Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
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 154 of file ins_xsens.c.

◆ 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()

Variable Documentation

◆ ins_ax

INS_FORMAT ins_ax

◆ ins_ay

INS_FORMAT ins_ay

◆ ins_az

INS_FORMAT ins_az

◆ ins_msg_received

volatile uint8_t ins_msg_received

Definition at line 64 of file ins_vn100.c.

Referenced by ins_event_check_and_handle().

◆ ins_mx

INS_FORMAT ins_mx

◆ ins_my

INS_FORMAT ins_my

◆ ins_mz

INS_FORMAT ins_mz

◆ ins_p

INS_FORMAT ins_p

◆ ins_phi

INS_FORMAT ins_phi

◆ ins_psi

INS_FORMAT ins_psi

◆ ins_q

INS_FORMAT ins_q

◆ ins_r

INS_FORMAT ins_r

◆ ins_theta

INS_FORMAT ins_theta

◆ ins_vx

INS_FORMAT ins_vx

◆ ins_vy

INS_FORMAT ins_vy

◆ ins_vz

INS_FORMAT ins_vz

◆ ins_x

INS_FORMAT ins_x

◆ ins_y

INS_FORMAT ins_y

◆ ins_z

INS_FORMAT ins_z

◆ new_ins_attitude

volatile uint8_t new_ins_attitude