infrared.h File Reference

#include "std.h"
#include "generated/airframe.h"

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Data Structures
struct	Infrared_raw
struct	Infrared
	Infrared structure. More...

Macros
#define	IR_IR1_SIGN   1
#define	IR_IR2_SIGN   1
#define	IR_TOP_SIGN   1
#define	IR_TopOfIr(_ir)   (_ir)
#define	IR_LATERAL_CORRECTION   1.
#define	IR_LONGITUDINAL_CORRECTION   1.
#define	IR_VERTICAL_CORRECTION   1.
#define	IR_CORRECTION_LEFT   1.
#define	IR_CORRECTION_RIGHT   1.
#define	IR_CORRECTION_UP   1.
#define	IR_CORRECTION_DOWN   1.
#define	IR_ROLL_NEUTRAL_DEFAULT   0.0
#define	IR_PITCH_NEUTRAL_DEFAULT   0.0
#define	UpdateIRValue(_v)

Functions
void	infrared_struct_init (void)
	Initialisation of ir structure. More...
void	infrared_init (void)
void	infrared_update (void)
void	infrared_event (void)

Variables
struct Infrared	infrared

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Data Structure Documentation

struct Infrared_raw

Definition at line 109 of file infrared.h.

Data Fields
int16_t	ir1
int16_t	ir2
int16_t	ir3

struct Infrared

Infrared structure.

Definition at line 118 of file infrared.h.

Collaboration diagram for Infrared:

Data Fields
float	correction_down
float	correction_left
float	correction_right
float	correction_up
float	lateral_correction
float	longitudinal_correction
int16_t	pitch
float	pitch_neutral
float	pitch_vneutral
int16_t	roll
float	roll_neutral
int16_t	top
struct Infrared_raw	value
float	vertical_correction

Macro Definition Documentation

#define IR_CORRECTION_DOWN   1.

Definition at line 94 of file infrared.h.

Referenced by infrared_struct_init().

#define IR_CORRECTION_LEFT   1.

Definition at line 82 of file infrared.h.

Referenced by infrared_struct_init().

#define IR_CORRECTION_RIGHT   1.

Definition at line 86 of file infrared.h.

Referenced by infrared_struct_init().

#define IR_CORRECTION_UP   1.

Definition at line 90 of file infrared.h.

Referenced by infrared_struct_init().

#define IR_IR1_SIGN   1

Definition at line 34 of file infrared.h.

#define IR_IR2_SIGN   1

Definition at line 38 of file infrared.h.

#define IR_LATERAL_CORRECTION   1.

Definition at line 70 of file infrared.h.

Referenced by infrared_struct_init().

#define IR_LONGITUDINAL_CORRECTION   1.

Definition at line 74 of file infrared.h.

Referenced by infrared_struct_init().

#define IR_PITCH_NEUTRAL_DEFAULT   0.0

Definition at line 106 of file infrared.h.

Referenced by infrared_struct_init().

#define IR_ROLL_NEUTRAL_DEFAULT   0.0

Definition at line 102 of file infrared.h.

Referenced by infrared_struct_init().

#define IR_TOP_SIGN   1

Definition at line 42 of file infrared.h.

#define IR_TopOfIr

(

_ir

)

(_ir)

Definition at line 62 of file infrared.h.

#define IR_VERTICAL_CORRECTION   1.

Definition at line 78 of file infrared.h.

Referenced by infrared_struct_init().

#define UpdateIRValue

(

_v

)

Value:

{                  \
    infrared.value.ir1 = (IR_IR1_SIGN)*_v.ir1; \
    infrared.value.ir2 = (IR_IR2_SIGN)*_v.ir2; \
    infrared.value.ir3 = (IR_TOP_SIGN)*_v.ir3; \
    infrared.roll = infrared.lateral_correction * IR_RollOfIrs(infrared.value.ir1, infrared.value.ir2); \
    infrared.pitch = infrared.longitudinal_correction * IR_PitchOfIrs(infrared.value.ir1, infrared.value.ir2); \
    infrared.top = infrared.vertical_correction * IR_TopOfIr(infrared.value.ir3); \
  }

Definition at line 149 of file infrared.h.

Referenced by infrared_adc_update(), infrared_i2c_hor_event(), and infrared_i2c_ver_event().

Function Documentation

void infrared_event

(

void

)

Definition at line 66 of file infrared_adc.c.

References infrared_i2cEvent.

void infrared_init

(

void

)

Definition at line 55 of file infrared_adc.c.

References infrared_adc_init(), and infrared_i2c_init().

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void infrared_struct_init

(

void

)

Initialisation of ir structure.

Definition at line 34 of file infrared.c.

References Infrared::correction_down, Infrared::correction_left, Infrared::correction_right, Infrared::correction_up, infrared, IR_CORRECTION_DOWN, IR_CORRECTION_LEFT, IR_CORRECTION_RIGHT, IR_CORRECTION_UP, IR_LATERAL_CORRECTION, IR_LONGITUDINAL_CORRECTION, IR_PITCH_NEUTRAL_DEFAULT, IR_ROLL_NEUTRAL_DEFAULT, IR_VERTICAL_CORRECTION, Infrared::lateral_correction, Infrared::longitudinal_correction, Infrared::pitch_neutral, Infrared::roll_neutral, and Infrared::vertical_correction.

Referenced by infrared_adc_init(), and infrared_i2c_init().

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void infrared_update

(

void

)

Definition at line 60 of file infrared_adc.c.

References infrared_adc_update(), and infrared_i2c_update().

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Variable Documentation

struct Infrared infrared

Definition at line 30 of file infrared.c.

Referenced by ahrs_infrared_periodic(), firmware_parse_msg(), infrared_struct_init(), send_infrared(), send_status(), and set_ir_and_airspeed().