Copied directly from the UM7 version of the UM6_config.h file, available online here: http://sourceforge.net/p/um6firmware/code/34/tree/trunk/UM6%20Firmware/UM6_config.h#l14 Note: while while the source of this code is named "UM6_config.h", it is not the same as the file used for the UM6 and is part of the UM7 source code. More...

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Classes
struct	__CHR_config
struct	__CHR_data
Defines
#define	ACCEL_X_INDEX 0
#define	ACCEL_Y_INDEX 1
#define	ACCEL_Z_INDEX 2
#define	AIRSPEED_ZERO_SAMPLES 500
#define	ANGLE_ZERO_SAMPLES 1000
#define	BAUD_115200 5
#define	BAUD_128000 6
#define	BAUD_14400 1
#define	BAUD_153600 7
#define	BAUD_19200 2
#define	BAUD_230400 8
#define	BAUD_256000 9
#define	BAUD_38400 3
#define	BAUD_460800 10
#define	BAUD_57600 4
#define	BAUD_921600 11
#define	BAUD_9600 0
#define	CHR_BAD_CHECKSUM 253
#define	CHR_FACTORY_COMMIT (COMMAND_START_ADDRESS + 5)
#define	CHR_FLASH_COMMIT (COMMAND_START_ADDRESS + 1)
#define	CHR_GET_FW_VERSION (COMMAND_START_ADDRESS + 0)
#define	CHR_INVALID_BATCH_SIZE 255
#define	CHR_RESET_EKF (COMMAND_START_ADDRESS + 9)
#define	CHR_RESET_TO_FACTORY (COMMAND_START_ADDRESS + 2)
#define	CHR_SET_HOME_POSITION (COMMAND_START_ADDRESS + 4)
#define	CHR_SET_MAG_REFERENCE (COMMAND_START_ADDRESS + 6)
#define	CHR_UNKNOWN_ADDRESS 254
#define	CHR_USE_CONFIG_ADDRESS 0
#define	CHR_USE_FACTORY_ADDRESS 1
#define	CHR_ZERO_GYROS (COMMAND_START_ADDRESS + 3)
#define	COM_BAUD_MASK 0x0F
#define	COM_BAUD_START 28
#define	COM_GPS_BAUD_MASK 0x0F
#define	COM_GPS_BAUD_START 24
#define	COM_GPS_DATA_ENABLED (1 << 8)
#define	COM_GPS_SAT_DATA_ENABLED (1 << 4)
#define	COMMAND_COUNT 10
#define	COMMAND_START_ADDRESS 170
#define	CONFIG_ARRAY_SIZE 27
#define	CONFIG_REG_START_ADDRESS 0
#define	CREG_COM_RATES1 1
#define	CREG_COM_RATES2 2
#define	CREG_COM_RATES3 3
#define	CREG_COM_RATES4 4
#define	CREG_COM_RATES5 5
#define	CREG_COM_RATES6 6
#define	CREG_COM_RATES7 7
#define	CREG_COM_SETTINGS 0
#define	CREG_GYRO_TRIM_X 12
#define	CREG_GYRO_TRIM_Y 13
#define	CREG_GYRO_TRIM_Z 14
#define	CREG_HOME_EAST 10
#define	CREG_HOME_NORTH 9
#define	CREG_HOME_UP 11
#define	CREG_MAG_BIAS_X 24
#define	CREG_MAG_BIAS_Y 25
#define	CREG_MAG_BIAS_Z 26
#define	CREG_MAG_CAL1_1 15
#define	CREG_MAG_CAL1_2 16
#define	CREG_MAG_CAL1_3 17
#define	CREG_MAG_CAL2_1 18
#define	CREG_MAG_CAL2_2 19
#define	CREG_MAG_CAL2_3 20
#define	CREG_MAG_CAL3_1 21
#define	CREG_MAG_CAL3_2 22
#define	CREG_MAG_CAL3_3 23
#define	CREG_MISC_SETTINGS 8
#define	DATA_ARRAY_SIZE 52
#define	DATA_REG_START_ADDRESS 85
#define	DREG_ACCEL_PROC_TIME 104
#define	DREG_ACCEL_PROC_X 101
#define	DREG_ACCEL_PROC_Y 102
#define	DREG_ACCEL_PROC_Z 103
#define	DREG_ACCEL_RAW_XY 89
#define	DREG_ACCEL_RAW_Z 90
#define	DREG_ACCEL_TIME 91
#define	DREG_EULER_PHI_THETA 112
#define	DREG_EULER_PHI_THETA_DOT 114
#define	DREG_EULER_PSI 113
#define	DREG_EULER_PSI_DOT 115
#define	DREG_EULER_TIME 116
#define	DREG_GPS_ALTITUDE 127
#define	DREG_GPS_COURSE 128
#define	DREG_GPS_LATITUDE 125
#define	DREG_GPS_LONGITUDE 126
#define	DREG_GPS_SAT_11_12 136
#define	DREG_GPS_SAT_1_2 131
#define	DREG_GPS_SAT_3_4 132
#define	DREG_GPS_SAT_5_6 133
#define	DREG_GPS_SAT_7_8 134
#define	DREG_GPS_SAT_9_10 135
#define	DREG_GPS_SPEED 129
#define	DREG_GPS_TIME 130
#define	DREG_GYRO_PROC_TIME 100
#define	DREG_GYRO_PROC_X 97
#define	DREG_GYRO_PROC_Y 98
#define	DREG_GYRO_PROC_Z 99
#define	DREG_GYRO_RAW_XY 86
#define	DREG_GYRO_RAW_Z 87
#define	DREG_GYRO_TIME 88
#define	DREG_HEALTH 85
#define	DREG_MAG_PROC_TIME 108
#define	DREG_MAG_PROC_X 105
#define	DREG_MAG_PROC_Y 106
#define	DREG_MAG_PROC_Z 107
#define	DREG_MAG_RAW_TIME 94
#define	DREG_MAG_RAW_XY 92
#define	DREG_MAG_RAW_Z 93
#define	DREG_POSITION_EAST 118
#define	DREG_POSITION_NORTH 117
#define	DREG_POSITION_TIME 120
#define	DREG_POSITION_UP 119
#define	DREG_QUAT_AB 109
#define	DREG_QUAT_CD 110
#define	DREG_QUAT_TIME 111
#define	DREG_TEMPERATURE 95
#define	DREG_TEMPERATURE_TIME 96
#define	DREG_VELOCITY_EAST 122
#define	DREG_VELOCITY_NORTH 121
#define	DREG_VELOCITY_TIME 124
#define	DREG_VELOCITY_UP 123
#define	FACTORY_FLASH_ADDRESS (uint32_t)0x0800E000
#define	FGET_FACTORY_UNINITIALIZED() ((uint32_t)( (__IO uint32_t)(FACTORY_FLASH_ADDRESS) ) == 0xFFFFFFFF)
#define	FGET_FLASH_UNINITIALIZED() ((uint32_t)( (__IO uint32_t)(FLASH_START_ADDRESS) ) == 0xFFFFFFFF)
#define	FLASH_START_ADDRESS (uint32_t)0x0800F000
#define	GRAVITY 9.80665f
#define	GRAVITYd2 4.903325f
#define	GRAVITYx2 19.6133f
#define	GYRO_X_INDEX 0
#define	GYRO_Y_INDEX 1
#define	GYRO_Z_INDEX 2
#define	GYRO_ZERO_SAMPLE_SIZE 500
#define	GYRO_ZERO_SAMPLES 500
#define	HEALTH_ACCEL (1 << 3)
#define	HEALTH_ACCEL_NORM (1 << 4)
#define	HEALTH_COM_OVERFLOW (1 << 8)
#define	HEALTH_GPS (1 << 0)
#define	HEALTH_GYRO (1 << 2)
#define	HEALTH_HDOP_MASK 0x3FF
#define	HEALTH_HDOP_START 16
#define	HEALTH_MAG (1 << 1)
#define	HEALTH_MAG_NORM (1 << 5)
#define	HEALTH_SATS_IN_VIEW_MASK 0x3F
#define	HEALTH_SATS_IN_VIEW_START 10
#define	HEALTH_SATS_USED_MASK 0x3F
#define	HEALTH_SATS_USED_START 26
#define	HIDDEN_ARRAY_SIZE 127
#define	KPA_PER_VOLT 1.0f
#define	MAG_UPDATES_ENABLED (1 << 0)
#define	NMEA_ATTITUDE_PACKET 2
#define	NMEA_GPS_POSE_PACKET 5
#define	NMEA_HEALTH_PACKET 0
#define	NMEA_POSE_PACKET 1
#define	NMEA_QUATERNION_PACKET 6
#define	NMEA_RATE_PACKET 4
#define	NMEA_SENSOR_PACKET 3
#define	PI 3.14159265f
#define	PId2 1.57079633f
#define	PIx2 6.28318530f
#define	PRESSURE_ZERO_SAMPLES 250
#define	QUATERNION_MODE_ENABLED (1 << 1)
#define	RATE1_RAW_ACCEL_MASK 0x0FF
#define	RATE1_RAW_ACCEL_START 24
#define	RATE1_RAW_GYRO_MASK 0x0FF
#define	RATE1_RAW_GYRO_START 16
#define	RATE1_RAW_MAG_MASK 0x0FF
#define	RATE1_RAW_MAG_START 8
#define	RATE2_ALL_RAW_MASK 0x0FF
#define	RATE2_ALL_RAW_START 0
#define	RATE2_TEMPERATURE_MASK 0x0FF
#define	RATE2_TEMPERATURE_START 24
#define	RATE3_PROC_ACCEL_MASK 0x0FF
#define	RATE3_PROC_ACCEL_START 24
#define	RATE3_PROC_GYRO_MASK 0x0FF
#define	RATE3_PROC_GYRO_START 16
#define	RATE3_PROC_MAG_MASK 0x0FF
#define	RATE3_PROC_MAG_START 8
#define	RATE4_ALL_PROC_MASK 0x0FF
#define	RATE4_ALL_PROC_START 0
#define	RATE5_EULER_MASK 0x0FF
#define	RATE5_EULER_START 16
#define	RATE5_POSITION_MASK 0x0FF
#define	RATE5_POSITION_START 8
#define	RATE5_QUAT_MASK 0x0FF
#define	RATE5_QUAT_START 24
#define	RATE5_VELOCITY_MASK 0x0FF
#define	RATE5_VELOCITY_START 0
#define	RATE6_HEALTH_MASK 0x0F
#define	RATE6_HEALTH_START 16
#define	RATE6_POSE_MASK 0x0FF
#define	RATE6_POSE_START 24
#define	RATE7_NMEA_ATTITUDE_MASK 0x0F
#define	RATE7_NMEA_ATTITUDE_START 20
#define	RATE7_NMEA_GPS_POSE_MASK 0x0F
#define	RATE7_NMEA_GPS_POSE_START 8
#define	RATE7_NMEA_HEALTH_MASK 0x0F
#define	RATE7_NMEA_HEALTH_START 28
#define	RATE7_NMEA_POSE_MASK 0x0F
#define	RATE7_NMEA_POSE_START 24
#define	RATE7_NMEA_QUATERNION_MASK 0x0F
#define	RATE7_NMEA_QUATERNION_START 4
#define	RATE7_NMEA_RATE_MASK 0x0F
#define	RATE7_NMEA_RATE_START 12
#define	RATE7_NMEA_SENSOR_MASK 0x0F
#define	RATE7_NMEA_SENSOR_START 16
#define	RAW_TO_MBAR (1.0f/4096.0f)
#define	UM7_FIRMWARE_REVISION (('U' << 24) \| ('7' << 16) \| ('1' << 8) \| 'C')
#define	USE_TX2_AS_PPS_INPUT (1 << 8)
#define	ZERO_GYROS_ON_STARTUP (1 << 2)
Typedefs
typedef struct __CHR_config	CHR_config
typedef struct __CHR_data	CHR_data

Detailed Description

Copied directly from the UM7 version of the UM6_config.h file, available online here: http://sourceforge.net/p/um6firmware/code/34/tree/trunk/UM6%20Firmware/UM6_config.h#l14 Note: while while the source of this code is named "UM6_config.h", it is not the same as the file used for the UM6 and is part of the UM7 source code.