ahrs_chimu_spi.c File Reference

#include <stdbool.h>
#include "mcu_periph/spi.h"
#include "mcu_periph/spi_slave_hs_arch.h"
#include "state.h"
#include "subsystems/gps.h"
#include "subsystems/ahrs.h"
#include "generated/airframe.h"
#include "ins_module.h"
#include "imu_chimu.h"
#include "ahrs_chimu.h"
#include "led.h"
#include "subsystems/abi.h"

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Macros
#define	AHRS_CHIMU_GPS_ID   GPS_MULTI_ID
	ABI binding for gps data. More...

Functions
void	ahrs_chimu_update_gps (uint8_t gps_fix, uint16_t gps_speed_3d)
static void	gps_cb (uint8_t sender_id, uint32_t stamp, struct GpsState *gps_s)
static bool	ahrs_chimu_enable_output (bool enable)
void	ahrs_chimu_register (void)
void	ahrs_chimu_init (void)
void	parse_ins_msg (void)

Variables
CHIMU_PARSER_DATA	CHIMU_DATA
INS_FORMAT	ins_roll_neutral
INS_FORMAT	ins_pitch_neutral
struct AhrsChimu	ahrs_chimu
static abi_event	gps_ev

Macro Definition Documentation

#define AHRS_CHIMU_GPS_ID   GPS_MULTI_ID

ABI binding for gps data.

Used for GPS ABI messages.

Definition at line 47 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_register().

Function Documentation

static bool ahrs_chimu_enable_output ( bool  enable )

static

Definition at line 58 of file ahrs_chimu_spi.c.

References ahrs_chimu, and AhrsChimu::is_enabled.

Referenced by ahrs_chimu_register().

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void ahrs_chimu_init

(

void

)

Definition at line 71 of file ahrs_chimu_spi.c.

References ahrs_chimu, CHIMU_BROADCAST, CHIMU_Checksum(), CHIMU_Init(), CHIMU_STX, ins_pitch_neutral, INS_PITCH_NEUTRAL_DEFAULT, ins_roll_neutral, INS_ROLL_NEUTRAL_DEFAULT, InsSend, InsSend1, AhrsChimu::is_aligned, AhrsChimu::is_enabled, MSG09_ESTIMATOR, MSG10_UARTSETTINGS, and new_ins_attitude.

Referenced by ahrs_chimu_register().

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void ahrs_chimu_register

(

void

)

Definition at line 64 of file ahrs_chimu_spi.c.

References ahrs_chimu_enable_output(), AHRS_CHIMU_GPS_ID, ahrs_chimu_init(), ahrs_register_impl(), gps_cb(), and gps_ev.

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void ahrs_chimu_update_gps	(	uint8_t	gps_fix,
		uint16_t	gps_speed_3d
	)

Definition at line 150 of file ahrs_chimu_spi.c.

References CHIMU_Checksum(), FloatSwap, GpsFixValid, and InsSend.

Referenced by gps_cb().

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static void gps_cb ( uint8_t  sender_id, uint32_t  stamp, struct GpsState *  gps_s  )

static

Definition at line 51 of file ahrs_chimu_spi.c.

References ahrs_chimu_update_gps().

Referenced by ahrs_chimu_register().

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static void parse_ins_msg ( void  )

inline

Definition at line 107 of file ahrs_chimu_spi.c.

Variable Documentation

struct AhrsChimu ahrs_chimu

Definition at line 38 of file ahrs_chimu_spi.c.

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

CHIMU_PARSER_DATA CHIMU_DATA

Definition at line 33 of file ahrs_chimu_spi.c.

abi_event gps_ev

static

Definition at line 50 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_register().

INS_FORMAT ins_pitch_neutral

Definition at line 36 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_init().

INS_FORMAT ins_roll_neutral

Definition at line 35 of file ahrs_chimu_spi.c.

Referenced by ahrs_chimu_init().