Re: [Paparazzi-devel] Question about gps.h

[Gautier Hattenberger]

Hi,

We are currently working on an IMU XSens MTi-G for a quadri-rotor with a 
Tiny2. You can find the code in airborne/booz/quad_xsens.c and 
quad_ins.h, plus some macros generated in var/include/xsens_protocol.h

It works but it's still in devel, so it has not be really tested yet.

And for the last point, all the documentation available is in the wiki 
(and it's quite limited for airborne code). But you can find some info 
from the archives of the mailing list (search for a mail from Antoine 
Drouin)

Good luck

Gautier

Haiyang Chao a écrit :
> Hi, guys.
> We are trying to hook up a IMU with Tiny13 through UART1. But I have 
> some questions while understanding the code about the GPS part.
>
> (1) Where is the definition for function "ChAvailable()" used in 
> "#define GpsBuffer() GpsLink(ChAvailable()) --- gps.h "?
> I used the command "address@hidden:~/paparazzi3$  grep -r -n 
> 'ChAvailable()' *". But I still can  not find the definition. The only 
> possible place is in  sw/airborne/arm7/uart_hw.h:46: #define 
> Uart0ChAvailable(). But they have different names. Some tricks here?
>
> (2) What is this "dev##_x"?  like /dev/ttyUSB0 in linux or what?
> -----------------------------From 
> gps.h---------------------------------------------
> #define __GpsLink(dev, _x) dev##_x
> #define _GpsLink(dev, _x)  __GpsLink(dev, _x)
> #define GpsLink(_x) _GpsLink(GPS_LINK, _x)
>
> (3) Do u guys know any good documentations about the paparazzi 
> programming, especially the airbore code?
>
> Thanks
> Haiyang
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