Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
ins_vn100.h File Reference

Interface for the VectorNav VN100 AHRS use the binary protocal on the SPI link. More...

#include "std.h"
#include "VN100.h"
#include "math/pprz_algebra_float.h"
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Go to the source code of this file.

Macros

#define VN100_ADOR   VN100_ADOR_OFF
 
#define VN100_ADOF   VN100_ADOF_5HZ
 
#define VN100_BAUD   VN100_Baud_57600
 
#define INS_VN100_SET_BAUD   0
 
#define INS_VN100_SET_ADOR   1
 
#define INS_VN100_SET_ADOF   2
 
#define INS_VN100_READY   3
 
#define PERIODIC_SEND_AHRS(_chan, _dev)
 

Functions

void vn100_init (void)
 
void vn100_periodic_task (void)
 
void vn100_event_task (void)
 
void vn100_report_task (void)
 

Variables

float ins_roll_neutral
 
float ins_pitch_neutral
 
float ins_yaw_neutral
 
struct FloatEulers ins_eulers
 
struct FloatQuat ins_quat
 
struct FloatRates ins_rates
 
struct FloatRMat ins_rmat
 
struct FloatVect3 ins_accel
 
struct FloatVect3 ins_mag
 
volatile uint8_t ins_msg_received
 
VN100_Res_Packet last_received_packet
 
VN100_Req_Packet last_send_packet
 
uint32_t ins_ador
 
uint32_t ins_adof
 
uint32_t ins_baud
 
uint8_t ins_init_status
 

Detailed Description

Interface for the VectorNav VN100 AHRS use the binary protocal on the SPI link.

Definition in file ins_vn100.h.

Macro Definition Documentation

◆ INS_VN100_READY

#define INS_VN100_READY   3

Definition at line 81 of file ins_vn100.h.

◆ INS_VN100_SET_ADOF

#define INS_VN100_SET_ADOF   2

Definition at line 80 of file ins_vn100.h.

◆ INS_VN100_SET_ADOR

#define INS_VN100_SET_ADOR   1

Definition at line 79 of file ins_vn100.h.

◆ INS_VN100_SET_BAUD

#define INS_VN100_SET_BAUD   0

Definition at line 78 of file ins_vn100.h.

◆ PERIODIC_SEND_AHRS

#define PERIODIC_SEND_AHRS (   _chan,
  _dev 
)
Value:
DOWNLINK_SEND_AHRS_LKF(_chan, _dev, \

Definition at line 84 of file ins_vn100.h.

◆ VN100_ADOF

#define VN100_ADOF   VN100_ADOF_5HZ

Definition at line 70 of file ins_vn100.h.

◆ VN100_ADOR

#define VN100_ADOR   VN100_ADOR_OFF

Definition at line 67 of file ins_vn100.h.

◆ VN100_BAUD

#define VN100_BAUD   VN100_Baud_57600

Definition at line 73 of file ins_vn100.h.

Function Documentation

◆ vn100_event_task()

◆ vn100_init()

◆ vn100_periodic_task()

◆ vn100_report_task()

Variable Documentation

◆ ins_accel

struct FloatVect3 ins_accel

Definition at line 61 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

◆ ins_adof

uint32_t ins_adof

Definition at line 73 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

◆ ins_ador

uint32_t ins_ador

Definition at line 72 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

◆ ins_baud

uint32_t ins_baud

Definition at line 74 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

◆ ins_eulers

struct FloatEulers ins_eulers

Definition at line 57 of file ins_vn100.c.

Referenced by parse_ins_msg(), vn100_event_task(), and vn100_report_task().

◆ ins_init_status

uint8_t ins_init_status

Definition at line 76 of file ins_vn100.c.

Referenced by ins_configure(), and vn100_init().

◆ ins_mag

struct FloatVect3 ins_mag

Definition at line 62 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

◆ ins_msg_received

volatile uint8_t ins_msg_received

Definition at line 64 of file ins_vn100.c.

◆ ins_pitch_neutral

float ins_pitch_neutral

Definition at line 15 of file ins_arduimu.c.

◆ ins_quat

struct FloatQuat ins_quat

Definition at line 58 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

◆ ins_rates

struct FloatRates ins_rates

Definition at line 59 of file ins_vn100.c.

Referenced by parse_ins_msg(), vn100_event_task(), and vn100_report_task().

◆ ins_rmat

struct FloatRMat ins_rmat

Definition at line 60 of file ins_vn100.c.

◆ ins_roll_neutral

float ins_roll_neutral

Definition at line 14 of file ins_arduimu.c.

◆ ins_yaw_neutral

float ins_yaw_neutral

Definition at line 55 of file ins_vn100.c.

Referenced by vn100_init().

◆ last_received_packet

VN100_Res_Packet last_received_packet

Definition at line 67 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

◆ last_send_packet

VN100_Req_Packet last_send_packet

Definition at line 69 of file ins_vn100.c.

Referenced by ins_configure(), vn100_init(), and vn100_periodic_task().

FloatQuat::qz
float qz
Definition: pprz_algebra_float.h:67
ins_mag
struct FloatVect3 ins_mag
Definition: ins_vn100.c:62
ins_quat
struct FloatQuat ins_quat
Definition: ins_vn100.c:58
FloatEulers::theta
float theta
in radians
Definition: pprz_algebra_float.h:86
FloatEulers::phi
float phi
in radians
Definition: pprz_algebra_float.h:85
FloatRates::r
float r
in rad/s
Definition: pprz_algebra_float.h:96
FloatVect3::y
float y
Definition: pprz_algebra_float.h:56
FloatQuat::qx
float qx
Definition: pprz_algebra_float.h:65
FloatRates::q
float q
in rad/s
Definition: pprz_algebra_float.h:95
FloatVect3::x
float x
Definition: pprz_algebra_float.h:55
FloatQuat::qi
float qi
Definition: pprz_algebra_float.h:64
ins_rates
struct FloatRates ins_rates
Definition: ins_vn100.c:59
ins_eulers
struct FloatEulers ins_eulers
Definition: ins_vn100.c:57
FloatVect3::z
float z
Definition: pprz_algebra_float.h:57
ins_accel
struct FloatVect3 ins_accel
Definition: ins_vn100.c:61
FloatQuat::qy
float qy
Definition: pprz_algebra_float.h:66
FloatEulers::psi
float psi
in radians
Definition: pprz_algebra_float.h:87
FloatRates::p
float p
in rad/s
Definition: pprz_algebra_float.h:94