imu_um6.h File Reference

Driver for CH Robotics UM6 IMU/AHRS subsystem. More...

#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "mcu_periph/uart.h"
#include "subsystems/ahrs.h"

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Data Structures
struct	UM6Packet

Macros
#define	IMU_UM6_BUFFER_LENGTH   32
#define	IMU_UM6_DATA_OFFSET   5
#define	IMU_UM6_LONG_DELAY   4000000
#define	IMU_UM6_COMMUNICATION_REG   0x00
#define	IMU_UM6_MISC_CONFIG_REG   0x01
#define	IMU_UM6_GET_FIRMWARE_CMD   0xAA
#define	IMU_UM6_ZERO_GYROS_CMD   0xAC
#define	IMU_UM6_RESET_EKF_CMD   0xAD
#define	IMU_UM6_GET_DATA   0xAE
#define	IMU_UM6_SET_ACCEL_REF   0xAF
#define	IMU_UM6_SET_MAG_REF   0xB0
#define	IMU_UM6_GYRO_PROC   0x5C
#define	IMU_UM6_ACCEL_PROC   0x5E
#define	IMU_UM6_MAG_PROC   0x60
#define	IMU_UM6_EULER   0x62
#define	IMU_UM6_QUAT   0x64

Enumerations
enum	UM6PacketStatus {   UM6PacketWaiting, UM6PacketReadingS, UM6PacketReadingN, UM6PacketReadingPT,   UM6PacketReadingAddr, UM6PacketReadingData }
enum	UM6Status { UM6Uninit, UM6Running }

Functions
void	UM6_packet_read_message (void)
void	UM6_packet_parse (uint8_t c)
void	imu_um6_publish (void)
void	imu_um6_init (void)
void	imu_um6_periodic (void)
static void	imu_um6_event (void)

Variables
struct UM6Packet	UM6_packet
uint8_t	PacketLength
uint8_t	PacketType
uint8_t	PacketAddr
uint16_t	chk_calc
uint16_t	chk_rec
enum UM6Status	UM6_status
volatile uint8_t	UM6_imu_available
struct FloatEulers	UM6_eulers
struct FloatQuat	UM6_quat

Detailed Description

Driver for CH Robotics UM6 IMU/AHRS subsystem.

Takes care of configuration of the IMU, communication and parsing the received packets. See UM6 datasheet for configuration options. Should be used with ahrs_extern_euler AHRS subsystem.

Author

Michal Podhradsky micha.nosp@m.l.po.nosp@m.dhrad.nosp@m.sky@.nosp@m.aggie.nosp@m.mail.nosp@m..usu..nosp@m.edu

Definition in file imu_um6.h.

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Data Structure Documentation

struct UM6Packet

Definition at line 79 of file imu_um6.h.

Data Fields
uint32_t	chksm_error
uint32_t	hdr_error
bool	msg_available
uint8_t	msg_buf[IMU_UM6_BUFFER_LENGTH]
uint8_t	msg_idx
uint8_t	status

Macro Definition Documentation

#define IMU_UM6_ACCEL_PROC   0x5E

Definition at line 55 of file imu_um6.h.

Referenced by UM6_packet_read_message().

#define IMU_UM6_BUFFER_LENGTH   32

Definition at line 41 of file imu_um6.h.

#define IMU_UM6_COMMUNICATION_REG   0x00

Definition at line 45 of file imu_um6.h.

Referenced by imu_um6_init().

#define IMU_UM6_DATA_OFFSET   5

Definition at line 42 of file imu_um6.h.

Referenced by UM6_packet_read_message().

#define IMU_UM6_EULER   0x62

Definition at line 57 of file imu_um6.h.

Referenced by UM6_packet_read_message().

#define IMU_UM6_GET_DATA   0xAE

Definition at line 50 of file imu_um6.h.

#define IMU_UM6_GET_FIRMWARE_CMD   0xAA

Definition at line 47 of file imu_um6.h.

#define IMU_UM6_GYRO_PROC   0x5C

Definition at line 54 of file imu_um6.h.

Referenced by UM6_packet_read_message().

#define IMU_UM6_LONG_DELAY   4000000

Definition at line 43 of file imu_um6.h.

#define IMU_UM6_MAG_PROC   0x60

Definition at line 56 of file imu_um6.h.

Referenced by UM6_packet_read_message().

#define IMU_UM6_MISC_CONFIG_REG   0x01

Definition at line 46 of file imu_um6.h.

Referenced by imu_um6_init().

#define IMU_UM6_QUAT   0x64

Definition at line 58 of file imu_um6.h.

Referenced by UM6_packet_read_message().

#define IMU_UM6_RESET_EKF_CMD   0xAD

Definition at line 49 of file imu_um6.h.

Referenced by UM6_imu_align().

#define IMU_UM6_SET_ACCEL_REF   0xAF

Definition at line 51 of file imu_um6.h.

Referenced by UM6_imu_align().

#define IMU_UM6_SET_MAG_REF   0xB0

Definition at line 52 of file imu_um6.h.

Referenced by UM6_imu_align().

#define IMU_UM6_ZERO_GYROS_CMD   0xAC

Definition at line 48 of file imu_um6.h.

Referenced by UM6_imu_align().

Enumeration Type Documentation

enum UM6PacketStatus

Enumerator
UM6PacketWaiting
UM6PacketReadingS
UM6PacketReadingN
UM6PacketReadingPT
UM6PacketReadingAddr
UM6PacketReadingData

Definition at line 88 of file imu_um6.h.

enum UM6Status

Enumerator
UM6Uninit
UM6Running

Definition at line 97 of file imu_um6.h.

Function Documentation

static void imu_um6_event ( void  )

inlinestatic

Definition at line 105 of file imu_um6.h.

References imu_um6_publish(), UM6Packet::msg_available, uart_char_available(), uart_getch(), UM6_packet, UM6_packet_parse(), and UM6_packet_read_message().

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void imu_um6_init

(

void

)

Definition at line 135 of file imu_um6.c.

References buf_out, UM6Packet::chksm_error, data_chk, UM6Packet::hdr_error, IMU_UM6_COMMUNICATION_REG, IMU_UM6_MISC_CONFIG_REG, UM6Packet::msg_available, UM6Packet::msg_idx, UM6Packet::status, UM6_calculate_checksum(), UM6_imu_align(), UM6_packet, UM6_send_packet(), UM6_status, UM6PacketWaiting, and UM6Uninit.

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void imu_um6_periodic

(

void

)

Definition at line 195 of file imu_um6.c.

void imu_um6_publish

(

void

)

Definition at line 369 of file imu_um6.c.

References Imu::accel, get_sys_time_usec(), Imu::gyro, imu, IMU_UM6_ID, and Imu::mag.

Referenced by imu_um6_event().

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void UM6_packet_parse

(

uint8_t

c

)

Definition at line 290 of file imu_um6.c.

References UM6Packet::chksm_error, UM6Packet::hdr_error, UM6Packet::msg_available, UM6Packet::msg_buf, UM6Packet::msg_idx, PacketAddr, PacketLength, PacketType, UM6Packet::status, UM6_packet, UM6_verify_chk(), UM6PacketReadingAddr, UM6PacketReadingData, UM6PacketReadingN, UM6PacketReadingPT, UM6PacketReadingS, and UM6PacketWaiting.

Referenced by imu_um6_event().

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void UM6_packet_read_message

(

void

)

Definition at line 211 of file imu_um6.c.

References Imu::accel, ACCELS_BFP_OF_REAL, EULERS_BFP_OF_REAL, EULERS_SMUL, Imu::gyro, imu, IMU_UM6_ACCEL_PROC, IMU_UM6_DATA_OFFSET, IMU_UM6_EULER, IMU_UM6_GYRO_PROC, IMU_UM6_MAG_PROC, IMU_UM6_QUAT, Imu::mag, MAGS_BFP_OF_REAL, UM6Packet::msg_buf, FloatRates::p, PacketAddr, PacketLength, FloatEulers::phi, FloatEulers::psi, FloatRates::q, FloatQuat::qi, QUAT_BFP_OF_REAL, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatRates::r, RATES_BFP_OF_REAL, RATES_SMUL, FloatEulers::theta, UM6_accel, UM6_eulers, UM6_mag, UM6_packet, UM6_quat, UM6_rate, UM6_status, UM6Running, VECT3_SMUL, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by imu_um6_event().

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Variable Documentation

uint16_t chk_calc

Definition at line 47 of file imu_um6.c.

Referenced by gx3_verify_chk(), and UM6_verify_chk().

uint16_t chk_rec

Definition at line 48 of file imu_um6.c.

Referenced by UM6_verify_chk().

uint8_t PacketAddr

Definition at line 44 of file imu_um6.c.

Referenced by UM6_packet_parse(), and UM6_packet_read_message().

uint8_t PacketLength

Definition at line 42 of file imu_um6.c.

Referenced by UM6_packet_parse(), and UM6_packet_read_message().

uint8_t PacketType

Definition at line 43 of file imu_um6.c.

Referenced by UM6_packet_parse().

struct FloatEulers UM6_eulers

Definition at line 53 of file imu_um6.c.

Referenced by UM6_packet_read_message().

volatile uint8_t UM6_imu_available

struct UM6Packet UM6_packet

Definition at line 38 of file imu_um6.c.

Referenced by imu_um6_event(), imu_um6_init(), UM6_packet_parse(), and UM6_packet_read_message().

struct FloatQuat UM6_quat

Definition at line 54 of file imu_um6.c.

Referenced by UM6_packet_read_message().

enum UM6Status UM6_status

Definition at line 45 of file imu_um6.c.

Referenced by imu_um6_init(), UM6_imu_align(), and UM6_packet_read_message().