vn200_serial.c File Reference

Vectornav VN-200 INS subsystem. More...

#include "peripherals/vn200_serial.h"

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Functions
void	vn200_check_status (struct VNData *vn_data)
	Check INS status. More...
void	vn200_yaw_pitch_roll_to_attitude (struct FloatEulers *vn_attitude)
	Convert yaw, pitch, and roll data from VectorNav to correct attitude yaw(0), pitch(1), roll(2) -> phi, theta, psi [deg] -> rad. More...
static unsigned short	calculateCRC (unsigned char data[], unsigned int length)
	Calculates the 16-bit CRC for the given ASCII or binary message. More...
static bool	verify_chk (unsigned char data[], unsigned int length, uint16_t *calc_chk, uint16_t *rec_chk)
	Verify checksum. More...
static void	vn200_read_buffer (struct VNPacket *vnp)
void	vn200_event (struct VNPacket *vnp)
void	vn200_parse (struct VNPacket *vnp, uint8_t c)
	Packet Collection & state machine. More...
void	vn200_read_message (struct VNPacket *vn_packet, struct VNData *vn_data)
	Read received message and populate data struct with new measurements. 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.c.

Function Documentation

static unsigned short calculateCRC ( unsigned char  data[], unsigned int  length  )

inlinestatic

Calculates the 16-bit CRC for the given ASCII or binary message.

The CRC is calculated over the packet starting just after the sync byte (not including the sync byte) and ending at the end of payload.

Definition at line 70 of file vn200_serial.c.

References crc.

Referenced by verify_chk().

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static bool verify_chk ( unsigned char  data[], unsigned int  length, uint16_t *  calc_chk, uint16_t *  rec_chk  )

inlinestatic

Verify checksum.

Definition at line 88 of file vn200_serial.c.

References calculateCRC().

Referenced by vn200_parse().

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void vn200_check_status

(

struct VNData *

vn_data

)

Check INS status.

Definition at line 39 of file vn200_serial.c.

References VNData::err, VNData::ins_status, and VNData::mode.

Referenced by vn200_read_message().

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void vn200_event

(

struct VNPacket *

vnp

)

Definition at line 110 of file vn200_serial.c.

References uart_char_available(), and vn200_read_buffer().

Referenced by ahrs_vectornav_event(), imu_vectornav_event(), and ins_vectornav_event().

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void vn200_parse	(	struct VNPacket *	vnp,
		uint8_t	c
	)

Packet Collection & state machine.

Definition at line 121 of file vn200_serial.c.

References VNPacket::calc_chk, VNPacket::chksm_error, VNPacket::counter, VNPacket::datalength, VNPacket::hdr_error, VNPacket::msg_available, VNPacket::msg_buf, VNPacket::msg_idx, VNPacket::rec_chk, VNPacket::status, verify_chk(), VN_GROUP_BYTES, VN_HEADER_SIZE, VN_OUTPUT_GROUP, VN_PAYLOAD_SIZE, VN_SYNC, VNMsgData, VNMsgGroup, VNMsgHeader, and VNMsgSync.

Referenced by vn200_read_buffer().

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static void vn200_read_buffer ( struct VNPacket *  vnp )

inlinestatic

Definition at line 102 of file vn200_serial.c.

References VNPacket::msg_available, uart_char_available(), uart_getch(), and vn200_parse().

Referenced by vn200_event().

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void vn200_read_message	(	struct VNPacket *	vn_packet,
		struct VNData *	vn_data
	)

Read received message and populate data struct with new measurements.

Definition at line 180 of file vn200_serial.c.

References VNData::accel, VNData::attitude, VNData::gps_fix, VNData::gyro, idx, VNData::ins_status, VNData::lin_accel, VNPacket::msg_buf, VNData::nanostamp, VNData::num_sv, VNData::pos_lla, VNData::pos_u, VNData::timestamp, VNData::tow, VNData::vel_body, VNData::vel_ned, VNData::vel_u, vn200_check_status(), vn200_yaw_pitch_roll_to_attitude(), VN_HEADER_SIZE, and VNData::ypr_u.

Referenced by ahrs_vectornav_event(), imu_vectornav_event(), and ins_vectornav_event().

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void vn200_yaw_pitch_roll_to_attitude

(

struct FloatEulers *

vn_attitude

)

Convert yaw, pitch, and roll data from VectorNav to correct attitude yaw(0), pitch(1), roll(2) -> phi, theta, psi [deg] -> rad.

Definition at line 52 of file vn200_serial.c.

References FloatEulers::phi, FloatEulers::psi, and FloatEulers::theta.

Referenced by vn200_read_message().

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