg().

uint8_t ins_init_status

Definition at line 61 of file ins_vn100.c.

Referenced by ins_configure(), and ins_init().

struct FloatVect3 ins_mag

Definition at line 47 of file ins_vn100.c.

Referenced by ins_report_task(), and parse_ins_msg().

volatile uint8_t ins_msg_received

Definition at line 49 of file ins_vn100.c.

Referenced by parse_ins_buffer().

float ins_pitch_neutral

Definition at line 15 of file ins_arduimu.c.

struct FloatQuat ins_quat

Definition at line 43 of file ins_vn100.c.

Referenced by ins_report_task(), and parse_ins_msg().

struct FloatRates ins_rates

Definition at line 44 of file ins_vn100.c.

Referenced by ins_report_task(), and parse_ins_msg().

struct FloatRMat ins_rmat

Definition at line 45 of file ins_vn100.c.

float ins_roll_neutral

driver for the VectorNav VN100

Definition at line 14 of file ins_arduimu.c.

float ins_yaw_neutral

Definition at line 40 of file ins_vn100.c.

Referenced by ins_init().

VN100_Res_Packet last_received_packet

Definition at line 52 of file ins_vn100.c.

Referenced by ins_configure(), and ins_periodic_task().

VN100_Req_Packet last_send_packet

Definition at line 54 of file ins_vn100.c.

Referenced by ins_configure(), and ins_periodic_task().