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LibrePilot/flight/AHRS/inc/ahrs_adc.h
peabody124 a1a3b0774f Flight/AHRS: Update code to coding conventions.
find ./flight/AHRS/ \! \( -name '*~' -a -prune \) -type f    | xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1 -il0 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1707 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-21 19:29:39 +00:00

54 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