mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
0875dc8442
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1614 ebee16cc-31ac-478f-84a7-5cbb03baadba
53 lines
1.8 KiB
C
53 lines
1.8 KiB
C
/**
|
|
******************************************************************************
|
|
* @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 <pios.h>
|
|
|
|
// 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 |