imu_chimu.h File Reference

#include "paparazzi.h"

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Data Structures
struct	CHIMU_Euler
struct	CHIMU_Vector
struct	CHIMU_Quaternion
struct	CHIMU_attitude_data
struct	CHIMU_sensor_data
struct	CHIMU_PARSER_DATA

Macros
#define	CHIMU_STX   0xae
#define	CHIMU_BROADCAST   0xaa
#define	MSG00_PING   0x00
#define	MSG01_BIAS   0x01
#define	MSG02_DACMODE   0x02
#define	MSG03_CALACC   0x03
#define	MSG04_CALMAG   0x04
#define	MSG05_CALRATE   0x05
#define	MSG06_CONFIGCLR   0x06
#define	MSG07_CONFIGSET   0x07
#define	MSG08_SAVEGYROBIAS   0x08
#define	MSG09_ESTIMATOR   0x09
#define	MSG0A_SFCHECK   0x0A
#define	MSG0B_CENTRIP   0x0B
#define	MSG0C_INITGYROS   0x0C
#define	MSG0D_DEVICEID   0x0D
#define	MSG0E_REFVECTOR   0x0E
#define	MSG0F_RESET   0x0F
#define	MSG10_UARTSETTINGS   0x10
#define	MSG11_SERIALNUMBER   0x11
#define	CHIMU_Msg_0_Ping   0
#define	CHIMU_Msg_1_IMU_Raw   1
#define	CHIMU_Msg_2_IMU_FP   2
#define	CHIMU_Msg_3_IMU_Attitude   3
#define	CHIMU_Msg_4_BiasSF   4
#define	CHIMU_Msg_5_BIT   5
#define	CHIMU_Msg_6_MagCal   6
#define	CHIMU_Msg_7_GyroBias   7
#define	CHIMU_Msg_8_TempCal   8
#define	CHIMU_Msg_9_DAC_Offsets   9
#define	CHIMU_Msg_10_Res   10
#define	CHIMU_Msg_11_Res   11
#define	CHIMU_Msg_12_Res   12
#define	CHIMU_Msg_13_Res   13
#define	CHIMU_Msg_14_RefVector   14
#define	CHIMU_Msg_15_SFCheck   15
#define	FloatSwap(X)   (X)
#define	FALSE   (1==0)
#define	TRUE   (1==1)
#define	CHIMU_RX_BUFFERSIZE   128

Functions
void	CHIMU_Init (CHIMU_PARSER_DATA *pstData)
unsigned char	CHIMU_Parse (unsigned char btData, unsigned char bInputType, CHIMU_PARSER_DATA *pstData)
unsigned char	CHIMU_ProcessMessage (unsigned char *pMsgID, unsigned char *pPayloadData, CHIMU_PARSER_DATA *pstData)
void	CHIMU_Checksum (unsigned char *data, unsigned char buflen)

---

Data Structure Documentation

struct CHIMU_Euler

Definition at line 117 of file imu_chimu.h.

Data Fields
float	phi
float	psi
float	theta

struct CHIMU_Vector

Definition at line 123 of file imu_chimu.h.

Data Fields
float	x
float	y
float	z

struct CHIMU_Quaternion

Definition at line 129 of file imu_chimu.h.

Collaboration diagram for CHIMU_Quaternion:

Data Fields
float	s
CHIMU_Vector	v

struct CHIMU_attitude_data

Definition at line 134 of file imu_chimu.h.

Collaboration diagram for CHIMU_attitude_data:

Data Fields
CHIMU_Euler	euler
CHIMU_Quaternion	q

struct CHIMU_sensor_data

Definition at line 146 of file imu_chimu.h.

Data Fields
float	acc[3]
float	cputemp
float	mag[3]
float	rate[3]
float	spare1

struct CHIMU_PARSER_DATA

Definition at line 156 of file imu_chimu.h.

Collaboration diagram for CHIMU_PARSER_DATA:

Data Fields
uint8_t	gCalStatus
uint8_t	gCHIMU_BIT
uint8_t	gCHIMU_SW_Exclaim
uint8_t	gCHIMU_SW_Major
uint8_t	gCHIMU_SW_Minor
uint16_t	gCHIMU_SW_SerialNumber
uint8_t	gConfigInfo
CHIMU_attitude_data	m_attitude
CHIMU_attitude_data	m_attrates
unsigned char	m_Checksum
unsigned char	m_DeviceID
unsigned char	m_FullMessage[CHIMU_RX_BUFFERSIZE]
unsigned char	m_Index
unsigned char	m_MsgID
unsigned char	m_MsgLen
unsigned char	m_Payload[CHIMU_RX_BUFFERSIZE]
unsigned char	m_PayloadIndex
unsigned char	m_ReceivedChecksum
CHIMU_sensor_data	m_sensor
unsigned char	m_State
unsigned char	m_TempDeviceID

Macro Definition Documentation

#define CHIMU_BROADCAST   0xaa

Definition at line 48 of file imu_chimu.h.

Referenced by ahrs_chimu_init().

#define CHIMU_Msg_0_Ping   0

Definition at line 71 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_10_Res   10

Definition at line 81 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_11_Res   11

Definition at line 82 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_12_Res   12

Definition at line 83 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_13_Res   13

Definition at line 84 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_14_RefVector   14

Definition at line 85 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_15_SFCheck   15

Definition at line 86 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_1_IMU_Raw   1

Definition at line 72 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_2_IMU_FP   2

Definition at line 73 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_3_IMU_Attitude   3

Definition at line 74 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage(), and parse_ins_msg().

#define CHIMU_Msg_4_BiasSF   4

Definition at line 75 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_5_BIT   5

Definition at line 76 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_6_MagCal   6

Definition at line 77 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_7_GyroBias   7

Definition at line 78 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_8_TempCal   8

Definition at line 79 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_Msg_9_DAC_Offsets   9

Definition at line 80 of file imu_chimu.h.

Referenced by CHIMU_ProcessMessage().

#define CHIMU_RX_BUFFERSIZE   128

Definition at line 154 of file imu_chimu.h.

Referenced by CHIMU_Init(), and CHIMU_Parse().

#define CHIMU_STX   0xae

Definition at line 47 of file imu_chimu.h.

Referenced by ahrs_chimu_init().

#define FALSE   (1==0)

Definition at line 140 of file imu_chimu.h.

#define FloatSwap

(

X

)

(X)

Definition at line 112 of file imu_chimu.h.

Referenced by ahrs_chimu_update_gps(), and CHIMU_ProcessMessage().

#define MSG00_PING   0x00

Definition at line 51 of file imu_chimu.h.

Referenced by ahrs_chimu_init().

#define MSG01_BIAS   0x01

Definition at line 52 of file imu_chimu.h.

#define MSG02_DACMODE   0x02

Definition at line 53 of file imu_chimu.h.

#define MSG03_CALACC   0x03

Definition at line 54 of file imu_chimu.h.

#define MSG04_CALMAG   0x04

Definition at line 55 of file imu_chimu.h.

#define MSG05_CALRATE   0x05

Definition at line 56 of file imu_chimu.h.

#define MSG06_CONFIGCLR   0x06

Definition at line 57 of file imu_chimu.h.

#define MSG07_CONFIGSET   0x07

Definition at line 58 of file imu_chimu.h.

#define MSG08_SAVEGYROBIAS   0x08

Definition at line 59 of file imu_chimu.h.

#define MSG09_ESTIMATOR   0x09

Definition at line 60 of file imu_chimu.h.

Referenced by ahrs_chimu_init().

#define MSG0A_SFCHECK   0x0A

Definition at line 61 of file imu_chimu.h.

#define MSG0B_CENTRIP   0x0B

Definition at line 62 of file imu_chimu.h.

#define MSG0C_INITGYROS   0x0C

Definition at line 63 of file imu_chimu.h.

#define MSG0D_DEVICEID   0x0D

Definition at line 64 of file imu_chimu.h.

#define MSG0E_REFVECTOR   0x0E

Definition at line 65 of file imu_chimu.h.

#define MSG0F_RESET   0x0F

Definition at line 66 of file imu_chimu.h.

#define MSG10_UARTSETTINGS   0x10

Definition at line 67 of file imu_chimu.h.

Referenced by ahrs_chimu_init().

#define MSG11_SERIALNUMBER   0x11

Definition at line 68 of file imu_chimu.h.

#define TRUE   (1==1)

Definition at line 143 of file imu_chimu.h.

Function Documentation

void CHIMU_Checksum	(	unsigned char *	data,
		unsigned char	buflen
	)

Definition at line 82 of file imu_chimu.c.

References UpdateCRC().

Referenced by ahrs_chimu_init(), and ahrs_chimu_update_gps().

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void CHIMU_Init

(

CHIMU_PARSER_DATA *

pstData

)

Definition at line 108 of file imu_chimu.c.

References CHIMU_sensor_data::acc, CHIMU_RX_BUFFERSIZE, CHIMU_STATE_MACHINE_START, CHIMU_sensor_data::cputemp, CHIMU_attitude_data::euler, CHIMU_PARSER_DATA::m_attitude, CHIMU_PARSER_DATA::m_attrates, CHIMU_PARSER_DATA::m_Checksum, CHIMU_PARSER_DATA::m_DeviceID, CHIMU_PARSER_DATA::m_FullMessage, CHIMU_PARSER_DATA::m_Index, CHIMU_PARSER_DATA::m_MsgID, CHIMU_PARSER_DATA::m_MsgLen, CHIMU_PARSER_DATA::m_Payload, CHIMU_PARSER_DATA::m_PayloadIndex, CHIMU_PARSER_DATA::m_ReceivedChecksum, CHIMU_PARSER_DATA::m_sensor, CHIMU_PARSER_DATA::m_State, CHIMU_PARSER_DATA::m_TempDeviceID, CHIMU_sensor_data::mag, CHIMU_Euler::phi, CHIMU_Euler::psi, CHIMU_sensor_data::rate, CHIMU_sensor_data::spare1, and CHIMU_Euler::theta.

Referenced by ahrs_chimu_init().

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unsigned char CHIMU_Parse	(	unsigned char	btData,
		unsigned char	bInputType,
		CHIMU_PARSER_DATA *	pstData
	)

Definition at line 149 of file imu_chimu.c.

References CHIMU_COM_ID_HIGH, CHIMU_ProcessMessage(), CHIMU_RX_BUFFERSIZE, CHIMU_STATE_MACHINE_DEVICE, CHIMU_STATE_MACHINE_HEADER2, CHIMU_STATE_MACHINE_ID, CHIMU_STATE_MACHINE_LEN, CHIMU_STATE_MACHINE_PAYLOAD, CHIMU_STATE_MACHINE_START, CHIMU_STATE_MACHINE_XSUM, CHIMU_PARSER_DATA::m_Checksum, CHIMU_PARSER_DATA::m_DeviceID, CHIMU_PARSER_DATA::m_FullMessage, CHIMU_PARSER_DATA::m_Index, CHIMU_PARSER_DATA::m_MsgID, CHIMU_PARSER_DATA::m_MsgLen, CHIMU_PARSER_DATA::m_Payload, CHIMU_PARSER_DATA::m_PayloadIndex, CHIMU_PARSER_DATA::m_ReceivedChecksum, CHIMU_PARSER_DATA::m_State, CHIMU_PARSER_DATA::m_TempDeviceID, and UpdateCRC().

Referenced by parse_ins_msg().

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unsigned char CHIMU_ProcessMessage	(	unsigned char *	pMsgID,
		unsigned char *	pPayloadData,
		CHIMU_PARSER_DATA *	pstData
	)

Definition at line 288 of file imu_chimu.c.

References CHIMU_sensor_data::acc, BitTest(), CHIMU_Msg_0_Ping, CHIMU_Msg_10_Res, CHIMU_Msg_11_Res, CHIMU_Msg_12_Res, CHIMU_Msg_13_Res, CHIMU_Msg_14_RefVector, CHIMU_Msg_15_SFCheck, CHIMU_Msg_1_IMU_Raw, CHIMU_Msg_2_IMU_FP, CHIMU_Msg_3_IMU_Attitude, CHIMU_Msg_4_BiasSF, CHIMU_Msg_5_BIT, CHIMU_Msg_6_MagCal, CHIMU_Msg_7_GyroBias, CHIMU_Msg_8_TempCal, CHIMU_Msg_9_DAC_Offsets, CHIMU_sensor_data::cputemp, CHIMU_attitude_data::euler, FloatSwap, CHIMU_PARSER_DATA::gCalStatus, CHIMU_PARSER_DATA::gCHIMU_BIT, CHIMU_PARSER_DATA::gCHIMU_SW_Exclaim, CHIMU_PARSER_DATA::gCHIMU_SW_Major, CHIMU_PARSER_DATA::gCHIMU_SW_Minor, CHIMU_PARSER_DATA::gCHIMU_SW_SerialNumber, CHIMU_PARSER_DATA::gConfigInfo, GetEulersFromQuat(), CHIMU_PARSER_DATA::m_attitude, CHIMU_PARSER_DATA::m_attrates, CHIMU_PARSER_DATA::m_MsgID, CHIMU_PARSER_DATA::m_sensor, CHIMU_sensor_data::mag, CHIMU_Euler::phi, CHIMU_Euler::psi, CHIMU_attitude_data::q, CHIMU_sensor_data::rate, CHIMU_Quaternion::s, CHIMU_sensor_data::spare1, CHIMU_Euler::theta, TRUE, CHIMU_Quaternion::v, CHIMU_Vector::x, CHIMU_Vector::y, and CHIMU_Vector::z.

Referenced by CHIMU_Parse().

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