vn200_serial.c File Reference

Vectornav VN-200 INS subsystem. More...

#include "peripherals/vn200_serial.h"

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Functions
static unsigned short	calculateCRC (unsigned char data[], unsigned int length)
	Calculates the 16-bit CRC for the given ASCII or binary message. More...
static bool	verify_chk (unsigned char data[], unsigned int length, uint16_t *calc_chk, uint16_t *rec_chk)
	Verify checksum. More...
static void	vn200_read_buffer (struct VNPacket *vnp)
void	vn200_event (struct VNPacket *vnp)
void	vn200_parse (struct VNPacket *vnp, uint8_t c)
	Packet Collection & state machine. More...

Detailed Description

Vectornav VN-200 INS subsystem.

Author

Michal Podhradsky micha.nosp@m.l.po.nosp@m.dhrad.nosp@m.sky@.nosp@m.aggie.nosp@m.mail.nosp@m..usu..nosp@m.edu

Definition in file vn200_serial.c.

Function Documentation

static unsigned short calculateCRC ( unsigned char  data[], unsigned int  length  )

inlinestatic

Calculates the 16-bit CRC for the given ASCII or binary message.

The CRC is calculated over the packet starting just after the sync byte (not including the sync byte) and ending at the end of payload.

Definition at line 37 of file vn200_serial.c.

References crc.

Referenced by verify_chk().

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static bool verify_chk ( unsigned char  data[], unsigned int  length, uint16_t *  calc_chk, uint16_t *  rec_chk  )

inlinestatic

Verify checksum.

Definition at line 55 of file vn200_serial.c.

References calculateCRC().

Referenced by vn200_parse().

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void vn200_event

(

struct VNPacket *

vnp

)

Definition at line 77 of file vn200_serial.c.

References uart_char_available(), and vn200_read_buffer().

Referenced by ins_vectornav_event().

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void vn200_parse	(	struct VNPacket *	vnp,
		uint8_t	c
	)

Packet Collection & state machine.

Definition at line 87 of file vn200_serial.c.

References VNPacket::calc_chk, VNPacket::chksm_error, VNPacket::counter, VNPacket::datalength, FALSE, VNPacket::hdr_error, VNPacket::msg_available, VNPacket::msg_buf, VNPacket::msg_idx, VNPacket::rec_chk, VNPacket::status, TRUE, verify_chk(), VN_GROUP_BYTES, VN_HEADER_SIZE, VN_OUTPUT_GROUP, VN_PAYLOAD_SIZE, VN_SYNC, VNMsgData, VNMsgGroup, VNMsgHeader, and VNMsgSync.

Referenced by vn200_read_buffer().

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static void vn200_read_buffer ( struct VNPacket *  vnp )

inlinestatic

Definition at line 69 of file vn200_serial.c.

References VNPacket::msg_available, uart_char_available(), uart_getch(), and vn200_parse().

Referenced by vn200_event().

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