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navdata.h File Reference

ardrone2 navdata aquisition driver. More...

#include <stdint.h>
#include <sys/types.h>
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Data Structures

struct  measures_t
 
struct  bmp180_baro_calibration
 
struct  navdata_port
 

Macros

#define NAVDATA_BUFFER_SIZE   80
 

Functions

bool_t navdata_init (void)
 
void navdata_read (void)
 
void navdata_update (void)
 
int16_t navdata_height (void)
 
ssize_t full_write (int fd, const uint8_t *buf, size_t count)
 
ssize_t full_read (int fd, uint8_t *buf, size_t count)
 

Variables

measures_t navdata
 
navdata_port nav_port
 
struct bmp180_baro_calibration baro_calibration
 
navdata_portport
 
uint16_t navdata_cks
 
uint8_t navdata_imu_available
 
uint8_t navdata_baro_available
 
uint8_t baro_calibrated
 

Detailed Description

ardrone2 navdata aquisition driver.

The ardrone2 provides a navdata stream of packets containing info about all sensors at a rate of 200Hz.

Definition in file navdata.h.

Macro Definition Documentation

#define NAVDATA_BUFFER_SIZE   80

Definition at line 98 of file navdata.h.

Referenced by navdata_cropbuffer(), and navdata_read().

Function Documentation

ssize_t full_read ( int  fd,
uint8_t buf,
size_t  count 
)

Definition at line 93 of file navdata.c.

Referenced by acquire_baro_calibration(), actuators_ardrone_cmd(), and ahrs_propagate().

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ssize_t full_write ( int  fd,
const uint8_t buf,
size_t  count 
)

Definition at line 75 of file navdata.c.

Referenced by actuators_ardrone_cmd(), actuators_ardrone_set_leds(), actuators_ardrone_set_pwm(), and navdata_write().

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int16_t navdata_height ( void  )
void navdata_read ( void  )

Definition at line 277 of file navdata.c.

References navdata_port::buffer, navdata_port::bytesRead, nav_fd, NAVDATA_BUFFER_SIZE, and navdata_port::totalBytesRead.

Referenced by navdata_update().

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Variable Documentation

uint8_t baro_calibrated

Definition at line 117 of file navdata.h.

Referenced by acquire_baro_calibration(), ardrone_baro_event(), and navdata_init().

struct bmp180_baro_calibration baro_calibration
navdata_port nav_port

Definition at line 55 of file navdata.c.

measures_t navdata

Definition at line 57 of file navdata.c.

Referenced by ardrone_baro_event(), and imu_ardrone2_event().

uint8_t navdata_baro_available

Definition at line 116 of file navdata.h.

Referenced by ardrone_baro_event(), baro_update_logic(), and navdata_init().

uint16_t navdata_cks

Definition at line 114 of file navdata.h.

uint8_t navdata_imu_available

Definition at line 115 of file navdata.h.

Referenced by imu_ardrone2_event(), navdata_init(), and navdata_update().

navdata_port* port

Definition at line 113 of file navdata.h.

Referenced by port_of_gpio(), uart_handler(), uart_periph_set_baudrate(), and uart_transmit().