| 1 | // %flair:license{
|
---|
| 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
| 4 | // %flair:license}
|
---|
| 5 | // created: 2011/08/19
|
---|
| 6 | // filename: Gx3_25_imu_impl.cpp
|
---|
| 7 | //
|
---|
| 8 | // author: Guillaume Sanahuja
|
---|
| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 10 | //
|
---|
| 11 | // version: $Id: $
|
---|
| 12 | //
|
---|
| 13 | // purpose: objet integrant la centrale 3dmgx3-25
|
---|
| 14 | //
|
---|
| 15 | //
|
---|
| 16 | /*********************************************************************/
|
---|
| 17 |
|
---|
| 18 | #include "Gx3_25_imu_impl.h"
|
---|
| 19 | #include <FrameworkManager.h>
|
---|
| 20 | #include <SerialPort.h>
|
---|
| 21 | #include <GroupBox.h>
|
---|
| 22 | #include <SpinBox.h>
|
---|
| 23 | #include <CheckBox.h>
|
---|
| 24 | #include <PushButton.h>
|
---|
| 25 | #include <Label.h>
|
---|
| 26 | #include <ImuData.h>
|
---|
| 27 | #include <AhrsData.h>
|
---|
| 28 | #include <Euler.h>
|
---|
| 29 | #include <Vector3D.h>
|
---|
| 30 | #include <RotationMatrix.h>
|
---|
| 31 |
|
---|
| 32 | #include <math.h>
|
---|
| 33 | #include <string.h>
|
---|
| 34 |
|
---|
| 35 | using std::string;
|
---|
| 36 | using namespace flair::core;
|
---|
| 37 | using namespace flair::gui;
|
---|
| 38 | using namespace flair::sensor;
|
---|
| 39 |
|
---|
| 40 | Gx3_25_imu_impl::Gx3_25_imu_impl(Gx3_25_imu* self,string name,SerialPort *serialport,Gx3_25_imu::Command_t command,GroupBox* setupgroupbox) {
|
---|
| 41 | int err = 0;
|
---|
| 42 |
|
---|
| 43 | this->self=self;
|
---|
| 44 | this->command=(uint8_t)command;
|
---|
| 45 | this->setupgroupbox=setupgroupbox;
|
---|
| 46 | this->serialport=serialport;
|
---|
| 47 |
|
---|
| 48 | ahrsData=new AhrsData((Imu*)self);
|
---|
| 49 |
|
---|
| 50 | //station sol
|
---|
| 51 | button_bias=new PushButton(setupgroupbox->NewRow(),"gyros bias");
|
---|
| 52 | data_rate=new SpinBox(setupgroupbox->NewRow(),"data rate (Hz):",1,500,1,200);
|
---|
| 53 | data_rate_label=new Label(setupgroupbox->LastRowLastCol(),"data_rate");
|
---|
| 54 | gyro_acc_size=new SpinBox(setupgroupbox->NewRow(),"gyro and acc filter win size:",1,32,1,15);
|
---|
| 55 | mag_size=new SpinBox(setupgroupbox->LastRowLastCol(),"mag filter win size:",1,32,1,17);
|
---|
| 56 | up_comp=new SpinBox(setupgroupbox->NewRow(),"up compensation (s):",1,1000,1,10);
|
---|
| 57 | north_comp=new SpinBox(setupgroupbox->LastRowLastCol(),"north compensation (s):",1,1000,1,10);
|
---|
| 58 | coning=new CheckBox(setupgroupbox->NewRow(),"enable Coning&Sculling:",true);
|
---|
| 59 | disable_magn=new CheckBox(setupgroupbox->LastRowLastCol(),"disable magnetometer:",true);
|
---|
| 60 | disable_north_comp=new CheckBox(setupgroupbox->NewRow(),"disable magnetic north compensation:",false);
|
---|
| 61 | disable_grav_comp=new CheckBox(setupgroupbox->NewRow(),"disable gravity compensation:",false);
|
---|
| 62 | }
|
---|
| 63 |
|
---|
| 64 | Gx3_25_imu_impl::~Gx3_25_imu_impl() {
|
---|
| 65 | }
|
---|
| 66 |
|
---|
| 67 | void Gx3_25_imu_impl::Run(void) {
|
---|
| 68 | Time imuTime;
|
---|
| 69 | ImuData* imuData;
|
---|
| 70 | self->GetDatas(&imuData);
|
---|
| 71 |
|
---|
| 72 | self->WarnUponSwitches(true);
|
---|
| 73 |
|
---|
| 74 | //reset IMU to be sure it is at 115200
|
---|
| 75 | Printf("Gx3_25_imu::Reset IMU at 921600\n");
|
---|
| 76 | serialport->SetBaudrate(921600);
|
---|
| 77 | DeviceReset();
|
---|
| 78 | self->Thread::SleepMS(100);
|
---|
| 79 | serialport->FlushInput();
|
---|
| 80 | serialport->SetBaudrate(115200);
|
---|
| 81 |
|
---|
| 82 | SetBaudrate(921600);
|
---|
| 83 | Printf("Gx3_25_imu firmware number: %i\n",FirmwareNumber());
|
---|
| 84 | PrintModelInfo();
|
---|
| 85 | SamplingSettings();
|
---|
| 86 | GyrosBias();
|
---|
| 87 | //RealignUpNorth(true,true);
|
---|
| 88 |
|
---|
| 89 | //on provoque les 9 ValueChanged
|
---|
| 90 | for(int i=0; i<9; i++) {
|
---|
| 91 | if(data_rate->ValueChanged()==true || disable_magn->ValueChanged()==true ||disable_north_comp->ValueChanged()==true ||disable_grav_comp->ValueChanged()==true ||coning->ValueChanged()==true
|
---|
| 92 | || gyro_acc_size->ValueChanged()==true || mag_size->ValueChanged()==true ||up_comp->ValueChanged()==true || north_comp->ValueChanged()==true) {
|
---|
| 93 | if(setupgroupbox->isEnabled()==true) SamplingSettings();
|
---|
| 94 | }
|
---|
| 95 | }
|
---|
| 96 |
|
---|
| 97 | //periode a passer an argument (reglable)
|
---|
| 98 | //ou plutot laisser la periode geree par le centrale (polling)
|
---|
| 99 | //self->SetPeriodMS(2);
|
---|
| 100 | SetContinuousMode(command);
|
---|
| 101 |
|
---|
| 102 | //_printf("firmware version: %i\n",get_firmware_number());
|
---|
| 103 |
|
---|
| 104 | while(!self->ToBeStopped()) {
|
---|
| 105 | if(command==Gx3_25_imu::EulerAnglesAndAngularRates) {
|
---|
| 106 | uint8_t response[31] = {0};
|
---|
| 107 | uint8_t *buf=&response[1];
|
---|
| 108 | GetData(response,sizeof(response),&imuTime);
|
---|
| 109 |
|
---|
| 110 | Euler eulerAngles;
|
---|
| 111 | eulerAngles.roll=Dequeue(&buf);
|
---|
| 112 | eulerAngles.pitch=Dequeue(&buf);
|
---|
| 113 | eulerAngles.yaw=Dequeue(&buf);
|
---|
| 114 |
|
---|
| 115 | Vector3D filteredAngRates;
|
---|
| 116 | filteredAngRates.x=Dequeue(&buf);
|
---|
| 117 | filteredAngRates.y=Dequeue(&buf);
|
---|
| 118 | filteredAngRates.z=Dequeue(&buf);
|
---|
| 119 |
|
---|
| 120 | ahrsData->SetQuaternionAndAngularRates(eulerAngles.ToQuaternion(),filteredAngRates);
|
---|
| 121 | } else if(command==Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix) {
|
---|
| 122 | uint8_t response[67] = {0};
|
---|
| 123 | uint8_t *buf=&response[1];
|
---|
| 124 | GetData(response,sizeof(response),&imuTime);
|
---|
| 125 |
|
---|
| 126 | Vector3D rawAcc;
|
---|
| 127 | rawAcc.x=9.80665*Dequeue(&buf);
|
---|
| 128 | rawAcc.y=9.80665*Dequeue(&buf);
|
---|
| 129 | rawAcc.z=9.80665*Dequeue(&buf);
|
---|
| 130 |
|
---|
| 131 | Vector3D filteredAngRates;
|
---|
| 132 | filteredAngRates.x=Dequeue(&buf);
|
---|
| 133 | filteredAngRates.y=Dequeue(&buf);
|
---|
| 134 | filteredAngRates.z=Dequeue(&buf);
|
---|
| 135 |
|
---|
| 136 | RotationMatrix matrix;
|
---|
| 137 | matrix(0,0)=Dequeue(&buf);
|
---|
| 138 | matrix(0,1)=Dequeue(&buf);
|
---|
| 139 | matrix(0,2)=Dequeue(&buf);
|
---|
| 140 | matrix(1,0)=Dequeue(&buf);
|
---|
| 141 | matrix(1,1)=Dequeue(&buf);
|
---|
| 142 | matrix(1,2)=Dequeue(&buf);
|
---|
| 143 | matrix(2,0)=Dequeue(&buf);
|
---|
| 144 | matrix(2,1)=Dequeue(&buf);
|
---|
| 145 | matrix(2,2)=Dequeue(&buf);
|
---|
| 146 |
|
---|
| 147 | ahrsData->SetQuaternionAndAngularRates(matrix.ToEuler().ToQuaternion(),filteredAngRates);
|
---|
| 148 | imuData->SetRawAcc(rawAcc);
|
---|
| 149 | }
|
---|
| 150 |
|
---|
| 151 | //change settings as soon as possible
|
---|
| 152 | //we assume that new imu datas will not come so fast
|
---|
| 153 | //so newt message from imu is an ack from the change settings
|
---|
| 154 | if(button_bias->Clicked()==true) GyrosBias();
|
---|
| 155 |
|
---|
| 156 | if(data_rate->ValueChanged()==true || disable_magn->ValueChanged()==true ||disable_north_comp->ValueChanged()==true ||disable_grav_comp->ValueChanged()==true ||coning->ValueChanged()==true
|
---|
| 157 | || gyro_acc_size->ValueChanged()==true || mag_size->ValueChanged()==true ||up_comp->ValueChanged()==true || north_comp->ValueChanged()==true) {
|
---|
| 158 | if(setupgroupbox->isEnabled()==true) SamplingSettings();
|
---|
| 159 | }
|
---|
| 160 |
|
---|
| 161 | imuData->SetDataTime(imuTime);
|
---|
| 162 | ahrsData->SetDataTime(imuTime);
|
---|
| 163 | self->UpdateImu();
|
---|
| 164 | self->ProcessUpdate(ahrsData);
|
---|
| 165 | }
|
---|
| 166 | SetContinuousMode(0);
|
---|
| 167 | SetBaudrate(115200);
|
---|
| 168 |
|
---|
| 169 | self->WarnUponSwitches(false);
|
---|
| 170 | }
|
---|
| 171 |
|
---|
| 172 | void Gx3_25_imu_impl::GetData(uint8_t* buf,ssize_t buf_size,Time *time) {
|
---|
| 173 | ssize_t read = 0;
|
---|
| 174 | ssize_t written = 0;
|
---|
| 175 | /*
|
---|
| 176 | written = serialport->Write(&command, sizeof(command));
|
---|
| 177 | if(written<0)
|
---|
| 178 | {
|
---|
| 179 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
| 180 | }
|
---|
| 181 | else if (written != sizeof(command))
|
---|
| 182 | {
|
---|
| 183 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
|
---|
| 184 | }
|
---|
| 185 | */
|
---|
| 186 | read = serialport->Read(buf,buf_size);
|
---|
| 187 | *time=GetTime();
|
---|
| 188 | if(read<0) {
|
---|
| 189 | self->Thread::Err("Read error (%s)\n",strerror(-read));
|
---|
| 190 | } else if (read != buf_size) {
|
---|
| 191 | self->Thread::Err("Read error %i/%i\n",read,buf_size);
|
---|
| 192 | }
|
---|
| 193 |
|
---|
| 194 | if(CalcChecksum(buf,buf_size)==false) {
|
---|
| 195 | self->Thread::Err("wrong checksum\n");
|
---|
| 196 | return;
|
---|
| 197 | }
|
---|
| 198 | }
|
---|
| 199 |
|
---|
| 200 | float Gx3_25_imu_impl::Dequeue(uint8_t** buf) {
|
---|
| 201 | union float_4uint8 {
|
---|
| 202 | float f;
|
---|
| 203 | uint8_t b[4];
|
---|
| 204 | }
|
---|
| 205 | float_value;
|
---|
| 206 |
|
---|
| 207 | float_value.b[0]=(*buf)[3];
|
---|
| 208 | float_value.b[1]=(*buf)[2];
|
---|
| 209 | float_value.b[2]=(*buf)[1];
|
---|
| 210 | float_value.b[3]=(*buf)[0];
|
---|
| 211 | (*buf)+=sizeof(float);
|
---|
| 212 |
|
---|
| 213 | return float_value.f;
|
---|
| 214 | }
|
---|
| 215 |
|
---|
| 216 | void Gx3_25_imu_impl::GyrosBias(void) {
|
---|
| 217 | if(setupgroupbox->isEnabled()==true) { //devrait toujours etre bon
|
---|
| 218 | uint8_t response[19] = {0};
|
---|
| 219 | uint8_t command[5];
|
---|
| 220 | ssize_t read = 0;
|
---|
| 221 | ssize_t written = 0;
|
---|
| 222 |
|
---|
| 223 | Printf("Gx3_25_imu::gyros_bias: %s\n",self->IODevice::ObjectName().c_str());
|
---|
| 224 |
|
---|
| 225 | command[0]=0xcd;//entete
|
---|
| 226 | command[1]=0xc1;//confirm
|
---|
| 227 | command[2]=0x29;//confirm
|
---|
| 228 | command[3]=0x27;//time MSB en us
|
---|
| 229 | command[4]=0x10;//time LSB en us
|
---|
| 230 |
|
---|
| 231 | written = serialport->Write( &command, sizeof(command));
|
---|
| 232 | if(written<0) {
|
---|
| 233 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
| 234 | } else if (written != sizeof(command)) {
|
---|
| 235 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
|
---|
| 236 | }
|
---|
| 237 |
|
---|
| 238 | self->SleepUS(1.1*(command[3]*256+command[4]));//on fait un sleep un peu plus grand
|
---|
| 239 |
|
---|
| 240 | read = serialport->Read(&response[0],sizeof(response));
|
---|
| 241 | if(read<0) {
|
---|
| 242 | self->Thread::Err("Read error (%s)\n",strerror(-read));
|
---|
| 243 | } else if (read != sizeof(response)) {
|
---|
| 244 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
|
---|
| 245 | }
|
---|
| 246 |
|
---|
| 247 | if(CalcChecksum(response,sizeof(response))==false) {
|
---|
| 248 | self->Thread::Err("wrong checksum\n");
|
---|
| 249 | //return -1;
|
---|
| 250 | }
|
---|
| 251 |
|
---|
| 252 | Printf("Gx3_25_imu::gyros_bias: %s ok\n",self->IODevice::ObjectName().c_str());
|
---|
| 253 |
|
---|
| 254 | } else {
|
---|
| 255 | self->Thread::Err("error locked\n");
|
---|
| 256 | }
|
---|
| 257 | }
|
---|
| 258 |
|
---|
| 259 | void Gx3_25_imu_impl::SetContinuousMode(uint8_t continuous_command) {
|
---|
| 260 | uint8_t response[8] = {0};
|
---|
| 261 | uint8_t command[4];
|
---|
| 262 | ssize_t read = 0;
|
---|
| 263 | ssize_t written = 0;
|
---|
| 264 |
|
---|
| 265 | command[0]=0xc4;//entete
|
---|
| 266 | command[1]=0xc1;//confirm
|
---|
| 267 | command[2]=0x29;//confirm
|
---|
| 268 | command[3]=continuous_command;
|
---|
| 269 |
|
---|
| 270 | written = serialport->Write(command,sizeof(command));
|
---|
| 271 | if(written<0) {
|
---|
| 272 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
| 273 | } else if (written != sizeof(command)) {
|
---|
| 274 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
|
---|
| 275 | }
|
---|
| 276 |
|
---|
| 277 | read = serialport->Read(response,sizeof(response));
|
---|
| 278 | if(read<0) {
|
---|
| 279 | self->Thread::Err("Read error (%s)\n",strerror(-read));
|
---|
| 280 | } else if (read != sizeof(response)) {
|
---|
| 281 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
|
---|
| 282 | }
|
---|
| 283 |
|
---|
| 284 | if(CalcChecksum(response,sizeof(response))==false) {
|
---|
| 285 | self->Thread::Err("wrong checksum\n",self->IODevice::ObjectName().c_str());
|
---|
| 286 | }
|
---|
| 287 | }
|
---|
| 288 |
|
---|
| 289 | void Gx3_25_imu_impl::SamplingSettings(void) {
|
---|
| 290 | uint8_t response[19] = {0};
|
---|
| 291 | uint8_t command[20];
|
---|
| 292 | uint8_t result;
|
---|
| 293 | ssize_t read = 0;
|
---|
| 294 | ssize_t written = 0;
|
---|
| 295 |
|
---|
| 296 | uint16_t rate=1000/data_rate->Value();
|
---|
| 297 |
|
---|
| 298 | command[0]=0xdb;//entete
|
---|
| 299 | command[1]=0xa8;//confirm
|
---|
| 300 | command[2]=0xb9;//confirm
|
---|
| 301 | command[3]=1;//change values
|
---|
| 302 | command[4]=(rate>>8)&0xff;//data rate MSB
|
---|
| 303 | command[5]=rate&0xff;//data rate LSB
|
---|
| 304 | result=0;
|
---|
| 305 | if(disable_magn->IsChecked()==true) result|=0x01;
|
---|
| 306 | if(disable_north_comp->IsChecked()==true) result|=0x04;
|
---|
| 307 | if(disable_grav_comp->IsChecked()==true) result|=0x08;
|
---|
| 308 |
|
---|
| 309 | command[6]=result;
|
---|
| 310 | result=0x01;//Calculate orientation
|
---|
| 311 | if(coning->IsChecked()==true) result|=0x02;
|
---|
| 312 |
|
---|
| 313 | command[7]=result;
|
---|
| 314 | command[8]=gyro_acc_size->Value();//gyro acc filter window
|
---|
| 315 | command[9]=mag_size->Value();//mag filter window
|
---|
| 316 | command[10]=(up_comp->Value()>>8)&0xff;//up comp MSB
|
---|
| 317 | command[11]=up_comp->Value()&0xff;//up comp LSB
|
---|
| 318 | command[12]=(north_comp->Value()>>8)&0xff;//north comp MSB
|
---|
| 319 | command[13]=north_comp->Value()&0xff;//north comp LSB
|
---|
| 320 | command[14]=0;//reserved
|
---|
| 321 | command[15]=0;//reserved
|
---|
| 322 | command[16]=0;//reserved
|
---|
| 323 | command[17]=0;//reserved
|
---|
| 324 | command[18]=0;//reserved
|
---|
| 325 | command[19]=0;//reserved
|
---|
| 326 |
|
---|
| 327 | written = serialport->Write(&command, sizeof(command));
|
---|
| 328 | if(written<0) {
|
---|
| 329 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
| 330 | } else if (written != sizeof(command)) {
|
---|
| 331 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
|
---|
| 332 | }
|
---|
| 333 |
|
---|
| 334 | read = serialport->Read(&response[0],sizeof(response));
|
---|
| 335 | if(read<0) {
|
---|
| 336 | self->Thread::Err("Read error (%s)\n",strerror(-read));
|
---|
| 337 | } else if (read != sizeof(response)) {
|
---|
| 338 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
|
---|
| 339 | }
|
---|
| 340 |
|
---|
| 341 | if(CalcChecksum(response,sizeof(response))==false) {
|
---|
| 342 | self->Thread::Err("wrong checksum\n",self->IODevice::ObjectName().c_str());
|
---|
| 343 | } else {
|
---|
| 344 | data_rate_label->SetText("real: %.2fHz",1000./rate);
|
---|
| 345 | }
|
---|
| 346 | }
|
---|
| 347 |
|
---|
| 348 | void Gx3_25_imu_impl::SetBaudrate(int value) {
|
---|
| 349 | uint8_t response[10] = {0};
|
---|
| 350 | uint8_t command[11];
|
---|
| 351 | ssize_t read = 0;
|
---|
| 352 | ssize_t written = 0;
|
---|
| 353 |
|
---|
| 354 | union int32_4uint8 {
|
---|
| 355 | int32_t i;
|
---|
| 356 | uint8_t b[4];
|
---|
| 357 | }
|
---|
| 358 | baudrate_value;
|
---|
| 359 |
|
---|
| 360 | baudrate_value.i=value;
|
---|
| 361 | Printf("Gx3_25_imu::SetBaudrate: %s ->%i\n",self->IODevice::ObjectName().c_str(),baudrate_value.i);
|
---|
| 362 |
|
---|
| 363 | command[0]=0xd9;//entete
|
---|
| 364 | command[1]=0xc3;//confirm
|
---|
| 365 | command[2]=0x55;//confirm
|
---|
| 366 | command[3]=1;//primary uart
|
---|
| 367 | command[4]=1;//chgt temporaire
|
---|
| 368 | command[5]=baudrate_value.b[3];
|
---|
| 369 | command[6]=baudrate_value.b[2];
|
---|
| 370 | command[7]=baudrate_value.b[1];
|
---|
| 371 | command[8]=baudrate_value.b[0];
|
---|
| 372 | command[9]=2;//uart enabled
|
---|
| 373 | command[10]=0;//reserved
|
---|
| 374 |
|
---|
| 375 | written = serialport->Write(&command, sizeof(command));
|
---|
| 376 | if(written<0) {
|
---|
| 377 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
| 378 | } else if (written != sizeof(command)) {
|
---|
| 379 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
|
---|
| 380 | }
|
---|
| 381 |
|
---|
| 382 | read = serialport->Read(&response[0],sizeof(response));
|
---|
| 383 | if(read<0) {
|
---|
| 384 | self->Thread::Err("Read error (%s)\n",strerror(-read));
|
---|
| 385 | } else if (read != sizeof(response)) {
|
---|
| 386 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
|
---|
| 387 | }
|
---|
| 388 |
|
---|
| 389 | if(CalcChecksum(response,sizeof(response))==false) {
|
---|
| 390 | self->Thread::Err("wrong checksum\n");
|
---|
| 391 | return ;
|
---|
| 392 | }
|
---|
| 393 |
|
---|
| 394 | serialport->SetBaudrate(value);
|
---|
| 395 | }
|
---|
| 396 |
|
---|
| 397 | int Gx3_25_imu_impl::FirmwareNumber(void) {
|
---|
| 398 | uint8_t response[7] = {0};
|
---|
| 399 | uint8_t command;
|
---|
| 400 | ssize_t read = 0;
|
---|
| 401 | ssize_t written = 0;
|
---|
| 402 | union int32_4uint8 {
|
---|
| 403 | int32_t i;
|
---|
| 404 | uint8_t b[4];
|
---|
| 405 | }
|
---|
| 406 | value;
|
---|
| 407 |
|
---|
| 408 | command=0xe9;//entete
|
---|
| 409 |
|
---|
| 410 | written = serialport->Write(&command, sizeof(command));
|
---|
| 411 | if(written<0) {
|
---|
| 412 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
| 413 | } else if (written != sizeof(command)) {
|
---|
| 414 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
|
---|
| 415 | }
|
---|
| 416 |
|
---|
| 417 | read = serialport->Read(&response[0],sizeof(response));
|
---|
| 418 | if(read<0) {
|
---|
| 419 | self->Thread::Err("Read error (%s)\n",strerror(-read));
|
---|
| 420 | } else if (read != sizeof(response)) {
|
---|
| 421 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
|
---|
| 422 | }
|
---|
| 423 |
|
---|
| 424 | if(CalcChecksum(response,sizeof(response))==false) {
|
---|
| 425 | self->Thread::Err("wrong checksum\n");
|
---|
| 426 | return -1;
|
---|
| 427 | }
|
---|
| 428 |
|
---|
| 429 | value.b[3]=response[1];
|
---|
| 430 | value.b[2]=response[2];
|
---|
| 431 | value.b[1]=response[3];
|
---|
| 432 | value.b[0]=response[4];
|
---|
| 433 |
|
---|
| 434 | return value.i;
|
---|
| 435 |
|
---|
| 436 | }
|
---|
| 437 |
|
---|
| 438 | void Gx3_25_imu_impl::PrintModelInfo(void) {
|
---|
| 439 | uint8_t response[20] = {0};
|
---|
| 440 | uint8_t command[2];
|
---|
| 441 | ssize_t read = 0;
|
---|
| 442 | ssize_t written = 0;
|
---|
| 443 |
|
---|
| 444 | for(int i=0; i<3; i++) {
|
---|
| 445 | command[0]=0xea;//entete
|
---|
| 446 | command[1]=i;//entete
|
---|
| 447 |
|
---|
| 448 | written = serialport->Write(&command, sizeof(command));
|
---|
| 449 | if(written<0) {
|
---|
| 450 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
| 451 | } else if (written != sizeof(command)) {
|
---|
| 452 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
|
---|
| 453 | }
|
---|
| 454 |
|
---|
| 455 | read = serialport->Read(&response[0],sizeof(response));
|
---|
| 456 | if(read<0) {
|
---|
| 457 | self->Thread::Err("Read error (%s)\n",strerror(-read));
|
---|
| 458 | } else if (read != sizeof(response)) {
|
---|
| 459 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
|
---|
| 460 | }
|
---|
| 461 |
|
---|
| 462 | if(CalcChecksum(response,sizeof(response))==false) {
|
---|
| 463 | self->Thread::Err("wrong checksum\n");
|
---|
| 464 | //return -1;
|
---|
| 465 | }
|
---|
| 466 |
|
---|
| 467 | char* msg=(char*)(&response[2]);
|
---|
| 468 | msg[16]=0;
|
---|
| 469 | switch(i) {
|
---|
| 470 | case 0:
|
---|
| 471 | Printf("Gx3_25_imu model number: %s\n",msg);
|
---|
| 472 | break;
|
---|
| 473 | case 1:
|
---|
| 474 | Printf("Gx3_25_imu serial number: %s\n",msg);
|
---|
| 475 | break;
|
---|
| 476 | case 2:
|
---|
| 477 | Printf("Gx3_25_imu model name: %s\n",msg);
|
---|
| 478 | break;
|
---|
| 479 | }
|
---|
| 480 | }
|
---|
| 481 |
|
---|
| 482 | }
|
---|
| 483 |
|
---|
| 484 | void Gx3_25_imu_impl::RealignUpNorth(bool realign_up,bool realign_north) {
|
---|
| 485 | uint8_t response[7] = {0};
|
---|
| 486 | uint8_t command[10];
|
---|
| 487 | ssize_t read = 0;
|
---|
| 488 | ssize_t written = 0;
|
---|
| 489 |
|
---|
| 490 | command[0]=0xdd;//entete
|
---|
| 491 | command[1]=0x54;//confirm
|
---|
| 492 | command[2]=0x4c;//confirm
|
---|
| 493 | command[3]=0;//send reply
|
---|
| 494 | command[4]=255;//up realign
|
---|
| 495 | command[5]=1;//north realign
|
---|
| 496 | command[6]=0;//reserved
|
---|
| 497 | command[7]=0;//reserved
|
---|
| 498 | command[8]=0;//reserved
|
---|
| 499 | command[9]=0;//reserved
|
---|
| 500 |
|
---|
| 501 | written = serialport->Write(&command, sizeof(command));
|
---|
| 502 | if(written<0) {
|
---|
| 503 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
| 504 | } else if (written != sizeof(command)) {
|
---|
| 505 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
|
---|
| 506 | }
|
---|
| 507 |
|
---|
| 508 | read = serialport->Read(&response[0],sizeof(response));
|
---|
| 509 | if(read<0) {
|
---|
| 510 | self->Thread::Err("Read error(%s)\n",strerror(-read));
|
---|
| 511 | } else if (read != sizeof(response)) {
|
---|
| 512 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
|
---|
| 513 | }
|
---|
| 514 |
|
---|
| 515 | if(CalcChecksum(response,sizeof(response))==false) {
|
---|
| 516 | self->Thread::Err("wrong checksum\n");
|
---|
| 517 | }
|
---|
| 518 | }
|
---|
| 519 |
|
---|
| 520 | void Gx3_25_imu_impl::DeviceReset(void) {
|
---|
| 521 | uint8_t command[3];
|
---|
| 522 | ssize_t written = 0;
|
---|
| 523 |
|
---|
| 524 | command[0]=0xfe;//entete
|
---|
| 525 | command[1]=0x9e;//confirm
|
---|
| 526 | command[2]=0x3a;//confirm
|
---|
| 527 |
|
---|
| 528 | written = serialport->Write(&command, sizeof(command));
|
---|
| 529 | if(written<0) {
|
---|
| 530 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
| 531 | } else if (written != sizeof(command)) {
|
---|
| 532 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
|
---|
| 533 | }
|
---|
| 534 | }
|
---|
| 535 |
|
---|
| 536 | bool Gx3_25_imu_impl::CalcChecksum(uint8_t *buf,int size) {
|
---|
| 537 | uint16_t tChksum,tResponseChksum;
|
---|
| 538 |
|
---|
| 539 | tChksum = 0;
|
---|
| 540 | for (int i = 0; i < size - 2; i++) tChksum += buf[i];
|
---|
| 541 | // Extract the big-endian checksum from reply
|
---|
| 542 | tResponseChksum = 0;
|
---|
| 543 | tResponseChksum = buf[size - 2] << 8;
|
---|
| 544 | tResponseChksum += buf[size - 1];
|
---|
| 545 |
|
---|
| 546 | if(tChksum!=tResponseChksum)
|
---|
| 547 | return false;
|
---|
| 548 | else
|
---|
| 549 | return true;
|
---|
| 550 | }
|
---|