utIMU.c File Reference

Support for managing and polling an inertial navigation unit for sensor data. More...

#include "uTrack.h"
#include "utHAL.h"
#include "utIMU.h"
#include "utIMUCommandPool.h"
#include "lpc23xx.h"
#include "lpc2387_config.h"
#include "utNmeaDriver.h"
#include "utNmeaOutput.h"
#include "utMonitor.h"
#include "utPayloads_IMU.h"
#include "utVersion.h"
#include <stdlib.h>
#include <stdarg.h>
#include <math.h>
#include "utSPI_2387.h"

Data Structures
struct	UT_IMU_COMMAND_CONTROL

Macros
#define	IMU_MIN_RATE   1
	Minimum IMU message poll rate in Hertz.
#define	IMU_MAX_RATE   200
	Maximum IMU message poll rate in Hertz.
#define	MAX_RX_QUEUE   1024
#define	MAX_TX_QUEUE   512
#define	TIMEOUT   5000
#define	UT_PI   3.14159
	Our definition of PI. Should be moved to a global/maths appropriate location.
#define	REV_32(val)   (__rev(*(u32 *) &val))
#define	REV_16(val)   (u16) __rev((*(u32 *) &val) << 16)
#define	LOG_IMU_TBUFFER_SIZE   81
	Length of the temporary buffer used for logging.
#define	irqWatchDogTimeout   5000

Enumerations
enum	IMU_DetectState {   IMU_DETECT_NONE = 0 , IMU_DETECT_SERIAL = 0x01 , IMU_DETECT_HW = 0x02 , IMU_DETECT_FW = 0x04 ,   IMU_DETECT_ALL = 0x07 }
enum	UT_IMU_SOFT_STATE {   UT_IMU_SOFT_OFF , UT_IMU_POWER_WAIT , UT_IMU_DETECT_MODULE , UT_IMU_CONFIG ,   UT_IMU_SOFT_ON , UT_IMU_SOFT_RUNNING }
	The (software) state this module is in.
enum	UT_IMU_ORIENTATION {   UT_IMU_AXIS_DECK , UT_IMU_AXIS_BOW , UT_IMU_AXIS_STERN , UT_IMU_AXIS_PORT ,   UT_IMU_AXIS_STARBOARD , UT_IMU_AXIS_UNITY }
enum	UT_IMU_CAL_MODE { UT_IMU_CAL_MODE_NORMAL , UT_IMU_CAL_MODE_FROM_FILE }
enum	UT_IMU_CAL_SENSOR { UT_IMU_CAL_MODE_SENSOR_BOTH , UT_IMU_CAL_MODE_SENSOR_ACC , UT_IMU_CAL_MODE_SENSOR_MAG }

Functions
void	updateLogFlags (UT_IMU_PollCmd id)
void	utIMU_NotifyMissedUpdates (u32 n)
bool	utIMU_Notify (UT_DeviceMessage state)
void	utIMU_SetStoreOptions (UT_NMEA_Store *nmeaStore)
void	normalize_quat (double *quat)
void	vec_sub (double *vec_result, double *vec1, double *vec2)
void	vec_add (double *vec_result, double *vec1, double *vec2)
double	vec_length (double *vec)
void	matrix_mult (double *vec_result, double matrix[3][3], double *vec)
void	startupCheck (u32 now)
void	checkMissedUpdates (u32 now)
void	checkErrorState (u32 now)
bool	getFlagsFromToken (const char *token, UT_IMU_CmdFieldDetails *flags, bool log)

Variables
UT_IMU_CAL_MODE	CAL_MODE = UT_IMU_CAL_MODE_NORMAL
UT_IMU_CAL_SENSOR	CAL_SENSOR = UT_IMU_CAL_MODE_SENSOR_BOTH
double	yaw
int	array_count
int	stop

Detailed Description

Support for managing and polling an inertial navigation unit for sensor data.

This software module is used to interact with an IMU via SPI bus. The SPI implementaiton under the HAL is moderately entangled in support for this module.

Author

Oscar Key

Date

16/07/2013

Copyright

2013, Igtimi Ltd., all rights reserved.

Macro Definition Documentation

IMU_MIN_RATE

#define IMU_MIN_RATE   1

Minimum IMU message poll rate in Hertz.

Function Documentation

utIMU_Notify()

bool utIMU_Notify

(

UT_DeviceMessage

state

)

Checks that the IMU module is present in the device

Parameters

void

Returns

bool - if the IMU module is present return true, else false

Note

The Notify function passes a message to the software module, informing it of expected module state. It returns a value that is considered a response to a query about the specified state.

Parameters

state

A state message.

Returns

Whether or not this software module is in the desired state.

utIMU_NotifyMissedUpdates()

void utIMU_NotifyMissedUpdates

(

u32

n

)

Tell the IMU software module that some number of polls have been missed, either in transmission or reception. Used by the SPI code that handles the actual polling in utSPI_2387.c

Parameters

n	The number of polls that were missed.

utIMU_SetStoreOptions()

void utIMU_SetStoreOptions

(

UT_NMEA_Store *

nmeaStore

)

The SetStoreOptions function applies the options the IMU desires to the provided store. Other options will be overriden.

Parameters

nmeaStore

The store to configure.