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LibrePilot/flight/PiOS/inc/pios_opahrs.h

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Add AHRS attitude module and driver skeletons - New Attitude module for AHRS (skeleton) - New AttitudeSettings UAVobject - New AttitudeActual UAVobject - Regenerated UAVobjects - Added new UAVobjects to OpenPilot and GCS builds - New PiOS driver for OpenPilot AHRS (stubs only) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@655 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-24 18:33:36 +02:00
/**
******************************************************************************
More documentation updates, standardizing format to include addtogroup at the beginning of headers so files are associated with modules git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1121 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 21:53:35 +02:00
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @{
Add AHRS attitude module and driver skeletons - New Attitude module for AHRS (skeleton) - New AttitudeSettings UAVobject - New AttitudeActual UAVobject - Regenerated UAVobjects - Added new UAVobjects to OpenPilot and GCS builds - New PiOS driver for OpenPilot AHRS (stubs only) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@655 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-24 18:33:36 +02:00
*
* @file pios_opahrs.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief OpenPilot AHRS functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_OPAHRS_H
#define PIOS_OPAHRS_H
ahrscomms: connect the OP board to the AHRS board The AHRS comms module now sync's with the AHRS and exchanges interesting data periodically. Whenever the link to the AHRS is down, the AHRSComms alarm is raised. This is fairly basic for now but provides the last piece of the infrastructure to move data back/forth between the OP and the AHRS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1014 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 04:21:49 +02:00
#include "pios_opahrs_proto.h" /* opahrs message structs */
Add AHRS attitude module and driver skeletons - New Attitude module for AHRS (skeleton) - New AttitudeSettings UAVobject - New AttitudeActual UAVobject - Regenerated UAVobjects - Added new UAVobjects to OpenPilot and GCS builds - New PiOS driver for OpenPilot AHRS (stubs only) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@655 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-24 18:33:36 +02:00
ahrscomms: connect the OP board to the AHRS board The AHRS comms module now sync's with the AHRS and exchanges interesting data periodically. Whenever the link to the AHRS is down, the AHRSComms alarm is raised. This is fairly basic for now but provides the last piece of the infrastructure to move data back/forth between the OP and the AHRS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1014 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 04:21:49 +02:00
enum opahrs_result {
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
OPAHRS_RESULT_OK = 0,
OPAHRS_RESULT_TIMEOUT,
OPAHRS_RESULT_FAILED,
ahrscomms: connect the OP board to the AHRS board The AHRS comms module now sync's with the AHRS and exchanges interesting data periodically. Whenever the link to the AHRS is down, the AHRSComms alarm is raised. This is fairly basic for now but provides the last piece of the infrastructure to move data back/forth between the OP and the AHRS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1014 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 04:21:49 +02:00
};
Add AHRS attitude module and driver skeletons - New Attitude module for AHRS (skeleton) - New AttitudeSettings UAVobject - New AttitudeActual UAVobject - Regenerated UAVobjects - Added new UAVobjects to OpenPilot and GCS builds - New PiOS driver for OpenPilot AHRS (stubs only) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@655 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-24 18:33:36 +02:00
bl_openpilot: bind to new COM, USART and SPI drivers - Removed all unnecessary device instances and their cfg's. - SPI to SD card - I2C - Aux USART - Moved SPI baudrate setting into cfg rather than init func. - Abstracted forcing slave select under OPAHRS API. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2786 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-14 02:17:32 +01:00
extern void PIOS_OPAHRS_Attach(uint32_t spi_id);
extern void PIOS_OPAHRS_ForceSlaveSelected(bool selected);
ahrscomms: Add low-level message code for bootloader msgs Implement low-level utility functions for sending/receiving the opahrs proto v0 (bootloader) messages. These are used by the OP firmware loader and the AHRS bootloader. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 01:06:31 +02:00
/*
* Protocol V0 messages used to talk to bootloaders
*/
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
extern enum opahrs_result PIOS_OPAHRS_bl_GetVersions(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_FwupStatus(struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 *rsp);
ahrscomms: Add low-level message code for bootloader msgs Implement low-level utility functions for sending/receiving the opahrs proto v0 (bootloader) messages. These are used by the OP firmware loader and the AHRS bootloader. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 01:06:31 +02:00
extern enum opahrs_result PIOS_OPAHRS_bl_resync(void);
Flight/PiOS: Whitespace changes find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 -hnl -l150 {};' git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 09:28:45 +02:00
extern enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 *rsp);
OP-21/Flight Bootloader - some changes for the bootloader to work git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1682 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-19 01:11:42 +02:00
extern enum opahrs_result PIOS_OPAHRS_bl_reset(uint32_t delay);
extern enum opahrs_result PIOS_OPAHRS_bl_boot(uint32_t delay);
OP-21/Bootloader - Maximize flash space available for user code. Bring back delay on HID send (board->pc) it still hangs when blasted with data. AHRS is now Readable. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2263 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-12-21 18:25:24 +01:00
extern enum opahrs_result PIOS_OPAHRS_bl_FwDlData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp);
ahrscomms: Add low-level message code for bootloader msgs Implement low-level utility functions for sending/receiving the opahrs proto v0 (bootloader) messages. These are used by the OP firmware loader and the AHRS bootloader. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1586 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-12 01:06:31 +02:00
/*
* Protocol V1 messages used by application
*/
ahrscomms: connect the OP board to the AHRS board The AHRS comms module now sync's with the AHRS and exchanges interesting data periodically. Whenever the link to the AHRS is down, the AHRSComms alarm is raised. This is fairly basic for now but provides the last piece of the infrastructure to move data back/forth between the OP and the AHRS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1014 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 04:21:49 +02:00
extern enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp);
OP-120 AHRS: Tightened up the communication protocol so it runs more quickly. Looks ok in gdb but GCS not crashing right now (rendering error) so I can't test it properly. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1366 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-22 02:21:54 +02:00
extern enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *rsp, struct opahrs_msg_v1 *req);
attituderaw: Replace HeadingActual with AttitudeRaw AttitudeRaw now includes: - magnetometers XYZ (in mG) - gyros XYZ (raw ADC samples) - accelerometers XYZ (raw ADC samples) - placeholder for gyro temp sensors (read as zero for now) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1289 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 01:42:14 +02:00
extern enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp);
AHRS/Flight: Renamed AttitudeSettings to AhrsSettings to make it more intuitive. Added the ability to change the algorithm from GCS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1383 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-23 05:39:13 +02:00
extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req);
[OP-119] Flight/AHRS: Created a HomeLocation object which is updated when the GPS gets an initial 3D fix and populated with the information to convert from LLA from the GPS to NED reference frame. Also added a message for passing the MagneticNorth vector to the AHRS and removed that computation from AHRS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1337 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-19 22:38:27 +02:00
extern enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req);
OP-118 AHRS: Added AHRSCalibration object and messages associated with that to AHRS. Also made AHRS run calibration only when requested. We will create a GCS plugin that runs through computing the calibration settings. To compute the variances on the AHRS set the measure variances to true, wait ten seconds, then set it to false to read it back. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1363 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-21 23:46:02 +02:00
extern enum opahrs_result PIOS_OPAHRS_SetGetCalibration(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp);
OP-140 AHRS: Explicilty deal with if it is initialized or not, use that to determine retransmitting calibration, home location and such. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1755 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-25 23:05:38 +02:00
extern enum opahrs_result PIOS_OPAHRS_SetGetInitialized(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp);
ahrscomms: connect the OP board to the AHRS board The AHRS comms module now sync's with the AHRS and exchanges interesting data periodically. Whenever the link to the AHRS is down, the AHRSComms alarm is raised. This is fairly basic for now but provides the last piece of the infrastructure to move data back/forth between the OP and the AHRS. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1014 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 04:21:49 +02:00
extern enum opahrs_result PIOS_OPAHRS_resync(void);
Add AHRS attitude module and driver skeletons - New Attitude module for AHRS (skeleton) - New AttitudeSettings UAVobject - New AttitudeActual UAVobject - Regenerated UAVobjects - Added new UAVobjects to OpenPilot and GCS builds - New PiOS driver for OpenPilot AHRS (stubs only) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@655 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-24 18:33:36 +02:00
#endif /* PIOS_OPAHRS_H */
More documentation updates, standardizing format to include addtogroup at the beginning of headers so files are associated with modules git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1121 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-16 21:53:35 +02:00
/**
* @}
* @}
attituderaw: Replace HeadingActual with AttitudeRaw AttitudeRaw now includes: - magnetometers XYZ (in mG) - gyros XYZ (raw ADC samples) - accelerometers XYZ (raw ADC samples) - placeholder for gyro temp sensors (read as zero for now) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1289 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-08-15 01:42:14 +02:00
*/
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