Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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ins_arduimu.c File Reference
#include <stdbool.h>
#include "modules/ins/ins_arduimu.h"
#include "firmwares/fixedwing/main_fbw.h"
#include "mcu_periph/i2c.h"
#include "state.h"
#include "subsystems/gps.h"
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
+ Include dependency graph for ins_arduimu.c:

Go to the source code of this file.

Macros

#define ARDUIMU_I2C_DEV   i2c0
 
#define ArduIMU_SLAVE_ADDR   0x22
 

Functions

void ArduIMU_init (void)
 
void ArduIMU_periodicGPS (void)
 
void ArduIMU_periodic (void)
 
void IMU_Daten_verarbeiten (void)
 

Variables

int32_t GPS_Data [14]
 
struct i2c_transaction ardu_gps_trans
 
struct i2c_transaction ardu_ins_trans
 
static int16_t recievedData [NB_DATA]
 
float ArduIMU_data [NB_DATA]
 ArduIMU simulation. More...
 
int8_t messageNr
 
int8_t imu_daten_angefordert
 
int8_t gps_daten_abgespeichert
 
int8_t gps_daten_versendet_msg1
 
int8_t gps_daten_versendet_msg2
 
float ins_roll_neutral
 
float ins_pitch_neutral
 
float throttle_slew
 

Macro Definition Documentation

#define ARDUIMU_I2C_DEV   i2c0

Definition at line 24 of file ins_arduimu.c.

Referenced by ArduIMU_periodic(), and ArduIMU_periodicGPS().

#define ArduIMU_SLAVE_ADDR   0x22

Definition at line 30 of file ins_arduimu.c.

Referenced by ArduIMU_periodic(), and ArduIMU_periodicGPS().

Function Documentation

void ArduIMU_periodic ( void  )

Definition at line 165 of file ins_arduimu.c.

References ardu_ins_trans, ARDUIMU_I2C_DEV, ArduIMU_SLAVE_ADDR, i2c_receive(), imu_daten_angefordert, IMU_Daten_verarbeiten(), and TRUE.

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Variable Documentation

struct i2c_transaction ardu_gps_trans

Definition at line 37 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

struct i2c_transaction ardu_ins_trans

Definition at line 38 of file ins_arduimu.c.

Referenced by ArduIMU_periodic(), and IMU_Daten_verarbeiten().

float ArduIMU_data[NB_DATA]

ArduIMU simulation.

Sim provides attitude.

Definition at line 41 of file ins_arduimu.c.

int32_t GPS_Data[14]

Definition at line 21 of file ins_arduimu.c.

Referenced by ArduIMU_periodicGPS().

int8_t gps_daten_abgespeichert

Definition at line 44 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

int8_t gps_daten_versendet_msg1

Definition at line 45 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

int8_t gps_daten_versendet_msg2

Definition at line 46 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

int8_t imu_daten_angefordert
float ins_pitch_neutral

Definition at line 49 of file ins_arduimu.c.

float ins_roll_neutral
Todo:
harmonize infrared neutrals with ins_neutrals or get rid of ins neutrals this ins only needed for sim right now

Definition at line 48 of file ins_arduimu.c.

int8_t messageNr

Definition at line 42 of file ins_arduimu.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

int16_t recievedData[NB_DATA]
static

Definition at line 40 of file ins_arduimu.c.

Referenced by IMU_Daten_verarbeiten().

float throttle_slew

Definition at line 51 of file ins_arduimu.c.