Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
imu_chimu.c File Reference
#include "imu_chimu.h"
#include "string.h"
#include "math.h"
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#define POLY   0xEDB88320
#define CHIMU_COM_ID_HIGH   0x1F


static unsigned long UpdateCRC (unsigned long CRC_acc, void *data, unsigned long data_len)
void CHIMU_Checksum (unsigned char *data, unsigned char buflen)
void CHIMU_Init (CHIMU_PARSER_DATA *pstData)
unsigned char CHIMU_Parse (unsigned char btData, unsigned char bInputType, CHIMU_PARSER_DATA *pstData)
static CHIMU_attitude_data GetEulersFromQuat (CHIMU_attitude_data attitude)
static unsigned char BitTest (unsigned char input, unsigned char n)
unsigned char CHIMU_ProcessMessage (unsigned char *pMsgID, unsigned char *pPayloadData, CHIMU_PARSER_DATA *pstData)

Macro Definition Documentation


#define CHIMU_COM_ID_HIGH   0x1F

Definition at line 102 of file imu_chimu.c.



Definition at line 96 of file imu_chimu.c.



Definition at line 94 of file imu_chimu.c.



Definition at line 97 of file imu_chimu.c.



Definition at line 95 of file imu_chimu.c.



Definition at line 98 of file imu_chimu.c.



Definition at line 93 of file imu_chimu.c.



Definition at line 99 of file imu_chimu.c.


#define POLY   0xEDB88320

Function Documentation

◆ BitTest()

static unsigned char BitTest ( unsigned char  input,
unsigned char  n 

Definition at line 283 of file imu_chimu.c.

Referenced by CHIMU_ProcessMessage().

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◆ CHIMU_Checksum()

void CHIMU_Checksum ( unsigned char *  data,
unsigned char  buflen 

Definition at line 82 of file imu_chimu.c.

References UpdateCRC().

Referenced by ahrs_chimu_init(), and ahrs_chimu_update_gps().

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◆ CHIMU_Init()

◆ CHIMU_Parse()

◆ CHIMU_ProcessMessage()

◆ GetEulersFromQuat()

static CHIMU_attitude_data GetEulersFromQuat ( CHIMU_attitude_data  attitude)

◆ UpdateCRC()

static unsigned long UpdateCRC ( unsigned long  CRC_acc,
void *  data,
unsigned long  data_len 

Definition at line 50 of file imu_chimu.c.

References POLY.

Referenced by CHIMU_Checksum(), and CHIMU_Parse().

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