vn200_serial.h File Reference

Vectornav VN-200 INS subsystem. More...

#include "std.h"
#include "mcu_periph/uart.h"

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Data Structures
struct	VNPacket

Macros
#define	VN_SYNC   0xFA
#define	VN_OUTPUT_GROUP   0x39
#define	VN_GROUP_BYTES   8
#define	VN_BUFFER_SIZE   512
#define	VN_HEADER_SIZE   9
#define	VN_PAYLOAD_SIZE   144

Enumerations
enum	VNMsgStatus {   VNMsgSync, VNMsgHeader, VNMsgGroup, VNMsgData,   VNMsgCheck }
enum	VNStatus { VNNotTracking, VNOutOfSpecs, VNOK }

Functions
void	vn200_event (struct VNPacket *vnp)
void	vn200_read_message (void)
void	vn200_parse (struct VNPacket *vnp, uint8_t c)
	Packet Collection & state machine. More...

Detailed Description

Vectornav VN-200 INS subsystem.

Author

Michal Podhradsky micha.nosp@m.l.po.nosp@m.dhrad.nosp@m.sky@.nosp@m.aggie.nosp@m.mail.nosp@m..usu..nosp@m.edu

Definition in file vn200_serial.h.

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Data Structure Documentation

struct VNPacket

Definition at line 55 of file vn200_serial.h.

Data Fields
uint16_t	calc_chk
uint32_t	chksm_error
uint16_t	counter
uint16_t	datalength
uint16_t	framing_error
uint32_t	hdr_error
bool	msg_available
uint8_t	msg_buf[VN_BUFFER_SIZE]
uint8_t	msg_idx
uint16_t	noise_error
uint16_t	overrun_error
uint16_t	rec_chk
enum VNMsgStatus	status

Macro Definition Documentation

#define VN_BUFFER_SIZE   512

Definition at line 42 of file vn200_serial.h.

#define VN_GROUP_BYTES   8

Definition at line 40 of file vn200_serial.h.

Referenced by vn200_parse().

#define VN_HEADER_SIZE   9

Definition at line 43 of file vn200_serial.h.

Referenced by ins_vectornav_read_message(), and vn200_parse().

#define VN_OUTPUT_GROUP   0x39

Definition at line 39 of file vn200_serial.h.

Referenced by vn200_parse().

#define VN_PAYLOAD_SIZE   144

Definition at line 44 of file vn200_serial.h.

Referenced by vn200_parse().

#define VN_SYNC   0xFA

Definition at line 38 of file vn200_serial.h.

Referenced by vn200_parse().

Enumeration Type Documentation

enum VNMsgStatus

Enumerator
VNMsgSync
VNMsgHeader
VNMsgGroup
VNMsgData
VNMsgCheck

Definition at line 47 of file vn200_serial.h.

enum VNStatus

Enumerator
VNNotTracking
VNOutOfSpecs
VNOK

Definition at line 71 of file vn200_serial.h.

Function Documentation

void vn200_event

(

struct VNPacket *

vnp

)

Definition at line 77 of file vn200_serial.c.

References uart_char_available(), and vn200_read_buffer().

Referenced by ins_vectornav_event().

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void vn200_parse	(	struct VNPacket *	vnp,
		uint8_t	c
	)

Packet Collection & state machine.

Definition at line 87 of file vn200_serial.c.

References VNPacket::calc_chk, VNPacket::chksm_error, VNPacket::counter, VNPacket::datalength, VNPacket::hdr_error, VNPacket::msg_available, VNPacket::msg_buf, VNPacket::msg_idx, VNPacket::rec_chk, VNPacket::status, verify_chk(), VN_GROUP_BYTES, VN_HEADER_SIZE, VN_OUTPUT_GROUP, VN_PAYLOAD_SIZE, VN_SYNC, VNMsgData, VNMsgGroup, VNMsgHeader, and VNMsgSync.

Referenced by vn200_read_buffer().

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void vn200_read_message

(

void

)