Read IMU data at Serial port (p28, p27), data rate <100Hz @115200bps Read 5 channels PPM signal at p11 using InterruptIn Send data via RF Modem at serial port (p13, p14) in 36Hz @115200 Drive i2C motor speed controller at I2C port (p9, p10) in every 10mS (control loop delay time)
data_struct.h@0:7ccd56e1c3b1, 2010-08-11 (annotated)
- Committer:
- agiembed
- Date:
- Wed Aug 11 01:23:42 2010 +0000
- Revision:
- 0:7ccd56e1c3b1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
agiembed | 0:7ccd56e1c3b1 | 1 | |
agiembed | 0:7ccd56e1c3b1 | 2 | typedef struct _fcc_data { |
agiembed | 0:7ccd56e1c3b1 | 3 | |
agiembed | 0:7ccd56e1c3b1 | 4 | unsigned short US; //2 |
agiembed | 0:7ccd56e1c3b1 | 5 | unsigned short IR1; //2 |
agiembed | 0:7ccd56e1c3b1 | 6 | unsigned short IR2; //2 |
agiembed | 0:7ccd56e1c3b1 | 7 | unsigned short IR3; //2 |
agiembed | 0:7ccd56e1c3b1 | 8 | unsigned short IR4; //2 |
agiembed | 0:7ccd56e1c3b1 | 9 | unsigned short FCC_voltage; //2 |
agiembed | 0:7ccd56e1c3b1 | 10 | char state_flag; //1 |
agiembed | 0:7ccd56e1c3b1 | 11 | float roll, pitch, yaw; // 4, 4, 4 |
agiembed | 0:7ccd56e1c3b1 | 12 | float g_roll, g_pitch, g_yaw; //4, 4, 4 |
agiembed | 0:7ccd56e1c3b1 | 13 | float acc_x, acc_y, acc_z; //4, 4 ,4 |
agiembed | 0:7ccd56e1c3b1 | 14 | |
agiembed | 0:7ccd56e1c3b1 | 15 | }FCC_DATA; |
agiembed | 0:7ccd56e1c3b1 | 16 | FCC_DATA fcc; |
agiembed | 0:7ccd56e1c3b1 | 17 | |
agiembed | 0:7ccd56e1c3b1 | 18 | typedef struct _ahrs { |
agiembed | 0:7ccd56e1c3b1 | 19 | |
agiembed | 0:7ccd56e1c3b1 | 20 | short packet; //2 |
agiembed | 0:7ccd56e1c3b1 | 21 | unsigned char data_info; //1 |
agiembed | 0:7ccd56e1c3b1 | 22 | float g_roll, g_pitch, g_yaw; //4, 4, 4 |
agiembed | 0:7ccd56e1c3b1 | 23 | float acc_x, acc_y, acc_z; //4, 4 ,4 |
agiembed | 0:7ccd56e1c3b1 | 24 | float roll, pitch, yaw; // 4, 4, 4 |
agiembed | 0:7ccd56e1c3b1 | 25 | |
agiembed | 0:7ccd56e1c3b1 | 26 | }AHRS_DATA; |
agiembed | 0:7ccd56e1c3b1 | 27 | AHRS_DATA IMU; |