control_tables.h File Reference

Header file for all tabulated information for the control and communication. More...

#include "compiler.h"
#include "nav_types.h"

Go to the source code of this file.

Data Structures
struct	command_structure
	Definition structure of commands. More...
struct	proc_func_info
	Information struct for processing functions. More...
struct	state_t_info
	State data type information struct. More...
Defines
Processing functions IDs
Macros for processing functions IDs
#define	UPDATE_BUFFER   0x04
#define	INITIAL_ALIGNMENT   0x05
#define	MECHANIZATION   0x06
#define	TIME_UPDATE   0x07
#define	ZUPT_DETECTOR   0x08
#define	ZUPT_UPDATE   0x09
#define	GYRO_CALIBRATION   0x10
#define	ACCELEROMETER_CALIBRATION   0x11
External state IDs
Macros for external state IDs
#define	SID_LIMIT   0xFF
#define	SPECIFIC_FORCE_SID   0x01
#define	ANGULAR_RATE_SID   0x02
#define	IMU_TEMPERATURS_SID   0x03
#define	IMU_SUPPLY_VOLTAGE_SID   0x04
#define	POSITION_SID   0x11
#define	VELOCITY_SID   0x12
#define	QUATERNION_SID   0x13
#define	ZUPT_SID   0x14
#define	INTERRUPT_COUNTER_SID   0x21
#define	ACCELEROMETER_BIASES_SID   0x35
Command IDs
Macros for command IDs
#define	ONLY_ACK   0x01
#define	MCU_ID   0x02
#define	OUTPUT_STATE   0x20
#define	OUTPUT_ALL_OFF   0x21
#define	OUTPUT_ONOFF_INERT   0x22
#define	OUTPUT_POSITION_PLUS_ZUPT   0x23
#define	OUTPUT_NAVIGATIONAL_STATES   0x24
#define	PROCESSING_FUNCTION_ONOFF   0x30
#define	RESET_ZUPT_AIDED_INS   0x10
#define	GYRO_CALIBRATION_INIT   0x11
#define	ACC_CALIBRATION_INIT   0x12
#define	SET_LOWPASS_FILTER_IMU   0x13
#define	ADD_SYNC_OUTPUT   0x25
#define	SYNC_OUTPUT   0x26
Functions
void	commands_init (void)
bool	is_valid_header (uint8_t header)
command_structure *	get_command_info (uint8_t header)
void	processing_functions_init (void)
void	system_states_init (void)
Variables
uint8_t	command_header_table [32]
command_structure *	command_info_array [256]
proc_func_info *	processing_functions_by_id [256]
state_t_info *	state_info_access_by_id [SID_LIMIT]

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Detailed Description

Header file for all tabulated information for the control and communication.

This file contains declarations of arrays containing tabulated information about external system states, processing functions, and commands. It also contains struct typedefs of structs containing such information for individual states, functions, and commands, together with ID macros for the same. Delcarations of initialization functions for the arrays are also found.

Authors:

John-Olof Nilsson, Isaac Skog

Copyright:

Copyright (c) 2011 OpenShoe, ISC License (open source)