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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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

#define INS_VN100_READY   3

Definition at line 81 of file ins_vn100.h.

Referenced by ins_configure().

#define INS_VN100_SET_ADOF   2

Definition at line 80 of file ins_vn100.h.

Referenced by ins_configure().

#define INS_VN100_SET_ADOR   1

Definition at line 79 of file ins_vn100.h.

Referenced by ins_configure().

#define INS_VN100_SET_BAUD   0

Definition at line 78 of file ins_vn100.h.

Referenced by ins_configure(), and vn100_init().

#define PERIODIC_SEND_AHRS	(		_chan,
			_dev
	)

Value:

DOWNLINK_SEND_AHRS_LKF(_chan, _dev, \
    &ins_eulers.phi, &ins_eulers.theta, &ins_eulers.psi, \
    &ins_quat.qi, &ins_quat.qx, &ins_quat.qy, &ins_quat.qz, \
    &ins_rates.p, &ins_rates.q, &ins_rates.r, \
    &ins_accel.x, &ins_accel.y, &ins_accel.z, \
    &ins_mag.x, &ins_mag.y, &ins_mag.z)

Definition at line 84 of file ins_vn100.h.

#define VN100_ADOF   VN100_ADOF_5HZ

Definition at line 70 of file ins_vn100.h.

Referenced by vn100_init().

#define VN100_ADOR   VN100_ADOR_OFF

Definition at line 67 of file ins_vn100.h.

Referenced by vn100_init().

#define VN100_BAUD   VN100_Baud_57600

Definition at line 73 of file ins_vn100.h.

Referenced by vn100_init().

Function Documentation

void vn100_event_task

(

void

)

Definition at line 160 of file ins_vn100.c.

References ins_eulers, ins_pitch_neutral, ins_rates, ins_roll_neutral, parse_ins_msg(), FloatEulers::phi, FloatEulers::psi, SPITransDone, SPITransFailed, SPITransSuccess, stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), spi_transaction::status, FloatEulers::theta, and vn100_trans.

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void vn100_init

(

void

)

Definition at line 85 of file ins_vn100.c.

References spi_transaction::cpha, spi_transaction::cpol, spi_transaction::dss, spi_transaction::input_buf, ins_adof, ins_ador, ins_baud, ins_init_status, INS_VN100_SET_BAUD, ins_yaw_neutral, INS_YAW_NEUTRAL_DEFAULT, spi_transaction::output_buf, spi_transaction::select, spi_transaction::slave_idx, SPICphaEdge2, SPICpolIdleHigh, SPIDss8bit, SPISelectUnselect, SPITransDone, spi_transaction::status, VN100_ADOF, VN100_ADOR, VN100_BAUD, VN100_SLAVE_IDX, and vn100_trans.

void vn100_periodic_task

(

void

)

Definition at line 140 of file ins_vn100.c.

References VN100_Req_Packet::CmdID, spi_transaction::input_length, ins_configure(), spi_transaction::output_length, VN100_Req_Packet::RegID, spi_submit(), SPITransDone, spi_transaction::status, TRUE, VN100_CmdID_ReadRegister, VN100_REG_YMR, VN100_REG_YMR_SIZE, VN100_SPI_DEV, and vn100_trans.

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void vn100_report_task

(

void

)

Definition at line 311 of file ins_vn100.c.

References DefaultChannel, DefaultDevice, ins_accel, ins_eulers, ins_mag, ins_quat, ins_rates, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, FloatEulers::theta, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Variable Documentation

struct FloatVect3 ins_accel

Definition at line 61 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

uint32_t ins_adof

Definition at line 73 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

uint32_t ins_ador

Definition at line 72 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

uint32_t ins_baud

Definition at line 74 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

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().

uint8_t ins_init_status

Definition at line 76 of file ins_vn100.c.

Referenced by ins_configure(), and vn100_init().

struct FloatVect3 ins_mag

Definition at line 62 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

volatile uint8_t ins_msg_received

Definition at line 64 of file ins_vn100.c.

float ins_pitch_neutral

Definition at line 15 of file ins_arduimu.c.

struct FloatQuat ins_quat

Definition at line 58 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

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().

struct FloatRMat ins_rmat

Definition at line 60 of file ins_vn100.c.

float ins_roll_neutral

Definition at line 14 of file ins_arduimu.c.

float ins_yaw_neutral

Definition at line 55 of file ins_vn100.c.

Referenced by vn100_init().

VN100_Res_Packet last_received_packet

Definition at line 67 of file ins_vn100.c.

VN100_Req_Packet last_send_packet

Definition at line 69 of file ins_vn100.c.