ins_arduimu_basic.c File Reference

#include <stdbool.h>
#include "modules/ins/ins_arduimu_basic.h"
#include "mcu_periph/i2c.h"
#include "state.h"
#include "subsystems/gps.h"
#include "generated/airframe.h"
#include "inter_mcu.h"
#include "math/pprz_algebra_int.h"

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Macros
#define	NB_DATA   9
#define	ARDUIMU_I2C_DEV   i2c0
#define	ArduIMU_SLAVE_ADDR   0x22
#define	HIGH_ACCEL_LOW_SPEED   15.0
#define	HIGH_ACCEL_LOW_SPEED_RESUME   4.0
#define	HIGH_ACCEL_HIGH_THRUST   (0.8*MAX_PPRZ)
#define	HIGH_ACCEL_HIGH_THRUST_RESUME   (0.1*MAX_PPRZ)
#define	FillBufWith32bit(_buf, _index, _value)

Functions
void	ArduIMU_init (void)
void	ArduIMU_periodicGPS (void)
void	ArduIMU_periodic (void)
void	ArduIMU_event (void)
void	ahrs_update_gps (void)

Variables
struct i2c_transaction	ardu_gps_trans
struct i2c_transaction	ardu_ins_trans
static int16_t	recievedData [NB_DATA]
struct FloatEulers	arduimu_eulers
	ArduIMU simulation. More...
struct FloatRates	arduimu_rates
struct FloatVect3	arduimu_accel
float	ins_roll_neutral
float	ins_pitch_neutral
bool_t	arduimu_calibrate_neutrals
bool_t	high_accel_done
bool_t	high_accel_flag

Macro Definition Documentation

#define ARDUIMU_I2C_DEV   i2c0

Definition at line 43 of file ins_arduimu_basic.c.

Referenced by ArduIMU_periodic(), and ArduIMU_periodicGPS().

#define ArduIMU_SLAVE_ADDR   0x22

Definition at line 49 of file ins_arduimu_basic.c.

Referenced by ArduIMU_periodic(), and ArduIMU_periodicGPS().

#define FillBufWith32bit	(		_buf,
			_index,
			_value
	)

Value:

{  \
    _buf[_index] = (uint8_t) (_value);              \
    _buf[_index+1] = (uint8_t) ((_value) >> 8);     \
    _buf[_index+2] = (uint8_t) ((_value) >> 16);    \
    _buf[_index+3] = (uint8_t) ((_value) >> 24);    \
  }

Definition at line 98 of file ins_arduimu_basic.c.

Referenced by ArduIMU_periodicGPS().

#define HIGH_ACCEL_HIGH_THRUST   (0.8*MAX_PPRZ)

Definition at line 76 of file ins_arduimu_basic.c.

Referenced by ArduIMU_periodicGPS().

#define HIGH_ACCEL_HIGH_THRUST_RESUME   (0.1*MAX_PPRZ)

Definition at line 77 of file ins_arduimu_basic.c.

Referenced by ArduIMU_periodicGPS().

#define HIGH_ACCEL_LOW_SPEED   15.0

Definition at line 74 of file ins_arduimu_basic.c.

Referenced by ArduIMU_periodicGPS().

#define HIGH_ACCEL_LOW_SPEED_RESUME   4.0

Definition at line 75 of file ins_arduimu_basic.c.

#define NB_DATA   9

Definition at line 40 of file ins_arduimu_basic.c.

Referenced by ArduIMU_periodic().

Function Documentation

void ahrs_update_gps

(

void

)

Definition at line 213 of file ins_arduimu_basic.c.

void ArduIMU_event

(

void

)

Definition at line 164 of file ins_arduimu_basic.c.

References ACCEL_FLOAT_OF_BFP, ANGLE_FLOAT_OF_BFP, ardu_gps_trans, ardu_ins_trans, arduimu_accel, arduimu_eulers, arduimu_rates, i2c_transaction::buf, DefaultChannel, DefaultDevice, I2CTransDone, I2CTransFailed, I2CTransSuccess, ins_pitch_neutral, ins_roll_neutral, FloatRates::p, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatRates::r, RATE_FLOAT_OF_BFP, recievedData, stateSetAccelNed_f(), stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), i2c_transaction::status, FloatEulers::theta, FloatVect3::x, NedCoor_f::x, FloatVect3::y, NedCoor_f::y, FloatVect3::z, and NedCoor_f::z.

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void ArduIMU_init

(

void

)

Definition at line 81 of file ins_arduimu_basic.c.

References ardu_gps_trans, ardu_ins_trans, arduimu_accel, arduimu_calibrate_neutrals, arduimu_eulers, arduimu_rates, FALSE, FLOAT_EULERS_ZERO, FLOAT_RATES_ZERO, FLOAT_VECT3_ZERO, high_accel_done, high_accel_flag, I2CTransDone, ins_pitch_neutral, INS_PITCH_NEUTRAL_DEFAULT, ins_roll_neutral, INS_ROLL_NEUTRAL_DEFAULT, and i2c_transaction::status.

void ArduIMU_periodic

(

void

)

Definition at line 141 of file ins_arduimu_basic.c.

References ardu_ins_trans, ARDUIMU_I2C_DEV, ArduIMU_SLAVE_ADDR, i2c_receive(), I2CTransDone, ins_pitch_neutral, ins_roll_neutral, NB_DATA, sim_phi, sim_theta, stateSetNedToBodyEulers_f(), and i2c_transaction::status.

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void ArduIMU_periodicGPS

(

void

)

Definition at line 105 of file ins_arduimu_basic.c.

References ardu_gps_trans, arduimu_calibrate_neutrals, ARDUIMU_I2C_DEV, ArduIMU_SLAVE_ADDR, i2c_transaction::buf, commands, GpsState::course, FALSE, FillBufWith32bit, GpsState::fix, gps, GpsState::gspeed, high_accel_done, high_accel_flag, HIGH_ACCEL_HIGH_THRUST, HIGH_ACCEL_HIGH_THRUST_RESUME, HIGH_ACCEL_LOW_SPEED, i2c_transmit(), I2CTransDone, GpsState::speed_3d, stateGetHorizontalSpeedNorm_f(), i2c_transaction::status, and TRUE.

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Variable Documentation

struct i2c_transaction ardu_gps_trans

Definition at line 57 of file ins_arduimu_basic.c.

Referenced by ArduIMU_event(), ArduIMU_init(), and ArduIMU_periodicGPS().

struct i2c_transaction ardu_ins_trans

Definition at line 58 of file ins_arduimu_basic.c.

Referenced by ArduIMU_event(), ArduIMU_init(), and ArduIMU_periodic().

struct FloatVect3 arduimu_accel

Definition at line 64 of file ins_arduimu_basic.c.

bool_t arduimu_calibrate_neutrals

Definition at line 71 of file ins_arduimu_basic.c.

struct FloatEulers arduimu_eulers

ArduIMU simulation.

Sim provides attitude and rates.

Definition at line 62 of file ins_arduimu_basic.c.

struct FloatRates arduimu_rates

Definition at line 63 of file ins_arduimu_basic.c.

bool_t high_accel_done

Definition at line 78 of file ins_arduimu_basic.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

bool_t high_accel_flag

Definition at line 79 of file ins_arduimu_basic.c.

Referenced by ArduIMU_init(), and ArduIMU_periodicGPS().

float ins_pitch_neutral

Definition at line 67 of file ins_arduimu_basic.c.

float ins_roll_neutral

Definition at line 66 of file ins_arduimu_basic.c.

int16_t recievedData[NB_DATA]

static

Definition at line 60 of file ins_arduimu_basic.c.

Referenced by ArduIMU_event().