ins_module.h File Reference

Device independent INS code. More...

#include "std.h"
#include "modules/ins/ins.h"
#include "pprzlink/pprzlink_device.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/spi.h"

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Macros
#define	INS_FORMAT   float
#define	InsLinkDevice   (&((INS_LINK).device))
#define	InsSend1(c)   InsLinkDevice->put_byte(InsLinkDevice->periph, 0, c)
#define	InsUartSend1(c)   InsSend1(c)
#define	InsSend(_dat, _len)   { for (uint8_t i = 0; i< (_len); i++) InsSend1(_dat[i]); };
#define	InsUartSetBaudrate(_b)   uart_periph_set_baudrate(INS_LINK, _b)

Functions
void	handle_ins_msg (void)
void	parse_ins_msg (void)
void	parse_ins_buffer (uint8_t)
static void	ins_event_check_and_handle (void(*handler)(void))
	!SITL More...

Variables
INS_FORMAT	ins_x
INS_FORMAT	ins_y
INS_FORMAT	ins_z
INS_FORMAT	ins_vx
INS_FORMAT	ins_vy
INS_FORMAT	ins_vz
INS_FORMAT	ins_phi
INS_FORMAT	ins_theta
INS_FORMAT	ins_psi
INS_FORMAT	ins_p
INS_FORMAT	ins_q
INS_FORMAT	ins_r
INS_FORMAT	ins_ax
INS_FORMAT	ins_ay
INS_FORMAT	ins_az
INS_FORMAT	ins_mx
INS_FORMAT	ins_my
INS_FORMAT	ins_mz
volatile uint8_t	ins_msg_received
volatile uint8_t	new_ins_attitude

Detailed Description

Device independent INS code.

Definition in file ins_module.h.

Macro Definition Documentation

INS_FORMAT

#define INS_FORMAT   float

Definition at line 35 of file ins_module.h.

InsLinkDevice

#define InsLinkDevice   (&((INS_LINK).device))

Definition at line 76 of file ins_module.h.

InsSend

#define InsSend	(		_dat,
			_len
	)		{ for (uint8_t i = 0; i< (_len); i++) InsSend1(_dat[i]); };

Definition at line 84 of file ins_module.h.

InsSend1

#define InsSend1

(

c

)

InsLinkDevice->put_byte(InsLinkDevice->periph, 0, c)

Definition at line 82 of file ins_module.h.

InsUartSend1

#define InsUartSend1

(

c

)

InsSend1(c)

Definition at line 83 of file ins_module.h.

InsUartSetBaudrate

#define InsUartSetBaudrate

(

_b

)

uart_periph_set_baudrate(INS_LINK, _b)

Definition at line 85 of file ins_module.h.

Function Documentation

handle_ins_msg()

void handle_ins_msg

(

void

)

Definition at line 150 of file ins_xsens.c.

References FLOAT_VECT2_NORM, float_vect3_norm(), GPS_FIX_3D, GPS_VALID_COURSE_BIT, Xsens::new_attitude, new_ins_attitude, update_state_interface(), Xsens::vel, FloatVect3::x, xsens, and FloatVect3::y.

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ins_event_check_and_handle()

static void ins_event_check_and_handle ( void(*)(void)  handler )

inlinestatic

!SITL

Definition at line 89 of file ins_module.h.

References dev, ins_msg_received, InsLinkDevice, parse_ins_buffer(), and parse_ins_msg().

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parse_ins_buffer()

void parse_ins_buffer

(

uint8_t

)

Referenced by ins_event_check_and_handle().

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parse_ins_msg()

void parse_ins_msg ( void  )

inline

Definition at line 107 of file ahrs_chimu_spi.c.

References ahrs_chimu, AHRS_COMP_ID_CHIMU, CHIMU_DATA, CHIMU_Msg_3_IMU_Attitude, CHIMU_Parse(), DefaultChannel, DefaultDevice, dev, CHIMU_attitude_data::euler, InsLinkDevice, AhrsChimu::is_aligned, AhrsChimu::is_enabled, LED_TOGGLE, CHIMU_PARSER_DATA::m_attitude, CHIMU_PARSER_DATA::m_attrates, CHIMU_PARSER_DATA::m_MsgID, CHIMU_PARSER_DATA::m_sensor, new_ins_attitude, CHIMU_Euler::phi, CHIMU_Euler::psi, CHIMU_sensor_data::rate, stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), and CHIMU_Euler::theta.

Referenced by ins_event_check_and_handle().

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Variable Documentation

ins_ax

INS_FORMAT ins_ax

extern

ins_ay

INS_FORMAT ins_ay

extern

ins_az

INS_FORMAT ins_az

extern

ins_msg_received

volatile uint8_t ins_msg_received

extern

Definition at line 64 of file ins_vn100.c.

Referenced by ins_event_check_and_handle().

ins_mx

INS_FORMAT ins_mx

extern

ins_my

INS_FORMAT ins_my

extern

ins_mz

INS_FORMAT ins_mz

extern

ins_p

INS_FORMAT ins_p

extern

ins_phi

INS_FORMAT ins_phi

extern

ins_psi

INS_FORMAT ins_psi

extern

ins_q

INS_FORMAT ins_q

extern

ins_r

INS_FORMAT ins_r

extern

ins_theta

INS_FORMAT ins_theta

extern

ins_vx

INS_FORMAT ins_vx

extern

ins_vy

INS_FORMAT ins_vy

extern

ins_vz

INS_FORMAT ins_vz

extern

ins_x

INS_FORMAT ins_x

extern

ins_y

INS_FORMAT ins_y

extern

ins_z

INS_FORMAT ins_z

extern

new_ins_attitude

volatile uint8_t new_ins_attitude

extern

Referenced by ahrs_chimu_init(), handle_ins_msg(), and parse_ins_msg().