vnav.c File Reference

VectorNav IMU/GNSS task. More...

#include "vnav.h"
#include <stdint.h>
#include <stdbool.h>
#include <math.h>
#include <string.h>
#include "rtos.h"
#include "iem_utils.h"
#include "constants.h"
#include "types.h"
#include "main.h"
#include "can_rtos.h"
#include "can_1.h"
#include "can_2.h"

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Data Structures
struct	vnav_t
struct	vnav_t::__packed
union	vnav_uart_notif
struct	vnav_status_info

Macros
#define	VNAV_UART_BAUD_RATE   921600
#define	VNAV_OUTPUT_FREQ_HZ   400
#define	UART_RX_TIMEOUT_TICKS   pdMS_TO_TICKS(3)
#define	VNAV_PERIOD_APPROX_TICKS   pdMS_TO_TICKS(4)
#define	VNAV_START_DELIMITER   0xFA
#define	VNAV_SYNC_OUT_EXTI_LINE   EXTI_LINE_10
#define	NS_TO_MS   1000000

Functions
static void	task_vnav (void *task_params_ptr)
	Implements the VectorNav task.
static void	vnav_logging (enum vnav_state state, struct vnav_status_info *status_info, union vnav_uart_notif notif)
	Packs and sends VectorNav logging messages on CAN 2.
static void	tv_inputs_logging (enum vnav_state state)
	Packs and sends VectorNav logging messages on CAN ''2.
static void	uart_rx_event_callback (UART_HandleTypeDef *huart, uint16_t pos)
static void	uart_tx_cplt_callback (UART_HandleTypeDef *huart)
static void	uart_error_callback (UART_HandleTypeDef *huart)
static uint16_t	vnav_crc16 (uint8_t *start, size_t len)
void	task_vnav_init (Global_Handles_t *hdls_ptr)
	Initialize the VectorNav task and hardware peripherals.
void	vnav_sync_out_exti_callback (void)

Variables
enum __packed	vnav_gnss_fix
	VNAV_GNSS_NO_FIX = 0U
	VNAV_GNSS_TIME_ONLY_FIX
	VNAV_GNSS_2D_FIX
	VNAV_GNSS_3D_FIX
	VNAV_GNSS_SBAS_FIX
	VNAV_GNSS_APPROX_RTK_FIX
	VNAV_GNSS_RTK_FIX
enum __packed	vnav_ins_mode
	VNAV_INS_NOT_TRACKING = 0U
	VNAV_INS_ALIGNING
	VNAV_INS_TRACKING
	VNAV_INS_GNSS_LOST
static DMA_VAR struct vnav_t	g_vnav_rx_buffer

Detailed Description

VectorNav IMU/GNSS task.

Author

Jamie Pruett :)

Version

0.1

Date

2025-05-19

Macro Definition Documentation

NS_TO_MS

#define NS_TO_MS   1000000

UART_RX_TIMEOUT_TICKS

#define UART_RX_TIMEOUT_TICKS   pdMS_TO_TICKS(3)

VNAV_OUTPUT_FREQ_HZ

#define VNAV_OUTPUT_FREQ_HZ   400

VNAV_PERIOD_APPROX_TICKS

#define VNAV_PERIOD_APPROX_TICKS   pdMS_TO_TICKS(4)

VNAV_START_DELIMITER

#define VNAV_START_DELIMITER   0xFA

VNAV_SYNC_OUT_EXTI_LINE

#define VNAV_SYNC_OUT_EXTI_LINE   EXTI_LINE_10

VNAV_UART_BAUD_RATE

#define VNAV_UART_BAUD_RATE   921600

Function Documentation

task_vnav()

void task_vnav ( void * task_params_ptr )

static

Implements the VectorNav task.

Parameters

task_params_ptr

Pointer to the FreeRTOS handles struct

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task_vnav_init()

void task_vnav_init

(

Global_Handles_t *

hdls_ptr

)

Initialize the VectorNav task and hardware peripherals.

Parameters

hdls_ptr

Pointer to FreeRTOS handles struct

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tv_inputs_logging()

void tv_inputs_logging ( enum vnav_state state )

static

Packs and sends VectorNav logging messages on CAN ''2.

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uart_error_callback()

void uart_error_callback ( UART_HandleTypeDef * huart )

static

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uart_rx_event_callback()

void uart_rx_event_callback ( UART_HandleTypeDef * huart, uint16_t pos )

static

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uart_tx_cplt_callback()

void uart_tx_cplt_callback ( UART_HandleTypeDef * huart )

static

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vnav_crc16()

uint16_t vnav_crc16 ( uint8_t * start, size_t len )

static

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vnav_logging()

void vnav_logging ( enum vnav_state state, struct vnav_status_info * status_info, union vnav_uart_notif notif )

static

Packs and sends VectorNav logging messages on CAN 2.

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vnav_sync_out_exti_callback()

void vnav_sync_out_exti_callback

(

void

)

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Variable Documentation

g_vnav_rx_buffer

DMA_VAR struct vnav_t g_vnav_rx_buffer

static

VNAV_GNSS_2D_FIX

VNAV_GNSS_2D_FIX

VNAV_GNSS_3D_FIX

VNAV_GNSS_3D_FIX

VNAV_GNSS_APPROX_RTK_FIX

VNAV_GNSS_APPROX_RTK_FIX

vnav_gnss_fix

enum __packed vnav_gnss_fix

VNAV_GNSS_NO_FIX

VNAV_GNSS_NO_FIX = 0U

VNAV_GNSS_RTK_FIX

VNAV_GNSS_RTK_FIX

VNAV_GNSS_SBAS_FIX

VNAV_GNSS_SBAS_FIX

VNAV_GNSS_TIME_ONLY_FIX

VNAV_GNSS_TIME_ONLY_FIX

VNAV_INS_ALIGNING

VNAV_INS_ALIGNING

VNAV_INS_GNSS_LOST

VNAV_INS_GNSS_LOST

vnav_ins_mode

enum __packed vnav_ins_mode

VNAV_INS_NOT_TRACKING

VNAV_INS_NOT_TRACKING = 0U

VNAV_INS_TRACKING

VNAV_INS_TRACKING