Classes | Defines | Functions | Variables
sdk.h File Reference
#include <HL_interface.h>
Include dependency graph for sdk.h:
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Classes

struct  RO_ALL_DATA
struct  RO_RC_DATA
struct  WAYPOINT
struct  WO_CTRL_INPUT
struct  WO_DIRECT_INDIVIDUAL_MOTOR_CONTROL
struct  WO_DIRECT_MOTOR_CONTROL
struct  WO_SDK_STRUCT

Defines

#define CMD_MAX_PERIOD   100
#define WP_CMD_ABORT   0x06
#define WP_CMD_GOHOME   0x04
#define WP_CMD_LAND   0x03
#define WP_CMD_LAUNCH   0x02
#define WP_CMD_SETHOME   0x05
#define WP_CMD_SINGLE_WP   0x01
#define WP_NAVSTAT_20M   0x04
#define WP_NAVSTAT_PILOT_ABORT   0x08
#define WP_NAVSTAT_REACHED_POS   0x01
#define WP_NAVSTAT_REACHED_POS_TIME   0x02
#define WPPROP_ABSCOORDS   0x01
#define WPPROP_AUTOMATICGOTO   0x10
#define WPPROP_HEIGHTENABLED   0x02
#define WPPROP_YAWENABLED   0x04

Functions

int checkTxPeriod (uint16_t period)
 checks if a packet has to be sent
void predictEkfState (void)
 perform ekf state prediction
void SDK_mainloop (void)
void sdkInit (void)
 initializes the sdk
void sendEkfState (void)
 assembles ekf state packet and sends it
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 (void)
 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_EXT_POSITION extPosition
HLI_CMD_HL extPositionCmd
HLI_CONFIG hli_config
struct RO_ALL_DATA RO_ALL_Data
struct RO_RC_DATA RO_RC_Data
unsigned int sdkLoops
 counts ssdk loops
HLI_STATUS statusData
volatile int64_t timestamp
 current time. Gets incremented by timer0 and gets corrected by synchronizeTime().
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
unsigned char wpCtrlAckTrigger
unsigned short wpCtrlDistToWp
unsigned short wpCtrlNavStatus
unsigned char wpCtrlWpCmd
unsigned char wpCtrlWpCmdUpdated
struct WAYPOINT wpToLL

Define Documentation

#define CMD_MAX_PERIOD   100

Definition at line 40 of file sdk.h.

#define WP_CMD_ABORT   0x06

Definition at line 357 of file sdk.h.

#define WP_CMD_GOHOME   0x04

Definition at line 355 of file sdk.h.

#define WP_CMD_LAND   0x03

Definition at line 354 of file sdk.h.

#define WP_CMD_LAUNCH   0x02

Definition at line 353 of file sdk.h.

#define WP_CMD_SETHOME   0x05

Definition at line 356 of file sdk.h.

#define WP_CMD_SINGLE_WP   0x01

Definition at line 352 of file sdk.h.

#define WP_NAVSTAT_20M   0x04

Definition at line 366 of file sdk.h.

#define WP_NAVSTAT_PILOT_ABORT   0x08

Definition at line 367 of file sdk.h.

#define WP_NAVSTAT_REACHED_POS   0x01

Definition at line 364 of file sdk.h.

#define WP_NAVSTAT_REACHED_POS_TIME   0x02

Definition at line 365 of file sdk.h.

#define WPPROP_ABSCOORDS   0x01

Definition at line 346 of file sdk.h.

#define WPPROP_AUTOMATICGOTO   0x10

Definition at line 349 of file sdk.h.

#define WPPROP_HEIGHTENABLED   0x02

Definition at line 347 of file sdk.h.

#define WPPROP_YAWENABLED   0x04

Definition at line 348 of file sdk.h.


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 predictEkfState ( void  ) [inline]

perform ekf state prediction

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 109 of file original_hl_sdk_2.0/sdk.c.

void sdkInit ( void  )

initializes the sdk

Definition at line 131 of file sdk.c.

void sendEkfState ( void  ) [inline]

assembles ekf state packet and sends it

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

Definition at line 596 of file sdk.c.

void sendRcData ( void  ) [inline]

assembles rc packet and sends it

Definition at line 585 of file sdk.c.

void sendStatus ( void  ) [inline]

assembles status packet and sends it

Definition at line 557 of file sdk.c.

void synchronizeTime ( void  ) [inline]

adjusts HLP time to host PC time

Definition at line 606 of file sdk.c.

void watchdog ( void  ) [inline]

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

Definition at line 659 of file sdk.c.

void writeCommand ( short  pitch,
short  roll,
short  yaw,
short  thrust,
short  ctrl,
short  enable 
) [inline]

Writes command to the LLP.

Definition at line 502 of file sdk.c.


Variable Documentation

Definition at line 78 of file sdk.c.

Definition at line 104 of file sdk.c.

Definition at line 126 of file sdk.c.

Definition at line 39 of file original_hl_sdk_2.0/sdk.c.

Definition at line 38 of file original_hl_sdk_2.0/sdk.c.

unsigned int sdkLoops

counts ssdk loops

Definition at line 83 of file sdk.c.

Definition at line 79 of file sdk.c.

volatile int64_t timestamp

current time. Gets incremented by timer0 and gets corrected by synchronizeTime().

Definition at line 58 of file sdk.c.

Definition at line 37 of file original_hl_sdk_2.0/sdk.c.

Definition at line 41 of file original_hl_sdk_2.0/sdk.c.

Definition at line 40 of file original_hl_sdk_2.0/sdk.c.

Definition at line 36 of file original_hl_sdk_2.0/sdk.c.

unsigned char wpCtrlAckTrigger

Definition at line 49 of file LL_HL_comm.c.

unsigned short wpCtrlDistToWp

Definition at line 52 of file LL_HL_comm.c.

unsigned short wpCtrlNavStatus

Definition at line 51 of file LL_HL_comm.c.

unsigned char wpCtrlWpCmd

Definition at line 46 of file LL_HL_comm.c.

unsigned char wpCtrlWpCmdUpdated

Definition at line 47 of file LL_HL_comm.c.

struct WAYPOINT wpToLL

Definition at line 54 of file LL_HL_comm.c.



asctec_hl_firmware
Author(s): Markus Achtelik, Michael Achtelik, Stephan Weiss, Laurent Kneip
autogenerated on Tue Dec 17 2013 11:39:27