imu_chimu.c File Reference

#include "imu_chimu.h"
#include "string.h"
#include "math.h"

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Macros
#define	POLY   0xEDB88320
#define	CHIMU_STATE_MACHINE_START   0
#define	CHIMU_STATE_MACHINE_HEADER2   1
#define	CHIMU_STATE_MACHINE_LEN   2
#define	CHIMU_STATE_MACHINE_DEVICE   3
#define	CHIMU_STATE_MACHINE_ID   4
#define	CHIMU_STATE_MACHINE_PAYLOAD   5
#define	CHIMU_STATE_MACHINE_XSUM   6
#define	CHIMU_COM_ID_HIGH   0x1F

Functions
static unsigned long	UpdateCRC (unsigned long CRC_acc, void *data, unsigned long data_len)
void	CHIMU_Checksum (unsigned char *data, unsigned char buflen)
void	CHIMU_Init (CHIMU_PARSER_DATA *pstData)
unsigned char	CHIMU_Parse (unsigned char btData, unsigned char bInputType, CHIMU_PARSER_DATA *pstData)
static CHIMU_attitude_data	GetEulersFromQuat (CHIMU_attitude_data attitude)
static unsigned char	BitTest (unsigned char input, unsigned char n)
unsigned char	CHIMU_ProcessMessage (unsigned char *pMsgID, unsigned char *pPayloadData, CHIMU_PARSER_DATA *pstData)

Macro Definition Documentation

CHIMU_COM_ID_HIGH

#define CHIMU_COM_ID_HIGH   0x1F

Definition at line 102 of file imu_chimu.c.

CHIMU_STATE_MACHINE_DEVICE

#define CHIMU_STATE_MACHINE_DEVICE   3

Definition at line 96 of file imu_chimu.c.

CHIMU_STATE_MACHINE_HEADER2

#define CHIMU_STATE_MACHINE_HEADER2   1

Definition at line 94 of file imu_chimu.c.

CHIMU_STATE_MACHINE_ID

#define CHIMU_STATE_MACHINE_ID   4

Definition at line 97 of file imu_chimu.c.

CHIMU_STATE_MACHINE_LEN

#define CHIMU_STATE_MACHINE_LEN   2

Definition at line 95 of file imu_chimu.c.

CHIMU_STATE_MACHINE_PAYLOAD

#define CHIMU_STATE_MACHINE_PAYLOAD   5

Definition at line 98 of file imu_chimu.c.

CHIMU_STATE_MACHINE_START

#define CHIMU_STATE_MACHINE_START   0

Definition at line 93 of file imu_chimu.c.

CHIMU_STATE_MACHINE_XSUM

#define CHIMU_STATE_MACHINE_XSUM   6

Definition at line 99 of file imu_chimu.c.

POLY

#define POLY   0xEDB88320

Function Documentation

BitTest()

static unsigned char BitTest ( unsigned char  input, unsigned char  n  )

static

Definition at line 283 of file imu_chimu.c.

Referenced by CHIMU_ProcessMessage().

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CHIMU_Checksum()

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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CHIMU_Init()

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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CHIMU_Parse()

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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CHIMU_ProcessMessage()

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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GetEulersFromQuat()

static CHIMU_attitude_data GetEulersFromQuat ( CHIMU_attitude_data  attitude )

static

Definition at line 245 of file imu_chimu.c.

References attitude, CHIMU_attitude_data::euler, CHIMU_Euler::phi, CHIMU_Euler::psi, CHIMU_attitude_data::q, CHIMU_Quaternion::s, CHIMU_Euler::theta, CHIMU_Quaternion::v, CHIMU_Vector::x, CHIMU_Vector::y, and CHIMU_Vector::z.

Referenced by CHIMU_ProcessMessage().

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UpdateCRC()

static unsigned long UpdateCRC ( unsigned long  CRC_acc, void *  data, unsigned long  data_len  )

static

Definition at line 50 of file imu_chimu.c.

References POLY.

Referenced by CHIMU_Checksum(), and CHIMU_Parse().

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