Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
Macros | Functions | Variables
ins_vn100.c File Reference
#include "modules/ins/ins_vn100.h"
#include "generated/airframe.h"
#include "mcu_periph/spi.h"
#include "state.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h"
#include "pprzlink/messages.h"
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Macros

#define INS_YAW_NEUTRAL_DEFAULT   0.
 driver for the VectorNav VN100 More...
 
#define VN100_SPI_DEV   spi1
 
#define VN100_SLAVE_IDX   0
 

Functions

static void parse_ins_msg (void)
 
void vn100_init (void)
 
static bool ins_configure (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
 
struct spi_transaction vn100_trans
 

Macro Definition Documentation

◆ INS_YAW_NEUTRAL_DEFAULT

#define INS_YAW_NEUTRAL_DEFAULT   0.

driver for the VectorNav VN100

Definition at line 39 of file ins_vn100.c.

◆ VN100_SLAVE_IDX

#define VN100_SLAVE_IDX   0

Definition at line 49 of file ins_vn100.c.

◆ VN100_SPI_DEV

#define VN100_SPI_DEV   spi1

Definition at line 44 of file ins_vn100.c.

Function Documentation

◆ ins_configure()

static bool ins_configure ( void  )
inlinestatic

Definition at line 109 of file ins_vn100.c.

References VN100_Req_Packet::CmdID, spi_transaction::input_length, ins_init_status, INS_VN100_READY, INS_VN100_SET_ADOF, INS_VN100_SET_ADOR, INS_VN100_SET_BAUD, last_send_packet, spi_transaction::output_length, VN100_Req_Packet::RegID, spi_submit(), VN100_CmdID_WriteRegister, VN100_REG_ADOF, VN100_REG_ADOF_SIZE, VN100_REG_ADOR, VN100_REG_ADOR_SIZE, VN100_REG_SBAUD, VN100_REG_SBAUD_SIZE, VN100_SPI_DEV, and vn100_trans.

Referenced by vn100_periodic_task().

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◆ parse_ins_msg()

static void parse_ins_msg ( void  )
inlinestatic

Definition at line 185 of file ins_vn100.c.

References VN100_Res_Packet::Data, VN100_Res_Packet::ErrID, VN100_Param::Float, float_eulers_of_quat(), ins_accel, ins_adof, ins_ador, ins_baud, ins_eulers, ins_mag, ins_quat, ins_rates, last_received_packet, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, VN100_Res_Packet::RegID, FloatEulers::theta, VN100_Param::UInt, VN100_Error_None, VN100_REG_ADOF, VN100_REG_ADOR, VN100_REG_QAR, VN100_REG_QMA, VN100_REG_QMR, VN100_REG_QTA, VN100_REG_QTM, VN100_REG_QTN, VN100_REG_QTR, VN100_REG_SBAUD, VN100_REG_YMR, VN100_REG_YPR, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by vn100_event_task().

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◆ vn100_event_task()

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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◆ vn100_init()

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, last_received_packet, last_send_packet, 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.

◆ vn100_periodic_task()

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(), last_send_packet, 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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◆ vn100_report_task()

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

◆ ins_accel

struct FloatVect3 ins_accel

Definition at line 61 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

◆ ins_adof

uint32_t ins_adof

Definition at line 73 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

◆ ins_ador

uint32_t ins_ador

Definition at line 72 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

◆ ins_baud

uint32_t ins_baud

Definition at line 74 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

◆ ins_eulers

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().

◆ ins_init_status

uint8_t ins_init_status

Definition at line 76 of file ins_vn100.c.

Referenced by ins_configure(), and vn100_init().

◆ ins_mag

struct FloatVect3 ins_mag

Definition at line 62 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

◆ ins_msg_received

volatile uint8_t ins_msg_received

Definition at line 64 of file ins_vn100.c.

Referenced by ins_event_check_and_handle().

◆ ins_pitch_neutral

float ins_pitch_neutral

Definition at line 54 of file ins_vn100.c.

Referenced by vn100_event_task().

◆ ins_quat

struct FloatQuat ins_quat

Definition at line 58 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_report_task().

◆ ins_rates

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().

◆ ins_rmat

struct FloatRMat ins_rmat

Definition at line 60 of file ins_vn100.c.

◆ ins_roll_neutral

float ins_roll_neutral

Definition at line 53 of file ins_vn100.c.

Referenced by vn100_event_task().

◆ ins_yaw_neutral

float ins_yaw_neutral

Definition at line 55 of file ins_vn100.c.

Referenced by vn100_init().

◆ last_received_packet

VN100_Res_Packet last_received_packet

Definition at line 67 of file ins_vn100.c.

Referenced by parse_ins_msg(), and vn100_init().

◆ last_send_packet

VN100_Req_Packet last_send_packet

Definition at line 69 of file ins_vn100.c.

Referenced by ins_configure(), vn100_init(), and vn100_periodic_task().

◆ vn100_trans

struct spi_transaction vn100_trans

Definition at line 82 of file ins_vn100.c.

Referenced by ins_configure(), vn100_event_task(), vn100_init(), and vn100_periodic_task().