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LibrePilot/flight/PiOS/inc/pios_opahrs.h

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @{
*
* @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
#include "pios_opahrs_proto.h" /* opahrs message structs */
enum opahrs_result {
OPAHRS_RESULT_OK = 0,
OPAHRS_RESULT_TIMEOUT,
OPAHRS_RESULT_FAILED,
};
extern void PIOS_OPAHRS_Init(void);
/*
* Protocol V0 messages used to talk to bootloaders
*/
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 * req, 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);
extern enum opahrs_result PIOS_OPAHRS_bl_resync(void);
extern enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 * rsp);
extern enum opahrs_result PIOS_OPAHRS_bl_reset();
extern enum opahrs_result PIOS_OPAHRS_bl_boot();
/*
* Protocol V1 messages used by application
*/
extern enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *rsp, struct opahrs_msg_v1 *req);
extern enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req);
extern enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req);
extern enum opahrs_result PIOS_OPAHRS_SetGetCalibration(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp);
extern enum opahrs_result PIOS_OPAHRS_resync(void);
#endif /* PIOS_OPAHRS_H */
/**
* @}
* @}
*/