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https://bitbucket.org/librepilot/librepilot.git
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bbb3882826
- Removed all unnecessary device instances and their cfg's. - SPI to SD card - I2C - Aux USART - Moved SPI baudrate setting into cfg rather than init func. - Abstracted forcing slave select under OPAHRS API. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2786 ebee16cc-31ac-478f-84a7-5cbb03baadba
78 lines
3.3 KiB
C
78 lines
3.3 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_OPAHRS OPAHRS Functions
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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_Attach(uint32_t spi_id);
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extern void PIOS_OPAHRS_ForceSlaveSelected(bool selected);
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/*
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* Protocol V0 messages used to talk to bootloaders
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*/
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extern enum opahrs_result PIOS_OPAHRS_bl_GetVersions(struct opahrs_msg_v0 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_bl_GetSerial(struct opahrs_msg_v0 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_bl_FwupStart(struct opahrs_msg_v0 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_bl_FwupStatus(struct opahrs_msg_v0 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_bl_FwupData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_bl_FwupVerify(struct opahrs_msg_v0 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_bl_resync(void);
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extern enum opahrs_result PIOS_OPAHRS_bl_GetMemMap(struct opahrs_msg_v0 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_bl_reset(uint32_t delay);
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extern enum opahrs_result PIOS_OPAHRS_bl_boot(uint32_t delay);
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extern enum opahrs_result PIOS_OPAHRS_bl_FwDlData(struct opahrs_msg_v0 *req, struct opahrs_msg_v0 *rsp);
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/*
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* Protocol V1 messages used by application
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*/
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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_SetGetUpdate(struct opahrs_msg_v1 *rsp, struct opahrs_msg_v1 *req);
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extern enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req);
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extern enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req);
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extern enum opahrs_result PIOS_OPAHRS_SetGetCalibration(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp);
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extern enum opahrs_result PIOS_OPAHRS_SetGetInitialized(struct opahrs_msg_v1 *req, 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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/**
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* @}
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* @}
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*/
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