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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.


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_t 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

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 
)
void vn200_read_message ( void  )