view main/robots/odr-imu/func.h @ 251:87864f3a89e4 main

IMU module code.
author Bob Cook <bob@bobcookdev.com>
date Mon, 07 Sep 2015 14:49:45 -0700
parents 1fd327ac6ad8
children
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// ----------------------------------------------------------------------------------------
//
//  Copyright (C) 2015 Bob Cook
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
// 
//  Function prototypes.
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#if !defined( FUNC_H )
#define FUNC_H

#include <stdint.h>

// ----------------------------------------------------------------------------------------

void status_init();
void status_update();

void status_set_emergency();

void status_got_emergency( uint8_t node );
void status_got_all_clear( uint8_t node );
void status_got_heartbeat( uint8_t node );
void status_got_imu_packet();

bool status_is_emergency();
bool status_is_imu_active();

// ----------------------------------------------------------------------------------------

void     imu_init();
void     imu_zero_gyros();
void     imu_set_yaw_adjustment( float adj );
bool     imu_process_pending();
bool     imu_did_receive_imu_angles();
bool     imu_did_receive_imu_health();
float    imu_angle_roll();
float    imu_angle_pitch();
float    imu_angle_yaw();
uint32_t imu_health_info();

// ----------------------------------------------------------------------------------------

bool canmsg_init();
bool canmsg_send_emergency();
bool canmsg_send_all_clear();
bool canmsg_send_heartbeat();
bool canmsg_send_imu_roll( float roll );
bool canmsg_send_imu_pitch( float pitch );
bool canmsg_send_imu_yaw( float yaw );
bool canmsg_send_imu_health( uint32_t health );
bool canmsg_process_pending();

// ----------------------------------------------------------------------------------------
#endif // #if !defined( FUNC_H )