mag_pitot_uart.c File Reference

#include "modules/sensors/mag_pitot_uart.h"
#include "pprzlink/pprz_transport.h"
#include "pprzlink/intermcu_msg.h"
#include "mcu_periph/uart.h"
#include "subsystems/abi.h"
#include "subsystems/imu.h"
#include "state.h"
#include "subsystems/datalink/telemetry.h"

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Functions
static void	mag_pitot_raw_downlink (struct transport_tx *trans, struct link_device *dev)
void	mag_pitot_init ()
static void	mag_pitot_parse_msg (void)
void	mag_pitot_event ()

Variables
static struct mag_pitot_t	mag_pitot
static uint8_t	mp_msg_buf [128]
	The message buffer for the Magneto and pitot. More...

Detailed Description

Author

C. De Wagter Remotely located magnetometer and pitot tube over uart (RS232) communication

Definition in file mag_pitot_uart.c.

Function Documentation

mag_pitot_event()

void mag_pitot_event

(

)

Definition at line 128 of file mag_pitot_uart.c.

References mag_pitot_t::device, mag_pitot, mag_pitot_parse_msg(), mp_msg_buf, mag_pitot_t::msg_available, and mag_pitot_t::transport.

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mag_pitot_init()

void mag_pitot_init

(

)

Definition at line 55 of file mag_pitot_uart.c.

References DefaultPeriodic, mag_pitot_t::imu_to_mag, IMU_TO_MAG_PHI, IMU_TO_MAG_PSI, IMU_TO_MAG_THETA, mag_pitot, mag_pitot_raw_downlink(), orientationSetEulers_f(), register_periodic_telemetry(), and mag_pitot_t::transport.

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mag_pitot_parse_msg()

static void mag_pitot_parse_msg ( void  )

inlinestatic

Definition at line 70 of file mag_pitot_uart.c.

References get_sys_time_usec(), imu, IMU_MAG_PITOT_ID, imu_scale_mag(), mag_pitot_t::imu_to_mag, int32_rmat_vmult(), Imu::mag, mag_pitot, Imu::mag_unscaled, mp_msg_buf, orientationGetRMat_i(), Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by mag_pitot_event().

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mag_pitot_raw_downlink()

static void mag_pitot_raw_downlink ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 47 of file mag_pitot_uart.c.

References dev, imu, Imu::mag_unscaled, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by mag_pitot_init().

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Variable Documentation

mag_pitot

struct mag_pitot_t mag_pitot

static

Initial value:

= {
  .device = (&((MAG_PITOT_PORT).device)),
  .msg_available = false
}

Definition at line 37 of file mag_pitot_uart.c.

Referenced by mag_pitot_event(), mag_pitot_init(), and mag_pitot_parse_msg().

mp_msg_buf

uint8_t mp_msg_buf[128]

static

The message buffer for the Magneto and pitot.

Definition at line 41 of file mag_pitot_uart.c.

Referenced by mag_pitot_event(), and mag_pitot_parse_msg().