/** ****************************************************************************** * @addtogroup AHRS AHRS Control * @brief The AHRS Modules perform * * @{ * @addtogroup AHRS_ADC * @brief Specialized ADC code for double buffered DMA for AHRS * @{ * * * @file ahrs.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief INSGPS Test Program * @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 AHRS_ADC #define AHRS_ADC #include // Maximum of 50 oversampled points #define MAX_SAMPLES (8*50*2) uint8_t AHRS_ADC_Config(int32_t adc_oversample); void AHRS_ADC_DMA_Handler(void); typedef enum { AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING } states; extern volatile states ahrs_state; extern volatile int16_t *valid_data_buffer; //! Counts how many times the EKF wasn't idle when DMA handler called extern volatile int32_t total_conversion_blocks; //! Total number of data blocks converted extern volatile int32_t ekf_too_slow; #endif