#include "main.h"
#include "system.h"
#include "sdk.h"
#include "LL_HL_comm.h"
#include "uart.h"
#include "time.h"
#include "irq.h"
#include "LPC214x.h"
#include "hardware.h"
#include <ekf/autogen_ekf_propagation.h>
#include <ekf/autogen_ekf_propagation_initialize.h>
#include "gpsmath.h"
#include <ert_main.h>
#include "dekf.h"

Include dependency graph for sdk.c:

Functions
int	checkTxPeriod (uint16_t period)
	checks if a packet has to be sent
void	SDK_mainloop (void)
void	sdkInit (void)
	initializes the sdk
void	sendGpsData (void)
	assembles GPS packet and sends it
void	sendImuData (void)
	assembles IMU packet and sends it
void	sendMagData (void)
	assembles magnetic compass data packet and sends it
void	sendRcData (void)
	assembles rc packet and sends it
void	sendStatus (void)
	assembles status packet and sends it
void	synchronizeTime ()
	adjusts HLP time to host PC time
void	watchdog (void)
	gets called every sdk loops. Currently, only checks for packets from the PC and starts autobaud in case there wwas no communication in the last 10 s
void	writeCommand (short pitch, short roll, short yaw, short thrust, short ctrl, short enable)
	Writes command to the LLP.
Variables
HLI_BAUDRATE	baudrate
HLI_CMD_LL	cmdLL
unsigned char	cmdLLNew = 0
short	cmdLLValid = 0
HLI_CMD_LL	controlEnable
unsigned int	cpuLoad = 0
DekfContext	dekf
HLI_EXT_POSITION	ext_position_update
HLI_EXT_POSITION	extPosition
HLI_CMD_HL	extPositionCmd
short	extPositionValid = 0
HLI_GPS	gpsData
HLI_CONFIG	hli_config
HLI_IMU	imuData
HLI_MAG	mag_data
short	motor_state = -1
short	motor_state_count = 0
HLI_MOTORS	motors
PacketInfo *	packetBaudrate
PacketInfo *	packetCmdHL
PacketInfo *	packetCmdLL
PacketInfo *	packetConfig
PacketInfo *	packetControlEnable
PacketInfo *	packetExtPosition
PacketInfo *	packetMotors
PacketInfo *	packetSSDKParams
PacketInfo *	packetSubscription
PacketInfo *	packetTimeSync
HLI_RCDATA	rcData
struct RO_ALL_DATA	RO_ALL_Data
struct RO_RC_DATA	RO_RC_Data
unsigned int	sdkCycleStartTime = 0
unsigned int	sdkLoops = 0
	counts ssdk loops
unsigned int	ssdk_reset_state = 0
HLI_SSDK_STATUS	ssdk_status
HLI_STATUS	statusData
HLI_SUBSCRIPTION	subscription
int64_t	time_correction = 0
unsigned short	time_step = 2000
int64_t	timeOffset = 0
volatile int64_t	timestamp = 0
	current time. Gets incremented by timer0 and gets corrected by synchronizeTime().
HLI_TIMESYNC	timeSync
struct WO_CTRL_INPUT	WO_CTRL_Input
struct WO_DIRECT_INDIVIDUAL_MOTOR_CONTROL	WO_Direct_Individual_Motor_Control
struct WO_DIRECT_MOTOR_CONTROL	WO_Direct_Motor_Control
struct WO_SDK_STRUCT	WO_SDK

Function Documentation

int checkTxPeriod ( uint16_t period ) [inline]

checks if a packet has to be sent

Definition at line 675 of file sdk.c.

void SDK_mainloop ( void )

SDK_mainloop(void) is triggered @ 1kHz.

WO_(Write Only) data is written to the LL processor after execution of this function.

RO_(Read Only) data is updated before entering this function and can be read to obtain information for supervision or control

WO_ and RO_ structs are defined in sdk.h

The struct LL_1khz_attitude_data (defined in LL_HL_comm.h) can be used to read all sensor data, results of the data fusion and R/C inputs transmitted from the LL-processor. This struct is automatically updated at 1 kHz.

Definition at line 218 of file sdk.c.

void sdkInit ( void )

initializes the sdk

Definition at line 131 of file sdk.c.

void sendGpsData ( void ) [inline]

assembles GPS packet and sends it

Definition at line 535 of file sdk.c.

void sendImuData ( void ) [inline]

assembles IMU packet and sends it

Definition at line 513 of file sdk.c.

void sendMagData ( void ) [inline]

assembles magnetic compass data packet and sends it