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53 lines
1.8 KiB
C
53 lines
1.8 KiB
C
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/**
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******************************************************************************
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* @addtogroup AHRS AHRS Control
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* @brief The AHRS Modules perform
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*
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* @{
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* @addtogroup AHRS_ADC
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* @brief Specialized ADC code for double buffered DMA for AHRS
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* @{
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*
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*
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* @file ahrs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief INSGPS Test Program
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef AHRS_ADC
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#define AHRS_ADC
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#include <pios.h>
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// Maximum of 50 oversampled points
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#define MAX_SAMPLES (8*50*2)
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uint8_t AHRS_ADC_Config(int32_t adc_oversample);
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void AHRS_ADC_DMA_Handler(void);
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typedef enum {AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING} states;
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extern volatile states ahrs_state;
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extern volatile int16_t * valid_data_buffer;
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//! Counts how many times the EKF wasn't idle when DMA handler called
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extern volatile int32_t total_conversion_blocks;
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//! Total number of data blocks converted
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extern volatile int32_t ekf_too_slow;
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#endif
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