ahrs_gx3.c File Reference

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

#include "subsystems/ahrs/ahrs_gx3.h"
#include "subsystems/ahrs.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	GX3_CHKSM(_ubx_payload)   (uint16_t)((uint16_t)(*((uint8_t*)_ubx_payload+66+1))|(uint16_t)(*((uint8_t*)_ubx_payload+66+0))<<8)

Functions
static bool	gx3_verify_chk (volatile uint8_t *buff_add)
static float	bef (volatile uint8_t *c)
void	ahrs_gx3_align (void)
static void	send_gx3 (struct transport_tx *trans, struct link_device *dev)
void	imu_gx3_init (void)
void	imu_gx3_periodic (void)
void	gx3_packet_read_message (void)
void	gx3_packet_parse (uint8_t c)
void	ahrs_gx3_init (void)
void	ahrs_gx3_register (void)
void	imu_scale_gyro (struct Imu *_imu)
void	imu_scale_accel (struct Imu *_imu)
void	imu_scale_mag (struct Imu *_imu)
void	ahrs_gx3_publish_imu (void)
static void	ReadGX3Buffer (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.c.

Macro Definition Documentation

#define GX3_CHKSM

(

_ubx_payload

)

(uint16_t)((uint16_t)(*((uint8_t*)_ubx_payload+66+1))|(uint16_t)(*((uint8_t*)_ubx_payload+66+0))<<8)

Definition at line 39 of file ahrs_gx3.c.

Referenced by gx3_packet_read_message().

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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static float bef ( volatile uint8_t *  c )

inlinestatic

Definition at line 53 of file ahrs_gx3.c.

References p.

Referenced by gx3_packet_read_message().

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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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static bool gx3_verify_chk ( volatile uint8_t *  buff_add )

inlinestatic

Definition at line 65 of file ahrs_gx3.c.

References chk_calc, and GX3_MSG_LEN.

Referenced by gx3_packet_parse().

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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.

void imu_scale_accel

(

struct Imu *

_imu

)

Definition at line 350 of file ahrs_gx3.c.

void imu_scale_gyro

(

struct Imu *

_imu

)

Definition at line 349 of file ahrs_gx3.c.

void imu_scale_mag

(

struct Imu *

_imu

)

Definition at line 351 of file ahrs_gx3.c.

Referenced by handle_ins_msg(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_bebop_event(), imu_disco_event(), imu_drotek2_event(), imu_gl1_event(), imu_hbmini_event(), imu_krooz_event(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_ppzuav_event(), imu_px4_event(), imu_px4fmu_event(), mag_hmc58xx_module_event(), mag_pitot_parse_msg(), and navdata_publish_imu().

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static void ReadGX3Buffer ( void  )

inlinestatic

Definition at line 361 of file ahrs_gx3.c.

References ahrs_gx3, gx3_packet_parse(), GX3Packet::msg_available, AhrsGX3::packet, uart_char_available(), and uart_getch().

Referenced by imu_gx3_event().

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static void send_gx3 ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 92 of file ahrs_gx3.c.

References ahrs_gx3, AhrsGX3::chksm, GX3Packet::chksm_error, AhrsGX3::freq, GX3Packet::hdr_error, and AhrsGX3::packet.

Referenced by imu_gx3_init().

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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().