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17bea4cb91
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
45 lines
1.7 KiB
C
45 lines
1.7 KiB
C
/**
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******************************************************************************
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*
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* @file pios_opahrs.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief OpenPilot AHRS functions header.
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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 PIOS_OPAHRS_H
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#define PIOS_OPAHRS_H
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#include "pios_opahrs_proto.h" /* opahrs message structs */
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enum opahrs_result {
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OPAHRS_RESULT_OK = 0,
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OPAHRS_RESULT_TIMEOUT,
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OPAHRS_RESULT_FAILED,
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};
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extern void PIOS_OPAHRS_Init(void);
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extern enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_GetAttitude(struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_GetHeading(struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_resync(void);
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#endif /* PIOS_OPAHRS_H */
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