ahrs_gx3.h File Reference

Driver for Microstrain GX3 IMU/AHRS subsystem. More...

#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "subsystems/ins.h"
#include "subsystems/gps.h"
#include "mcu_periph/uart.h"
#include "state.h"
#include "led.h"

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Data Structures
struct	GX3Packet
struct	AhrsGX3

Macros
#define	GX3_MAX_PAYLOAD   128
#define	GX3_MSG_LEN   67
#define	GX3_HEADER   0xC8
#define	GX3_MIN_FREQ   300
#define	IMU_GX3_LONG_DELAY   4000000
#define	PRIMARY_AHRS   ahrs_gx3

Enumerations
enum	GX3PacketStatus { GX3PacketWaiting, GX3PacketReading }

Functions
void	gx3_packet_read_message (void)
void	gx3_packet_parse (uint8_t c)
void	ahrs_gx3_init (void)
void	ahrs_gx3_align (void)
void	ahrs_gx3_register (void)
void	ahrs_gx3_publish_imu (void)
void	imu_gx3_init (void)
void	imu_gx3_periodic (void)
void	imu_gx3_event (void)

Variables
struct AhrsGX3	ahrs_gx3
	Axis definition: X axis pointing forward, Y axis pointing to the right and Z axis pointing down. More...

Detailed Description

Driver for Microstrain GX3 IMU/AHRS subsystem.

Takes care of configuration of the IMU, communication and parsing the received packets. See GX3 datasheet for configuration options.

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 ahrs_gx3.h.

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Data Structure Documentation

struct GX3Packet

Definition at line 54 of file ahrs_gx3.h.

Data Fields
uint32_t	chksm_error
uint32_t	hdr_error
bool	msg_available
uint8_t	msg_buf[GX3_MAX_PAYLOAD]
uint8_t	msg_idx
uint8_t	status

struct AhrsGX3

Definition at line 70 of file ahrs_gx3.h.

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Data Fields
struct FloatVect3	accel	measured acceleration in IMU frame
uint16_t	chksm	aux variable for checksum
float	freq	data frequency
bool	is_aligned
uint32_t	ltime	aux time stamp
struct FloatQuat	ltp_to_imu_quat	Rotation from LocalTangentPlane to IMU frame as quaternions.
float	mag_offset	Difference between true and magnetic north.
struct GX3Packet	packet	Packet struct.
struct FloatRates	rate	measured angular rates in IMU frame
struct FloatRMat	rmat	measured attitude in IMU frame (rotational matrix)
uint32_t	time	GX3 time stamp.

Macro Definition Documentation

#define GX3_HEADER   0xC8

Definition at line 46 of file ahrs_gx3.h.

Referenced by gx3_packet_parse().

#define GX3_MAX_PAYLOAD   128

Definition at line 44 of file ahrs_gx3.h.

#define GX3_MIN_FREQ   300

Definition at line 47 of file ahrs_gx3.h.

#define GX3_MSG_LEN   67

Definition at line 45 of file ahrs_gx3.h.

Referenced by gx3_packet_parse(), and gx3_verify_chk().

#define IMU_GX3_LONG_DELAY   4000000

Definition at line 49 of file ahrs_gx3.h.

Referenced by imu_gx3_init().

#define PRIMARY_AHRS   ahrs_gx3

Definition at line 88 of file ahrs_gx3.h.

Enumeration Type Documentation

enum GX3PacketStatus

Enumerator
GX3PacketWaiting
GX3PacketReading

Definition at line 63 of file ahrs_gx3.h.

Function Documentation

void ahrs_gx3_align

(

void

)

Definition at line 75 of file ahrs_gx3.c.

References ahrs_gx3, AhrsGX3::is_aligned, and uart_put_byte().

Referenced by imu_gx3_init().

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void ahrs_gx3_init

(

void

)

Definition at line 327 of file ahrs_gx3.c.

References ahrs_gx3, Imu::body_to_imu, imu, AhrsGX3::is_aligned, AhrsGX3::ltp_to_imu_quat, AhrsGX3::mag_offset, orientationGetQuat_f(), and QUAT_COPY.

Referenced by ahrs_gx3_register().

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void ahrs_gx3_publish_imu

(

void

)

Definition at line 353 of file ahrs_gx3.c.

References Imu::accel, get_sys_time_usec(), Imu::gyro, imu, IMU_GX3_ID, and Imu::mag.

Referenced by imu_gx3_event().

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void ahrs_gx3_register

(

void

)

Todo:

: provide enable function

Definition at line 340 of file ahrs_gx3.c.

References ahrs_gx3_init(), and ahrs_register_impl().

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void gx3_packet_parse

(

uint8_t

c

)

Definition at line 294 of file ahrs_gx3.c.

References ahrs_gx3, GX3Packet::chksm_error, GX3_HEADER, GX3_MSG_LEN, gx3_verify_chk(), GX3PacketReading, GX3PacketWaiting, GX3Packet::hdr_error, GX3Packet::msg_available, GX3Packet::msg_buf, GX3Packet::msg_idx, AhrsGX3::packet, and GX3Packet::status.

Referenced by ReadGX3Buffer().

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void gx3_packet_read_message

(

void

)

Definition at line 226 of file ahrs_gx3.c.

References Imu::accel, AhrsGX3::accel, ACCELS_BFP_OF_REAL, ahrs_gx3, bef(), Imu::body_to_imu, AhrsGX3::chksm, GpsState::course, float_eulers_of_rmat(), float_rmat_comp(), FLOAT_RMAT_TRANSP_RATEMULT, AhrsGX3::freq, gps, GX3_CHKSM, Imu::gyro, imu, AhrsGX3::ltime, FloatRMat::m, AhrsGX3::mag_offset, GX3Packet::msg_buf, orientationGetRMat_f(), FloatRates::p, AhrsGX3::packet, FloatEulers::psi, FloatRates::q, FloatRates::r, AhrsGX3::rate, RATES_BFP_OF_REAL, AhrsGX3::rmat, stateSetBodyRates_f(), stateSetNedToBodyEulers_f(), stateSetNedToBodyRMat_f(), AhrsGX3::time, VECT3_SMUL, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by imu_gx3_event().

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void imu_gx3_event

(

void

)

Definition at line 368 of file ahrs_gx3.c.

References ahrs_gx3, ahrs_gx3_publish_imu(), gx3_packet_read_message(), GX3Packet::msg_available, AhrsGX3::packet, ReadGX3Buffer(), and uart_char_available().

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void imu_gx3_init

(

void

)

Definition at line 106 of file ahrs_gx3.c.

References ahrs_gx3, ahrs_gx3_align(), GX3Packet::chksm_error, DefaultPeriodic, GX3PacketWaiting, GX3Packet::hdr_error, IMU_GX3_LONG_DELAY, AhrsGX3::is_aligned, GX3Packet::msg_available, GX3Packet::msg_idx, AhrsGX3::packet, register_periodic_telemetry(), send_gx3(), GX3Packet::status, and uart_put_byte().

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void imu_gx3_periodic

(

void

)

Definition at line 218 of file ahrs_gx3.c.

Variable Documentation

struct AhrsGX3 ahrs_gx3

Axis definition: X axis pointing forward, Y axis pointing to the right and Z axis pointing down.

Positive pitch : nose up Positive roll : right wing down Positive yaw : clockwise

Definition at line 47 of file ahrs_gx3.c.

Referenced by ahrs_gx3_align(), ahrs_gx3_init(), gx3_packet_parse(), gx3_packet_read_message(), imu_gx3_event(), imu_gx3_init(), ReadGX3Buffer(), and send_gx3().