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imu_um6.c File Reference

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

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Functions

void UM6_imu_align (void)
 
void UM6_send_packet (uint8_t *packet_buffer, uint8_t packet_length)
 
uint16_t UM6_calculate_checksum (uint8_t packet_buffer[], uint8_t packet_length)
 
bool_t UM6_verify_chk (uint8_t packet_buffer[], uint8_t packet_length)
 
void imu_impl_init (void)
 Navstik IMU initializtion of the MPU-60x0 and HMC58xx. More...
 
void imu_periodic (void)
 Handle all the periodic tasks of the Navstik IMU components. More...
 
void UM6_packet_read_message (void)
 
void UM6_packet_parse (uint8_t c)
 

Variables

struct UM6Packet UM6_packet
 
uint8_t buf_out [IMU_UM6_BUFFER_LENGTH]
 
uint16_t data_chk
 
uint8_t PacketLength
 
uint8_t PacketType
 
uint8_t PacketAddr
 
enum UM6Status UM6_status
 
uint16_t chk_calc
 
uint16_t chk_rec
 
struct FloatVect3 UM6_accel
 
struct FloatRates UM6_rate
 
struct FloatVect3 UM6_mag
 
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.c.

Function Documentation

void imu_periodic ( void  )

Handle all the periodic tasks of the Navstik IMU components.

Read the MPU60x0 every periodic call and the HMC58XX every 10th call.

Definition at line 189 of file imu_um6.c.

References imu_apogee, ImuApogee::mpu, and mpu60x0_i2c_periodic().

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uint16_t UM6_calculate_checksum ( uint8_t  packet_buffer[],
uint8_t  packet_length 
)
inline

Definition at line 66 of file imu_um6.c.

Referenced by imu_impl_init(), UM6_imu_align(), and UM6_verify_chk().

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void UM6_imu_align ( void  )
inline

Definition at line 80 of file imu_um6.c.

References buf_out, data_chk, IMU_UM6_RESET_EKF_CMD, IMU_UM6_SET_ACCEL_REF, IMU_UM6_SET_MAG_REF, IMU_UM6_ZERO_GYROS_CMD, UM6_calculate_checksum(), UM6_send_packet(), UM6_status, UM6Running, and UM6Uninit.

Referenced by imu_impl_init().

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void UM6_send_packet ( uint8_t packet_buffer,
uint8_t  packet_length 
)
inline

Definition at line 74 of file imu_um6.c.

References UM6Link.

Referenced by imu_impl_init(), and UM6_imu_align().

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bool_t UM6_verify_chk ( uint8_t  packet_buffer[],
uint8_t  packet_length 
)
inline

Definition at line 60 of file imu_um6.c.

References chk_calc, chk_rec, and UM6_calculate_checksum().

Referenced by UM6_packet_parse().

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Variable Documentation

Definition at line 38 of file imu_um6.c.

Referenced by imu_impl_init(), and UM6_imu_align().

uint16_t chk_calc

Definition at line 46 of file imu_um6.c.

Referenced by gx3_verify_chk(), and UM6_verify_chk().

uint16_t chk_rec

Definition at line 47 of file imu_um6.c.

Referenced by UM6_verify_chk().

uint16_t data_chk

Definition at line 39 of file imu_um6.c.

Referenced by imu_impl_init(), and UM6_imu_align().

uint8_t PacketAddr

Definition at line 43 of file imu_um6.c.

Referenced by UM6_packet_parse(), and UM6_packet_read_message().

uint8_t PacketLength

Definition at line 41 of file imu_um6.c.

Referenced by UM6_packet_parse(), and UM6_packet_read_message().

uint8_t PacketType

Definition at line 42 of file imu_um6.c.

Referenced by UM6_packet_parse().

struct FloatVect3 UM6_accel

Definition at line 49 of file imu_um6.c.

Referenced by UM6_packet_read_message().

struct FloatEulers UM6_eulers

Definition at line 52 of file imu_um6.c.

Referenced by UM6_packet_read_message().

struct FloatVect3 UM6_mag

Definition at line 51 of file imu_um6.c.

Referenced by UM6_packet_read_message().

struct UM6Packet UM6_packet

Definition at line 37 of file imu_um6.c.

Referenced by imu_impl_init(), UM6_packet_parse(), and UM6_packet_read_message().

struct FloatQuat UM6_quat

Definition at line 53 of file imu_um6.c.

Referenced by UM6_packet_read_message().

struct FloatRates UM6_rate

Definition at line 50 of file imu_um6.c.

Referenced by UM6_packet_read_message().

enum UM6Status UM6_status

Definition at line 44 of file imu_um6.c.

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