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https://bitbucket.org/librepilot/librepilot.git
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45e3ed27a7
from the AHRS code (which will facilitate code integration with new INS) and also will help set up a fifo queue for the downsampled data to allow gyro data output from AHRS faster than EKF output. Also decreased ADC interrupt priority so the SPI comms don't drop out. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2190 ebee16cc-31ac-478f-84a7-5cbb03baadba
53 lines
1.7 KiB
C
53 lines
1.7 KiB
C
/**
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******************************************************************************
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* @addtogroup AHRS AHRS Control
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* @brief The AHRS Modules perform
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*
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* @{
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* @addtogroup AHRS_ADC
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* @brief Specialized ADC code for double buffered DMA for AHRS
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* @{
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*
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*
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* @file ahrs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief INSGPS Test Program
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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 AHRS_ADC
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#define AHRS_ADC
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#include <pios.h>
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// Maximum of 50 oversampled points
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#define MAX_OVERSAMPLING 50 /* cannot have more than 50 samples */
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#define MAX_SAMPLES (PIOS_ADC_NUM_CHANNELS*MAX_OVERSAMPLING*2)
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typedef void (*ADCCallback) (float * data);
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// Public API:
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uint8_t AHRS_ADC_Config(int32_t adc_oversample);
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void AHRS_ADC_DMA_Handler(void);
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void AHRS_ADC_SetCallback(ADCCallback);
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void AHRS_ADC_SetFIRCoefficients(float * new_filter);
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float * AHRS_ADC_GetBuffer();
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#endif
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