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[ins] refactor xsens

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This commit is contained in:
Felix Ruess
2016-02-07 16:43:32 +01:00
parent 4754f42dd4
commit da1ab3a374
5 changed files with 651 additions and 711 deletions
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conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
+2 -3
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@@ -12,8 +12,6 @@
#########################################
## ATTITUDE
ap.CFLAGS += -DUSE_INS_MODULE
# AHRS Results
ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\"
@@ -25,9 +23,10 @@ endif
#B115200
ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
ap.CFLAGS += -DINS_LINK=uart$(XSENS_UART_NR)
ap.CFLAGS += -DXSENS_LINK=uart$(XSENS_UART_NR)
ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
ap.srcs += $(SRC_MODULES)/ins/xsens.c
ap.srcs += $(SRC_SUBSYSTEMS)/ins.c
ap.srcs += $(SRC_MODULES)/ins/ins_xsens.c
ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
sw/airborne/modules/ins/ins_xsens.c
+74 -662
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File diff suppressed because it is too large Load Diff
sw/airborne/modules/ins/ins_xsens.h
+14 -46
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@@ -21,7 +21,8 @@
*/
/**
* \brief Library for the XSENS AHRS
* @file modules/ins/ins_xsens.h
* Xsens as a full INS solution
*/
#ifndef INS_XSENS_H
@@ -29,54 +30,21 @@
#include "std.h"
#include "ins_module.h"
#include "xsens.h"
struct XsensTime {
int8_t hour;
int8_t min;
int8_t sec;
int32_t nanosec;
int16_t year;
int8_t month;
int8_t day;
};
extern struct XsensTime xsens_time;
extern uint8_t xsens_msg_status;
extern uint16_t xsens_time_stamp;
extern void xsens_periodic(void);
/* To use Xsens to just provide IMU measurements
* for use with an external AHRS algorithm
*/
#if USE_IMU
#include "subsystems/imu.h"
#include "subsystems/abi.h"
struct ImuXsens {
bool_t gyro_available;
bool_t accel_available;
bool_t mag_available;
};
extern struct ImuXsens imu_xsens;
#define ImuEvent() {}
#endif /* USE_IMU */
/* use Xsens as a full INS solution */
#if USE_INS_MODULE
#define InsEvent() { \
ins_event_check_and_handle(handle_ins_msg); \
}
#define DefaultInsImpl ins_xsens
#define InsPeriodic xsens_periodic
extern void ins_xsens_init(void);
extern void ins_xsens_register(void);
#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
extern volatile uint8_t new_ins_attitude;
#endif
extern float ins_pitch_neutral;
extern float ins_roll_neutral;
#define DefaultInsImpl ins_xsens
#define InsPeriodic xsens_periodic
#define InsEvent ins_xsens_event
extern void ins_xsens_init(void);
extern void ins_xsens_register(void);
extern void ins_xsens_event(void);
#if USE_GPS_XSENS
#ifndef PRIMARY_GPS
sw/airborne/modules/ins/xsens.c
+478
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@@ -0,0 +1,478 @@
/*
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/** @file modules/ins/xsens.c
* Parser for the Xsens protocol.
*/
#include "xsens.h"
#if USE_GPS_XSENS
#include "math/pprz_geodetic_wgs84.h"
#endif
// FIXME Debugging Only
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
volatile uint8_t xsens_msg_received;
#define XsensLinkDevice (&((XSENS_LINK).device))
#define XsensInitCheksum() { send_ck = 0; }
#define XsensUpdateChecksum(c) { send_ck += c; }
#define XsensUartSend1(c) XsensLinkDevice->put_byte(XsensLinkDevice->periph, c)
#define XsensSend1(c) { uint8_t i8=c; XsensUartSend1(i8); XsensUpdateChecksum(i8); }
#define XsensSend1ByAddr(x) { XsensSend1(*x); }
#define XsensSend2ByAddr(x) { XsensSend1(*(x+1)); XsensSend1(*x); }
#define XsensSend4ByAddr(x) { XsensSend1(*(x+3)); XsensSend1(*(x+2)); XsensSend1(*(x+1)); XsensSend1(*x); }
#define XsensHeader(msg_id, len) { \
XsensUartSend1(XSENS_START); \
XsensInitCheksum(); \
XsensSend1(XSENS_BID); \
XsensSend1(msg_id); \
XsensSend1(len); \
}
#define XsensTrailer() { uint8_t i8=0x100-send_ck; XsensUartSend1(i8); }
/** Includes macros generated from xsens_MTi-G.xml */
#include "xsens_protocol.h"
#define XSENS_MAX_PAYLOAD 254
uint8_t xsens_msg_buf[XSENS_MAX_PAYLOAD];
/* output mode : calibrated, orientation, position, velocity, status
* -----------
*
* bit 0 temp
* bit 1 calibrated
* bit 2 orentation
* bit 3 aux
*
* bit 4 position
* bit 5 velocity
* bit 6-7 Reserved
*
* bit 8-10 Reserved
* bit 11 status
*
* bit 12 GPS PVT+baro
* bit 13 Reserved
* bit 14 Raw
* bit 15 Reserved
*/
#ifndef XSENS_OUTPUT_MODE
#define XSENS_OUTPUT_MODE 0x1836
#endif
/* output settings : timestamp, euler, acc, rate, mag, float, no aux, lla, m/s, NED
* -----------
*
* bit 01 0=none, 1=sample counter, 2=utc, 3=sample+utc
* bit 23 0=quaternion, 1=euler, 2=DCM
*
* bit 4 1=disable acc output
* bit 5 1=disable gyro output
* bit 6 1=disable magneto output
* bit 7 Reserved
*
* bit 89 0=float, 1=fixedpoint12.20, 2=fixedpoint16.32
* bit 10 1=disable aux analog 1
* bit 11 1=disable aux analog 2
*
* bit 12-15 0-only: 14-16 WGS84
*
* bit 16-19 0-only: 16-18 m/s XYZ
*
* bit 20-23 Reserved
*
* bit 24-27 Reseverd
*
* bit 28-30 Reseverd
* bit 31 0=X-North-Z-Up, 1=North-East-Down
*/
#ifndef XSENS_OUTPUT_SETTINGS
#define XSENS_OUTPUT_SETTINGS 0x80000C05
#endif
#define UNINIT 0
#define GOT_START 1
#define GOT_BID 2
#define GOT_MID 3
#define GOT_LEN 4
#define GOT_DATA 5
#define GOT_CHECKSUM 6
uint8_t xsens_errorcode;
uint8_t xsens_msg_status;
uint16_t xsens_time_stamp;
uint16_t xsens_output_mode;
uint32_t xsens_output_settings;
float xsens_declination = 0;
float xsens_gps_arm_x = 0;
float xsens_gps_arm_y = 0;
float xsens_gps_arm_z = 0;
static uint8_t xsens_id;
static uint8_t xsens_status;
static uint8_t xsens_len;
static uint8_t xsens_msg_idx;
static uint8_t ck;
uint8_t send_ck;
volatile int xsens_configured = 0;
struct Xsens xsens;
void parse_xsens_buffer(uint8_t c);
void xsens_init(void)
{
xsens_status = UNINIT;
xsens_configured = 20;
xsens_msg_status = 0;
xsens_time_stamp = 0;
xsens_output_mode = XSENS_OUTPUT_MODE;
xsens_output_settings = XSENS_OUTPUT_SETTINGS;
}
void xsens_event(void)
{
struct link_device *dev = &((XSENS_LINK).device);
if (dev->char_available(dev->periph)) {
while (dev->char_available(dev->periph) && !xsens_msg_received) {
parse_xsens_buffer(dev->get_byte(dev->periph));
}
}
}
void xsens_periodic(void)
{
if (xsens_configured > 0) {
switch (xsens_configured) {
case 20:
/* send mode and settings to MT */
XSENS_GoToConfig();
XSENS_SetOutputMode(xsens_output_mode);
XSENS_SetOutputSettings(xsens_output_settings);
break;
case 18:
// Give pulses on SyncOut
XSENS_SetSyncOutSettings(0, 0x0002);
break;
case 17:
// 1 pulse every 100 samples
XSENS_SetSyncOutSettings(1, 100);
break;
case 2:
XSENS_ReqLeverArmGps();
break;
case 6:
XSENS_ReqMagneticDeclination();
break;
case 13:
#ifdef AHRS_H_X
#pragma message "Sending XSens Magnetic Declination."
xsens_declination = atan2(AHRS_H_Y, AHRS_H_X);
XSENS_SetMagneticDeclination(xsens_declination);
#endif
break;
case 12:
#ifdef GPS_IMU_LEVER_ARM_X
#pragma message "Sending XSens GPS Arm."
XSENS_SetLeverArmGps(GPS_IMU_LEVER_ARM_X, GPS_IMU_LEVER_ARM_Y, GPS_IMU_LEVER_ARM_Z);
#endif
break;
case 10: {
uint8_t baud = 1;
XSENS_SetBaudrate(baud);
}
break;
case 1:
XSENS_GoToMeasurment();
break;
default:
break;
}
xsens_configured--;
return;
}
RunOnceEvery(100, XSENS_ReqGPSStatus());
}
void parse_xsens_msg(void)
{
uint8_t offset = 0;
if (xsens_id == XSENS_ReqOutputModeAck_ID) {
xsens_output_mode = XSENS_ReqOutputModeAck_mode(xsens_msg_buf);
} else if (xsens_id == XSENS_ReqOutputSettings_ID) {
xsens_output_settings = XSENS_ReqOutputSettingsAck_settings(xsens_msg_buf);
} else if (xsens_id == XSENS_ReqMagneticDeclinationAck_ID) {
xsens_declination = DegOfRad(XSENS_ReqMagneticDeclinationAck_declination(xsens_msg_buf));
DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x,
&xsens_gps_arm_y, &xsens_gps_arm_z);
} else if (xsens_id == XSENS_ReqLeverArmGpsAck_ID) {
xsens_gps_arm_x = XSENS_ReqLeverArmGpsAck_x(xsens_msg_buf);
xsens_gps_arm_y = XSENS_ReqLeverArmGpsAck_y(xsens_msg_buf);
xsens_gps_arm_z = XSENS_ReqLeverArmGpsAck_z(xsens_msg_buf);
DOWNLINK_SEND_IMU_MAG_SETTINGS(DefaultChannel, DefaultDevice, &xsens_declination, &xsens_declination, &xsens_gps_arm_x,
&xsens_gps_arm_y, &xsens_gps_arm_z);
} else if (xsens_id == XSENS_Error_ID) {
xsens_errorcode = XSENS_Error_errorcode(xsens_msg_buf);
}
#if USE_GPS_XSENS
else if (xsens_id == XSENS_GPSStatus_ID) {
xsens.gps.nb_channels = XSENS_GPSStatus_nch(xsens_msg_buf);
xsens.gps.num_sv = 0;
uint8_t i;
// Do not write outside buffer
for (i = 0; i < Min(xsens.gps.nb_channels, GPS_NB_CHANNELS); i++) {
uint8_t ch = XSENS_GPSStatus_chn(xsens_msg_buf, i);
if (ch > xsens.gps.nb_channels) { continue; }
xsens.gps.svinfos[ch].svid = XSENS_GPSStatus_svid(xsens_msg_buf, i);
xsens.gps.svinfos[ch].flags = XSENS_GPSStatus_bitmask(xsens_msg_buf, i);
xsens.gps.svinfos[ch].qi = XSENS_GPSStatus_qi(xsens_msg_buf, i);
xsens.gps.svinfos[ch].cno = XSENS_GPSStatus_cnr(xsens_msg_buf, i);
if (xsens.gps.svinfos[ch].flags > 0) {
xsens.gps.num_sv++;
}
}
}
#endif
else if (xsens_id == XSENS_MTData_ID) {
/* test RAW modes else calibrated modes */
//if ((XSENS_MASK_RAWInertial(xsens_output_mode)) || (XSENS_MASK_RAWGPS(xsens_output_mode))) {
if (XSENS_MASK_RAWInertial(xsens_output_mode)) {
/* should we write raw data to separate struct? */
xsens.gyro.p = XSENS_DATA_RAWInertial_gyrX(xsens_msg_buf, offset);
xsens.gyro.q = XSENS_DATA_RAWInertial_gyrY(xsens_msg_buf, offset);
xsens.gyro.r = XSENS_DATA_RAWInertial_gyrZ(xsens_msg_buf, offset);
xsens.gyro_available = TRUE;
offset += XSENS_DATA_RAWInertial_LENGTH;
}
if (XSENS_MASK_RAWGPS(xsens_output_mode)) {
#if USE_GPS_XSENS_RAW_DATA && USE_GPS_XSENS
xsens.gps.week = 0; // FIXME
xsens.gps.tow = XSENS_DATA_RAWGPS_itow(xsens_msg_buf, offset) * 10;
xsens.gps.lla_pos.lat = XSENS_DATA_RAWGPS_lat(xsens_msg_buf, offset);
xsens.gps.lla_pos.lon = XSENS_DATA_RAWGPS_lon(xsens_msg_buf, offset);
xsens.gps.lla_pos.alt = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset);
SetBit(xsens.gps.valid_fields, GPS_VALID_POS_LLA_BIT);
// Compute geoid (MSL) height
float hmsl = wgs84_ellipsoid_to_geoid_i(xsens.gps.lla_pos.lat, xsens.gps.lla_pos.lon);
xsens.gps.hmsl = XSENS_DATA_RAWGPS_alt(xsens_msg_buf, offset) - (hmsl * 1000.0f);
SetBit(gps.valid_fields, GPS_VALID_HMSL_BIT);
xsens.gps.ned_vel.x = XSENS_DATA_RAWGPS_vel_n(xsens_msg_buf, offset);
xsens.gps.ned_vel.y = XSENS_DATA_RAWGPS_vel_e(xsens_msg_buf, offset);
xsens.gps.ned_vel.z = XSENS_DATA_RAWGPS_vel_d(xsens_msg_buf, offset);
SetBit(gps.valid_fields, GPS_VALID_VEL_NED_BIT);
xsens.gps.pacc = XSENS_DATA_RAWGPS_hacc(xsens_msg_buf, offset) / 100;
xsens.gps.sacc = XSENS_DATA_RAWGPS_sacc(xsens_msg_buf, offset) / 100;
xsens.gps.pdop = 5; // FIXME Not output by XSens
xsens.gps_available = TRUE;
#endif
offset += XSENS_DATA_RAWGPS_LENGTH;
}
//} else {
if (XSENS_MASK_Temp(xsens_output_mode)) {
offset += XSENS_DATA_Temp_LENGTH;
}
if (XSENS_MASK_Calibrated(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_AccOut(xsens_output_settings)) {
xsens.accel.x = XSENS_DATA_Calibrated_accX(xsens_msg_buf, offset);
xsens.accel.y = XSENS_DATA_Calibrated_accY(xsens_msg_buf, offset);
xsens.accel.z = XSENS_DATA_Calibrated_accZ(xsens_msg_buf, offset);
xsens.accel_available = TRUE;
l++;
}
if (!XSENS_MASK_GyrOut(xsens_output_settings)) {
xsens.gyro.p = XSENS_DATA_Calibrated_gyrX(xsens_msg_buf, offset);
xsens.gyro.q = XSENS_DATA_Calibrated_gyrY(xsens_msg_buf, offset);
xsens.gyro.r = XSENS_DATA_Calibrated_gyrZ(xsens_msg_buf, offset);
xsens.gyro_available = TRUE;
l++;
}
if (!XSENS_MASK_MagOut(xsens_output_settings)) {
xsens.mag.x = XSENS_DATA_Calibrated_magX(xsens_msg_buf, offset);
xsens.mag.y = XSENS_DATA_Calibrated_magY(xsens_msg_buf, offset);
xsens.mag.z = XSENS_DATA_Calibrated_magZ(xsens_msg_buf, offset);
xsens.mag_available = TRUE;
l++;
}
offset += l * XSENS_DATA_Calibrated_LENGTH / 3;
}
if (XSENS_MASK_Orientation(xsens_output_mode)) {
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x00) {
xsens.quat.qi = XSENS_DATA_Quaternion_q0(xsens_msg_buf, offset);
xsens.quat.qx = XSENS_DATA_Quaternion_q1(xsens_msg_buf, offset);
xsens.quat.qy = XSENS_DATA_Quaternion_q2(xsens_msg_buf, offset);
xsens.quat.qz = XSENS_DATA_Quaternion_q3(xsens_msg_buf, offset);
//float_eulers_of_quat(&xsens.euler, &xsens.quat);
offset += XSENS_DATA_Quaternion_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x01) {
xsens.euler.phi = XSENS_DATA_Euler_roll(xsens_msg_buf, offset) * M_PI / 180;
xsens.euler.theta = XSENS_DATA_Euler_pitch(xsens_msg_buf, offset) * M_PI / 180;
xsens.euler.psi = XSENS_DATA_Euler_yaw(xsens_msg_buf, offset) * M_PI / 180;
offset += XSENS_DATA_Euler_LENGTH;
}
if (XSENS_MASK_OrientationMode(xsens_output_settings) == 0x10) {
offset += XSENS_DATA_Matrix_LENGTH;
}
xsens.new_attitude = TRUE;
}
if (XSENS_MASK_Auxiliary(xsens_output_mode)) {
uint8_t l = 0;
if (!XSENS_MASK_Aux1Out(xsens_output_settings)) {
l++;
}
if (!XSENS_MASK_Aux2Out(xsens_output_settings)) {
l++;
}
offset += l * XSENS_DATA_Auxiliary_LENGTH / 2;
}
if (XSENS_MASK_Position(xsens_output_mode)) {
xsens.lla_f.lat = RadOfDeg(XSENS_DATA_Position_lat(xsens_msg_buf, offset));
xsens.lla_f.lon = RadOfDeg(XSENS_DATA_Position_lon(xsens_msg_buf, offset));
xsens.lla_f.alt = XSENS_DATA_Position_alt(xsens_msg_buf, offset);
offset += XSENS_DATA_Position_LENGTH;
#if (! USE_GPS_XSENS_RAW_DATA) && USE_GPS_XSENS
LLA_BFP_OF_REAL(xsens.gps.lla_pos, xsens.lla_f);
SetBit(gps.valid_fields, GPS_VALID_POS_LLA_BIT);
xsens.gps_available = TRUE;
#endif
}
if (XSENS_MASK_Velocity(xsens_output_mode)) {
xsens.vel.x = XSENS_DATA_Velocity_vx(xsens_msg_buf, offset);
xsens.vel.y = XSENS_DATA_Velocity_vy(xsens_msg_buf, offset);
xsens.vel.z = XSENS_DATA_Velocity_vz(xsens_msg_buf, offset);
offset += XSENS_DATA_Velocity_LENGTH;
}
if (XSENS_MASK_Status(xsens_output_mode)) {
xsens_msg_status = XSENS_DATA_Status_status(xsens_msg_buf, offset);
#if USE_GPS_XSENS
if (bit_is_set(xsens_msg_status, 2)) { xsens.gps.fix = GPS_FIX_3D; } // gps fix
else if (bit_is_set(xsens_msg_status, 1)) { xsens.gps.fix = 0x01; } // efk valid
else { xsens.gps.fix = GPS_FIX_NONE; }
#ifdef GPS_LED
if (xsens.gps.fix == GPS_FIX_3D) {
LED_ON(GPS_LED);
} else {
LED_TOGGLE(GPS_LED);
}
#endif // GPS_LED
#endif // USE_GPS_XSENS
offset += XSENS_DATA_Status_LENGTH;
}
if (XSENS_MASK_TimeStamp(xsens_output_settings)) {
xsens.time_stamp = XSENS_DATA_TimeStamp_ts(xsens_msg_buf, offset);
offset += XSENS_DATA_TimeStamp_LENGTH;
}
if (XSENS_MASK_UTC(xsens_output_settings)) {
xsens.time.hour = XSENS_DATA_UTC_hour(xsens_msg_buf, offset);
xsens.time.min = XSENS_DATA_UTC_min(xsens_msg_buf, offset);
xsens.time.sec = XSENS_DATA_UTC_sec(xsens_msg_buf, offset);
xsens.time.nanosec = XSENS_DATA_UTC_nanosec(xsens_msg_buf, offset);
xsens.time.year = XSENS_DATA_UTC_year(xsens_msg_buf, offset);
xsens.time.month = XSENS_DATA_UTC_month(xsens_msg_buf, offset);
xsens.time.day = XSENS_DATA_UTC_day(xsens_msg_buf, offset);
offset += XSENS_DATA_UTC_LENGTH;
}
}
}
void parse_xsens_buffer(uint8_t c)
{
ck += c;
switch (xsens_status) {
case UNINIT:
if (c != XSENS_START) {
goto error;
}
xsens_status++;
ck = 0;
break;
case GOT_START:
if (c != XSENS_BID) {
goto error;
}
xsens_status++;
break;
case GOT_BID:
xsens_id = c;
xsens_status++;
break;
case GOT_MID:
xsens_len = c;
if (xsens_len > XSENS_MAX_PAYLOAD) {
goto error;
}
xsens_msg_idx = 0;
xsens_status++;
break;
case GOT_LEN:
xsens_msg_buf[xsens_msg_idx] = c;
xsens_msg_idx++;
if (xsens_msg_idx >= xsens_len) {
xsens_status++;
}
break;
case GOT_DATA:
if (ck != 0) {
goto error;
}
xsens_msg_received = TRUE;
goto restart;
break;
default:
break;
}
return;
error:
restart:
xsens_status = UNINIT;
return;
}
sw/airborne/modules/ins/xsens.h
+83
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@@ -0,0 +1,83 @@
/*
* Copyright (C) 2010 ENAC
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** @file modules/ins/xsens.h
* Parser for the Xsens protocol.
*/
#ifndef XSENS_H
#define XSENS_H
#include "std.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_geodetic_int.h"
#if USE_GPS_XSENS
#include "subsystems/gps.h"
#endif
struct XsensTime {
int8_t hour;
int8_t min;
int8_t sec;
int32_t nanosec;
int16_t year;
int8_t month;
int8_t day;
};
struct Xsens {
struct XsensTime time;
uint16_t time_stamp;
struct FloatRates gyro;
struct FloatVect3 accel;
struct FloatVect3 mag;
struct LlaCoor_f lla_f;
struct FloatVect3 vel; ///< NED velocity in m/s
struct FloatQuat quat;
struct FloatEulers euler;
volatile bool_t msg_received;
volatile bool_t new_attitude;
bool_t gyro_available;
bool_t accel_available;
bool_t mag_available;
#if USE_GPS_XSENS
struct GpsState gps;
bool_t gps_available;
#endif
};
extern struct Xsens xsens;
extern void xsens_init(void);
extern void xsens_periodic(void);
extern void xsens_event(void);
extern void parse_xsens_msg(void);
#endif /* XSENS_H */