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 |
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.
Definition in file firmware_registers.h.
Macro Definition Documentation
| #define ACCEL_X_INDEX 0 |
Definition at line 245 of file firmware_registers.h.
| #define ACCEL_Y_INDEX 1 |
Definition at line 246 of file firmware_registers.h.
| #define ACCEL_Z_INDEX 2 |
Definition at line 247 of file firmware_registers.h.
| #define AIRSPEED_ZERO_SAMPLES 500 |
Definition at line 249 of file firmware_registers.h.
| #define ANGLE_ZERO_SAMPLES 1000 |
Definition at line 244 of file firmware_registers.h.
| #define BAUD_115200 5 |
Definition at line 80 of file firmware_registers.h.
| #define BAUD_128000 6 |
Definition at line 81 of file firmware_registers.h.
| #define BAUD_14400 1 |
Definition at line 76 of file firmware_registers.h.
| #define BAUD_153600 7 |
Definition at line 82 of file firmware_registers.h.
| #define BAUD_19200 2 |
Definition at line 77 of file firmware_registers.h.
| #define BAUD_230400 8 |
Definition at line 83 of file firmware_registers.h.
| #define BAUD_256000 9 |
Definition at line 84 of file firmware_registers.h.
| #define BAUD_38400 3 |
Definition at line 78 of file firmware_registers.h.
| #define BAUD_460800 10 |
Definition at line 85 of file firmware_registers.h.
| #define BAUD_57600 4 |
Definition at line 79 of file firmware_registers.h.
| #define BAUD_921600 11 |
Definition at line 86 of file firmware_registers.h.
| #define BAUD_9600 0 |
Definition at line 75 of file firmware_registers.h.
| #define CHR_BAD_CHECKSUM 253 |
Definition at line 216 of file firmware_registers.h.
| #define CHR_FACTORY_COMMIT (COMMAND_START_ADDRESS + 5) |
Definition at line 226 of file firmware_registers.h.
| #define CHR_FLASH_COMMIT (COMMAND_START_ADDRESS + 1) |
Definition at line 222 of file firmware_registers.h.
| #define CHR_GET_FW_VERSION (COMMAND_START_ADDRESS + 0) |
Definition at line 221 of file firmware_registers.h.
| #define CHR_INVALID_BATCH_SIZE 255 |
Definition at line 218 of file firmware_registers.h.
| #define CHR_RESET_EKF (COMMAND_START_ADDRESS + 9) |
Definition at line 228 of file firmware_registers.h.
| #define CHR_RESET_TO_FACTORY (COMMAND_START_ADDRESS + 2) |
Definition at line 223 of file firmware_registers.h.
| #define CHR_SET_HOME_POSITION (COMMAND_START_ADDRESS + 4) |
Definition at line 225 of file firmware_registers.h.
| #define CHR_SET_MAG_REFERENCE (COMMAND_START_ADDRESS + 6) |
Definition at line 227 of file firmware_registers.h.
| #define CHR_UNKNOWN_ADDRESS 254 |
Definition at line 217 of file firmware_registers.h.
| #define CHR_USE_CONFIG_ADDRESS 0 |
Definition at line 260 of file firmware_registers.h.
| #define CHR_USE_FACTORY_ADDRESS 1 |
Definition at line 261 of file firmware_registers.h.
| #define CHR_ZERO_GYROS (COMMAND_START_ADDRESS + 3) |
Definition at line 224 of file firmware_registers.h.
| #define COM_BAUD_MASK 0x0F |
Definition at line 65 of file firmware_registers.h.
| #define COM_BAUD_START 28 |
Definition at line 66 of file firmware_registers.h.
| #define COM_GPS_BAUD_MASK 0x0F |
Definition at line 68 of file firmware_registers.h.
| #define COM_GPS_BAUD_START 24 |
Definition at line 69 of file firmware_registers.h.
| #define COM_GPS_DATA_ENABLED (1 << 8) |
Definition at line 71 of file firmware_registers.h.
| #define COM_GPS_SAT_DATA_ENABLED (1 << 4) |
Definition at line 72 of file firmware_registers.h.
| #define COMMAND_COUNT 10 |
Definition at line 26 of file firmware_registers.h.
| #define COMMAND_START_ADDRESS 170 |
Definition at line 33 of file firmware_registers.h.
| #define CONFIG_ARRAY_SIZE 27 |
Definition at line 24 of file firmware_registers.h.
| #define CONFIG_REG_START_ADDRESS 0 |
Definition at line 31 of file firmware_registers.h.
| #define CREG_COM_RATES1 1 |
Definition at line 37 of file firmware_registers.h.
| #define CREG_COM_RATES2 2 |
Definition at line 38 of file firmware_registers.h.
| #define CREG_COM_RATES3 3 |
Definition at line 39 of file firmware_registers.h.
| #define CREG_COM_RATES4 4 |
Definition at line 40 of file firmware_registers.h.
| #define CREG_COM_RATES5 5 |
Definition at line 41 of file firmware_registers.h.
| #define CREG_COM_RATES6 6 |
Definition at line 42 of file firmware_registers.h.
| #define CREG_COM_RATES7 7 |
Definition at line 43 of file firmware_registers.h.
| #define CREG_COM_SETTINGS 0 |
Definition at line 36 of file firmware_registers.h.
| #define CREG_GYRO_TRIM_X 12 |
Definition at line 48 of file firmware_registers.h.
| #define CREG_GYRO_TRIM_Y 13 |
Definition at line 49 of file firmware_registers.h.
| #define CREG_GYRO_TRIM_Z 14 |
Definition at line 50 of file firmware_registers.h.
| #define CREG_HOME_EAST 10 |
Definition at line 46 of file firmware_registers.h.
| #define CREG_HOME_NORTH 9 |
Definition at line 45 of file firmware_registers.h.
| #define CREG_HOME_UP 11 |
Definition at line 47 of file firmware_registers.h.
| #define CREG_MAG_BIAS_X 24 |
Definition at line 60 of file firmware_registers.h.
| #define CREG_MAG_BIAS_Y 25 |
Definition at line 61 of file firmware_registers.h.
| #define CREG_MAG_BIAS_Z 26 |
Definition at line 62 of file firmware_registers.h.
| #define CREG_MAG_CAL1_1 15 |
Definition at line 51 of file firmware_registers.h.
| #define CREG_MAG_CAL1_2 16 |
Definition at line 52 of file firmware_registers.h.
| #define CREG_MAG_CAL1_3 17 |
Definition at line 53 of file firmware_registers.h.
| #define CREG_MAG_CAL2_1 18 |
Definition at line 54 of file firmware_registers.h.
| #define CREG_MAG_CAL2_2 19 |
Definition at line 55 of file firmware_registers.h.
| #define CREG_MAG_CAL2_3 20 |
Definition at line 56 of file firmware_registers.h.
| #define CREG_MAG_CAL3_1 21 |
Definition at line 57 of file firmware_registers.h.
| #define CREG_MAG_CAL3_2 22 |
Definition at line 58 of file firmware_registers.h.
| #define CREG_MAG_CAL3_3 23 |
Definition at line 59 of file firmware_registers.h.
| #define CREG_MISC_SETTINGS 8 |
Definition at line 44 of file firmware_registers.h.
| #define DATA_ARRAY_SIZE 52 |
Definition at line 25 of file firmware_registers.h.
| #define DATA_REG_START_ADDRESS 85 |
Definition at line 32 of file firmware_registers.h.
| #define DREG_ACCEL_PROC_TIME 104 |
Definition at line 166 of file firmware_registers.h.
| #define DREG_ACCEL_PROC_X 101 |
Definition at line 163 of file firmware_registers.h.
| #define DREG_ACCEL_PROC_Y 102 |
Definition at line 164 of file firmware_registers.h.
| #define DREG_ACCEL_PROC_Z 103 |
Definition at line 165 of file firmware_registers.h.
| #define DREG_ACCEL_RAW_XY 89 |
Definition at line 151 of file firmware_registers.h.
| #define DREG_ACCEL_RAW_Z 90 |
Definition at line 152 of file firmware_registers.h.
| #define DREG_ACCEL_TIME 91 |
Definition at line 153 of file firmware_registers.h.
| #define DREG_EULER_PHI_THETA 112 |
Definition at line 174 of file firmware_registers.h.
| #define DREG_EULER_PHI_THETA_DOT 114 |
Definition at line 176 of file firmware_registers.h.
| #define DREG_EULER_PSI 113 |
Definition at line 175 of file firmware_registers.h.
| #define DREG_EULER_PSI_DOT 115 |
Definition at line 177 of file firmware_registers.h.
| #define DREG_EULER_TIME 116 |
Definition at line 178 of file firmware_registers.h.
| #define DREG_GPS_ALTITUDE 127 |
Definition at line 189 of file firmware_registers.h.
| #define DREG_GPS_COURSE 128 |
Definition at line 190 of file firmware_registers.h.
| #define DREG_GPS_LATITUDE 125 |
Definition at line 187 of file firmware_registers.h.
| #define DREG_GPS_LONGITUDE 126 |
Definition at line 188 of file firmware_registers.h.
| #define DREG_GPS_SAT_11_12 136 |
Definition at line 198 of file firmware_registers.h.
| #define DREG_GPS_SAT_1_2 131 |
Definition at line 193 of file firmware_registers.h.
| #define DREG_GPS_SAT_3_4 132 |
Definition at line 194 of file firmware_registers.h.
| #define DREG_GPS_SAT_5_6 133 |
Definition at line 195 of file firmware_registers.h.
| #define DREG_GPS_SAT_7_8 134 |
Definition at line 196 of file firmware_registers.h.
| #define DREG_GPS_SAT_9_10 135 |
Definition at line 197 of file firmware_registers.h.
| #define DREG_GPS_SPEED 129 |
Definition at line 191 of file firmware_registers.h.
| #define DREG_GPS_TIME 130 |
Definition at line 192 of file firmware_registers.h.
| #define DREG_GYRO_PROC_TIME 100 |
Definition at line 162 of file firmware_registers.h.
| #define DREG_GYRO_PROC_X 97 |
Definition at line 159 of file firmware_registers.h.
| #define DREG_GYRO_PROC_Y 98 |
Definition at line 160 of file firmware_registers.h.
| #define DREG_GYRO_PROC_Z 99 |
Definition at line 161 of file firmware_registers.h.
| #define DREG_GYRO_RAW_XY 86 |
Definition at line 148 of file firmware_registers.h.
| #define DREG_GYRO_RAW_Z 87 |
Definition at line 149 of file firmware_registers.h.
| #define DREG_GYRO_TIME 88 |
Definition at line 150 of file firmware_registers.h.
| #define DREG_HEALTH 85 |
Definition at line 147 of file firmware_registers.h.
| #define DREG_MAG_PROC_TIME 108 |
Definition at line 170 of file firmware_registers.h.
| #define DREG_MAG_PROC_X 105 |
Definition at line 167 of file firmware_registers.h.
| #define DREG_MAG_PROC_Y 106 |
Definition at line 168 of file firmware_registers.h.
| #define DREG_MAG_PROC_Z 107 |
Definition at line 169 of file firmware_registers.h.
| #define DREG_MAG_RAW_TIME 94 |
Definition at line 156 of file firmware_registers.h.
| #define DREG_MAG_RAW_XY 92 |
Definition at line 154 of file firmware_registers.h.
| #define DREG_MAG_RAW_Z 93 |
Definition at line 155 of file firmware_registers.h.
| #define DREG_POSITION_EAST 118 |
Definition at line 180 of file firmware_registers.h.
| #define DREG_POSITION_NORTH 117 |
Definition at line 179 of file firmware_registers.h.
| #define DREG_POSITION_TIME 120 |
Definition at line 182 of file firmware_registers.h.
| #define DREG_POSITION_UP 119 |
Definition at line 181 of file firmware_registers.h.
| #define DREG_QUAT_AB 109 |
Definition at line 171 of file firmware_registers.h.
| #define DREG_QUAT_CD 110 |
Definition at line 172 of file firmware_registers.h.
| #define DREG_QUAT_TIME 111 |
Definition at line 173 of file firmware_registers.h.
| #define DREG_TEMPERATURE 95 |
Definition at line 157 of file firmware_registers.h.
| #define DREG_TEMPERATURE_TIME 96 |
Definition at line 158 of file firmware_registers.h.
| #define DREG_VELOCITY_EAST 122 |
Definition at line 184 of file firmware_registers.h.
| #define DREG_VELOCITY_NORTH 121 |
Definition at line 183 of file firmware_registers.h.
| #define DREG_VELOCITY_TIME 124 |
Definition at line 186 of file firmware_registers.h.
| #define DREG_VELOCITY_UP 123 |
Definition at line 185 of file firmware_registers.h.
| #define FACTORY_FLASH_ADDRESS (uint32_t)0x0800E000 |
Definition at line 266 of file firmware_registers.h.
| #define FGET_FACTORY_UNINITIALIZED | ( | ) | ((uint32_t)( *(__IO uint32_t*)(FACTORY_FLASH_ADDRESS) ) == 0xFFFFFFFF) |
Definition at line 270 of file firmware_registers.h.
| #define FGET_FLASH_UNINITIALIZED | ( | ) | ((uint32_t)( *(__IO uint32_t*)(FLASH_START_ADDRESS) ) == 0xFFFFFFFF) |
Definition at line 269 of file firmware_registers.h.
| #define FLASH_START_ADDRESS (uint32_t)0x0800F000 |
Definition at line 264 of file firmware_registers.h.
| #define GRAVITY 9.80665f |
Definition at line 254 of file firmware_registers.h.
| #define GRAVITYd2 4.903325f |
Definition at line 256 of file firmware_registers.h.
| #define GRAVITYx2 19.6133f |
Definition at line 255 of file firmware_registers.h.
| #define GYRO_X_INDEX 0 |
Definition at line 241 of file firmware_registers.h.
| #define GYRO_Y_INDEX 1 |
Definition at line 242 of file firmware_registers.h.
| #define GYRO_Z_INDEX 2 |
Definition at line 243 of file firmware_registers.h.
| #define GYRO_ZERO_SAMPLE_SIZE 500 |
Definition at line 272 of file firmware_registers.h.
| #define GYRO_ZERO_SAMPLES 500 |
Definition at line 240 of file firmware_registers.h.
| #define HEALTH_ACCEL (1 << 3) |
Definition at line 210 of file firmware_registers.h.
| #define HEALTH_ACCEL_NORM (1 << 4) |
Definition at line 209 of file firmware_registers.h.
| #define HEALTH_COM_OVERFLOW (1 << 8) |
Definition at line 207 of file firmware_registers.h.
| #define HEALTH_GPS (1 << 0) |
Definition at line 213 of file firmware_registers.h.
| #define HEALTH_GYRO (1 << 2) |
Definition at line 211 of file firmware_registers.h.
| #define HEALTH_HDOP_MASK 0x3FF |
Definition at line 203 of file firmware_registers.h.
| #define HEALTH_HDOP_START 16 |
Definition at line 204 of file firmware_registers.h.
| #define HEALTH_MAG (1 << 1) |
Definition at line 212 of file firmware_registers.h.
| #define HEALTH_MAG_NORM (1 << 5) |
Definition at line 208 of file firmware_registers.h.
| #define HEALTH_SATS_IN_VIEW_MASK 0x3F |
Definition at line 205 of file firmware_registers.h.
| #define HEALTH_SATS_IN_VIEW_START 10 |
Definition at line 206 of file firmware_registers.h.
| #define HEALTH_SATS_USED_MASK 0x3F |
Definition at line 201 of file firmware_registers.h.
| #define HEALTH_SATS_USED_START 26 |
Definition at line 202 of file firmware_registers.h.
| #define HIDDEN_ARRAY_SIZE 127 |
Definition at line 28 of file firmware_registers.h.
| #define KPA_PER_VOLT 1.0f |
Definition at line 258 of file firmware_registers.h.
| #define MAG_UPDATES_ENABLED (1 << 0) |
Definition at line 141 of file firmware_registers.h.
| #define NMEA_ATTITUDE_PACKET 2 |
Definition at line 233 of file firmware_registers.h.
| #define NMEA_GPS_POSE_PACKET 5 |
Definition at line 236 of file firmware_registers.h.
| #define NMEA_HEALTH_PACKET 0 |
Definition at line 231 of file firmware_registers.h.
| #define NMEA_POSE_PACKET 1 |
Definition at line 232 of file firmware_registers.h.
| #define NMEA_QUATERNION_PACKET 6 |
Definition at line 237 of file firmware_registers.h.
| #define NMEA_RATE_PACKET 4 |
Definition at line 235 of file firmware_registers.h.
| #define NMEA_SENSOR_PACKET 3 |
Definition at line 234 of file firmware_registers.h.
| #define PI 3.14159265f |
Definition at line 251 of file firmware_registers.h.
| #define PId2 1.57079633f |
Definition at line 253 of file firmware_registers.h.
| #define PIx2 6.28318530f |
Definition at line 252 of file firmware_registers.h.
| #define PRESSURE_ZERO_SAMPLES 250 |
Definition at line 248 of file firmware_registers.h.
| #define QUATERNION_MODE_ENABLED (1 << 1) |
Definition at line 142 of file firmware_registers.h.
| #define RATE1_RAW_ACCEL_MASK 0x0FF |
Definition at line 89 of file firmware_registers.h.
| #define RATE1_RAW_ACCEL_START 24 |
Definition at line 90 of file firmware_registers.h.
| #define RATE1_RAW_GYRO_MASK 0x0FF |
Definition at line 91 of file firmware_registers.h.
| #define RATE1_RAW_GYRO_START 16 |
Definition at line 92 of file firmware_registers.h.
| #define RATE1_RAW_MAG_MASK 0x0FF |
Definition at line 93 of file firmware_registers.h.
| #define RATE1_RAW_MAG_START 8 |
Definition at line 94 of file firmware_registers.h.
| #define RATE2_ALL_RAW_MASK 0x0FF |
Definition at line 98 of file firmware_registers.h.
| #define RATE2_ALL_RAW_START 0 |
Definition at line 99 of file firmware_registers.h.
| #define RATE2_TEMPERATURE_MASK 0x0FF |
Definition at line 96 of file firmware_registers.h.
| #define RATE2_TEMPERATURE_START 24 |
Definition at line 97 of file firmware_registers.h.
| #define RATE3_PROC_ACCEL_MASK 0x0FF |
Definition at line 101 of file firmware_registers.h.
| #define RATE3_PROC_ACCEL_START 24 |
Definition at line 102 of file firmware_registers.h.
| #define RATE3_PROC_GYRO_MASK 0x0FF |
Definition at line 103 of file firmware_registers.h.
| #define RATE3_PROC_GYRO_START 16 |
Definition at line 104 of file firmware_registers.h.
| #define RATE3_PROC_MAG_MASK 0x0FF |
Definition at line 105 of file firmware_registers.h.
| #define RATE3_PROC_MAG_START 8 |
Definition at line 106 of file firmware_registers.h.
| #define RATE4_ALL_PROC_MASK 0x0FF |
Definition at line 108 of file firmware_registers.h.
| #define RATE4_ALL_PROC_START 0 |
Definition at line 109 of file firmware_registers.h.
| #define RATE5_EULER_MASK 0x0FF |
Definition at line 113 of file firmware_registers.h.
| #define RATE5_EULER_START 16 |
Definition at line 114 of file firmware_registers.h.
| #define RATE5_POSITION_MASK 0x0FF |
Definition at line 115 of file firmware_registers.h.
| #define RATE5_POSITION_START 8 |
Definition at line 116 of file firmware_registers.h.
| #define RATE5_QUAT_MASK 0x0FF |
Definition at line 111 of file firmware_registers.h.
| #define RATE5_QUAT_START 24 |
Definition at line 112 of file firmware_registers.h.
| #define RATE5_VELOCITY_MASK 0x0FF |
Definition at line 117 of file firmware_registers.h.
| #define RATE5_VELOCITY_START 0 |
Definition at line 118 of file firmware_registers.h.
| #define RATE6_HEALTH_MASK 0x0F |
Definition at line 122 of file firmware_registers.h.
| #define RATE6_HEALTH_START 16 |
Definition at line 123 of file firmware_registers.h.
| #define RATE6_POSE_MASK 0x0FF |
Definition at line 120 of file firmware_registers.h.
| #define RATE6_POSE_START 24 |
Definition at line 121 of file firmware_registers.h.
| #define RATE7_NMEA_ATTITUDE_MASK 0x0F |
Definition at line 129 of file firmware_registers.h.
| #define RATE7_NMEA_ATTITUDE_START 20 |
Definition at line 130 of file firmware_registers.h.
| #define RATE7_NMEA_GPS_POSE_MASK 0x0F |
Definition at line 135 of file firmware_registers.h.
| #define RATE7_NMEA_GPS_POSE_START 8 |
Definition at line 136 of file firmware_registers.h.
| #define RATE7_NMEA_HEALTH_MASK 0x0F |
Definition at line 125 of file firmware_registers.h.
| #define RATE7_NMEA_HEALTH_START 28 |
Definition at line 126 of file firmware_registers.h.
| #define RATE7_NMEA_POSE_MASK 0x0F |
Definition at line 127 of file firmware_registers.h.
| #define RATE7_NMEA_POSE_START 24 |
Definition at line 128 of file firmware_registers.h.
| #define RATE7_NMEA_QUATERNION_MASK 0x0F |
Definition at line 137 of file firmware_registers.h.
| #define RATE7_NMEA_QUATERNION_START 4 |
Definition at line 138 of file firmware_registers.h.
| #define RATE7_NMEA_RATE_MASK 0x0F |
Definition at line 133 of file firmware_registers.h.
| #define RATE7_NMEA_RATE_START 12 |
Definition at line 134 of file firmware_registers.h.
| #define RATE7_NMEA_SENSOR_MASK 0x0F |
Definition at line 131 of file firmware_registers.h.
| #define RATE7_NMEA_SENSOR_START 16 |
Definition at line 132 of file firmware_registers.h.
| #define RAW_TO_MBAR (1.0f/4096.0f) |
Definition at line 257 of file firmware_registers.h.
| #define UM7_FIRMWARE_REVISION (('U' << 24) | ('7' << 16) | ('1' << 8) | 'C') |
Definition at line 13 of file firmware_registers.h.
| #define USE_TX2_AS_PPS_INPUT (1 << 8) |
Definition at line 144 of file firmware_registers.h.
| #define ZERO_GYROS_ON_STARTUP (1 << 2) |
Definition at line 143 of file firmware_registers.h.
Typedef Documentation
| typedef struct __CHR_config CHR_config |
| typedef struct __CHR_data CHR_data |