source: flair-src/trunk/lib/FlairSensorActuator/src/Gx3_25_imu_impl.cpp@ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 9 years ago

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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
35using std::string;
36using namespace flair::core;
37using namespace flair::gui;
38using namespace flair::sensor;
39
40Gx3_25_imu_impl::Gx3_25_imu_impl(Gx3_25_imu *self, string name,
41 SerialPort *serialport,
42 Gx3_25_imu::Command_t command,
43 GroupBox *setupgroupbox) {
44 int err = 0;
45
46 this->self = self;
47 this->command = (uint8_t)command;
48 this->setupgroupbox = setupgroupbox;
49 this->serialport = serialport;
50
51 ahrsData = new AhrsData((Imu *)self);
52
53 // station sol
54 button_bias = new PushButton(setupgroupbox->NewRow(), "gyros bias");
55 data_rate =
56 new SpinBox(setupgroupbox->NewRow(), "data rate (Hz):", 1, 500, 1, 200);
57 data_rate_label = new Label(setupgroupbox->LastRowLastCol(), "data_rate");
58 gyro_acc_size = new SpinBox(setupgroupbox->NewRow(),
59 "gyro and acc filter win size:", 1, 32, 1, 15);
60 mag_size = new SpinBox(setupgroupbox->LastRowLastCol(),
61 "mag filter win size:", 1, 32, 1, 17);
62 up_comp = new SpinBox(setupgroupbox->NewRow(), "up compensation (s):", 1,
63 1000, 1, 10);
64 north_comp = new SpinBox(setupgroupbox->LastRowLastCol(),
65 "north compensation (s):", 1, 1000, 1, 10);
66 coning =
67 new CheckBox(setupgroupbox->NewRow(), "enable Coning&Sculling:", true);
68 disable_magn = new CheckBox(setupgroupbox->LastRowLastCol(),
69 "disable magnetometer:", true);
70 disable_north_comp = new CheckBox(
71 setupgroupbox->NewRow(), "disable magnetic north compensation:", false);
72 disable_grav_comp = new CheckBox(setupgroupbox->NewRow(),
73 "disable gravity compensation:", false);
74}
75
76Gx3_25_imu_impl::~Gx3_25_imu_impl() {}
77
78void Gx3_25_imu_impl::Run(void) {
79 Time imuTime;
80 ImuData *imuData;
81 self->GetDatas(&imuData);
82
83 self->WarnUponSwitches(true);
84
85 // reset IMU to be sure it is at 115200
86 Printf("Gx3_25_imu::Reset IMU at 921600\n");
87 serialport->SetBaudrate(921600);
88 DeviceReset();
89 self->Thread::SleepMS(100);
90 serialport->FlushInput();
91 serialport->SetBaudrate(115200);
92
93 SetBaudrate(921600);
94 Printf("Gx3_25_imu firmware number: %i\n", FirmwareNumber());
95 PrintModelInfo();
96 SamplingSettings();
97 GyrosBias();
98 // RealignUpNorth(true,true);
99
100 // on provoque les 9 ValueChanged
101 for (int i = 0; i < 9; i++) {
102 if (data_rate->ValueChanged() == true ||
103 disable_magn->ValueChanged() == true ||
104 disable_north_comp->ValueChanged() == true ||
105 disable_grav_comp->ValueChanged() == true ||
106 coning->ValueChanged() == true ||
107 gyro_acc_size->ValueChanged() == true ||
108 mag_size->ValueChanged() == true || up_comp->ValueChanged() == true ||
109 north_comp->ValueChanged() == true) {
110 if (setupgroupbox->isEnabled() == true)
111 SamplingSettings();
112 }
113 }
114
115 // periode a passer an argument (reglable)
116 // ou plutot laisser la periode geree par le centrale (polling)
117 // self->SetPeriodMS(2);
118 SetContinuousMode(command);
119
120 //_printf("firmware version: %i\n",get_firmware_number());
121
122 while (!self->ToBeStopped()) {
123 if (command == Gx3_25_imu::EulerAnglesAndAngularRates) {
124 uint8_t response[31] = {0};
125 uint8_t *buf = &response[1];
126 GetData(response, sizeof(response), &imuTime);
127
128 Euler eulerAngles;
129 eulerAngles.roll = Dequeue(&buf);
130 eulerAngles.pitch = Dequeue(&buf);
131 eulerAngles.yaw = Dequeue(&buf);
132
133 Vector3D filteredAngRates;
134 filteredAngRates.x = Dequeue(&buf);
135 filteredAngRates.y = Dequeue(&buf);
136 filteredAngRates.z = Dequeue(&buf);
137
138 ahrsData->SetQuaternionAndAngularRates(eulerAngles.ToQuaternion(),
139 filteredAngRates);
140 } else if (command ==
141 Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix) {
142 uint8_t response[67] = {0};
143 uint8_t *buf = &response[1];
144 GetData(response, sizeof(response), &imuTime);
145
146 Vector3D rawAcc;
147 rawAcc.x = 9.80665 * Dequeue(&buf);
148 rawAcc.y = 9.80665 * Dequeue(&buf);
149 rawAcc.z = 9.80665 * Dequeue(&buf);
150
151 Vector3D filteredAngRates;
152 filteredAngRates.x = Dequeue(&buf);
153 filteredAngRates.y = Dequeue(&buf);
154 filteredAngRates.z = Dequeue(&buf);
155
156 RotationMatrix matrix;
157 matrix(0, 0) = Dequeue(&buf);
158 matrix(0, 1) = Dequeue(&buf);
159 matrix(0, 2) = Dequeue(&buf);
160 matrix(1, 0) = Dequeue(&buf);
161 matrix(1, 1) = Dequeue(&buf);
162 matrix(1, 2) = Dequeue(&buf);
163 matrix(2, 0) = Dequeue(&buf);
164 matrix(2, 1) = Dequeue(&buf);
165 matrix(2, 2) = Dequeue(&buf);
166
167 ahrsData->SetQuaternionAndAngularRates(matrix.ToEuler().ToQuaternion(),
168 filteredAngRates);
169 imuData->SetRawAcc(rawAcc);
170 }
171
172 // change settings as soon as possible
173 // we assume that new imu datas will not come so fast
174 // so newt message from imu is an ack from the change settings
175 if (button_bias->Clicked() == true)
176 GyrosBias();
177
178 if (data_rate->ValueChanged() == true ||
179 disable_magn->ValueChanged() == true ||
180 disable_north_comp->ValueChanged() == true ||
181 disable_grav_comp->ValueChanged() == true ||
182 coning->ValueChanged() == true ||
183 gyro_acc_size->ValueChanged() == true ||
184 mag_size->ValueChanged() == true || up_comp->ValueChanged() == true ||
185 north_comp->ValueChanged() == true) {
186 if (setupgroupbox->isEnabled() == true)
187 SamplingSettings();
188 }
189
190 imuData->SetDataTime(imuTime);
191 ahrsData->SetDataTime(imuTime);
192 self->UpdateImu();
193 self->ProcessUpdate(ahrsData);
194 }
195 SetContinuousMode(0);
196 SetBaudrate(115200);
197
198 self->WarnUponSwitches(false);
199}
200
201void Gx3_25_imu_impl::GetData(uint8_t *buf, ssize_t buf_size, Time *time) {
202 ssize_t read = 0;
203 ssize_t written = 0;
204 /*
205 written = serialport->Write(&command, sizeof(command));
206 if(written<0)
207 {
208 self->Thread::Err("Write error (%s)\n",strerror(-written));
209 }
210 else if (written != sizeof(command))
211 {
212 self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
213 }
214 */
215 read = serialport->Read(buf, buf_size);
216 *time = GetTime();
217 if (read < 0) {
218 self->Thread::Err("Read error (%s)\n", strerror(-read));
219 } else if (read != buf_size) {
220 self->Thread::Err("Read error %i/%i\n", read, buf_size);
221 }
222
223 if (CalcChecksum(buf, buf_size) == false) {
224 self->Thread::Err("wrong checksum\n");
225 return;
226 }
227}
228
229float Gx3_25_imu_impl::Dequeue(uint8_t **buf) {
230 union float_4uint8 {
231 float f;
232 uint8_t b[4];
233 } float_value;
234
235 float_value.b[0] = (*buf)[3];
236 float_value.b[1] = (*buf)[2];
237 float_value.b[2] = (*buf)[1];
238 float_value.b[3] = (*buf)[0];
239 (*buf) += sizeof(float);
240
241 return float_value.f;
242}
243
244void Gx3_25_imu_impl::GyrosBias(void) {
245 if (setupgroupbox->isEnabled() == true) { // devrait toujours etre bon
246 uint8_t response[19] = {0};
247 uint8_t command[5];
248 ssize_t read = 0;
249 ssize_t written = 0;
250
251 Printf("Gx3_25_imu::gyros_bias: %s\n",
252 self->IODevice::ObjectName().c_str());
253
254 command[0] = 0xcd; // entete
255 command[1] = 0xc1; // confirm
256 command[2] = 0x29; // confirm
257 command[3] = 0x27; // time MSB en us
258 command[4] = 0x10; // time LSB en us
259
260 written = serialport->Write(&command, sizeof(command));
261 if (written < 0) {
262 self->Thread::Err("Write error (%s)\n", strerror(-written));
263 } else if (written != sizeof(command)) {
264 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
265 }
266
267 self->SleepUS(1.1 * (command[3] * 256 +
268 command[4])); // on fait un sleep un peu plus grand
269
270 read = serialport->Read(&response[0], sizeof(response));
271 if (read < 0) {
272 self->Thread::Err("Read error (%s)\n", strerror(-read));
273 } else if (read != sizeof(response)) {
274 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
275 }
276
277 if (CalcChecksum(response, sizeof(response)) == false) {
278 self->Thread::Err("wrong checksum\n");
279 // return -1;
280 }
281
282 Printf("Gx3_25_imu::gyros_bias: %s ok\n",
283 self->IODevice::ObjectName().c_str());
284
285 } else {
286 self->Thread::Err("error locked\n");
287 }
288}
289
290void Gx3_25_imu_impl::SetContinuousMode(uint8_t continuous_command) {
291 uint8_t response[8] = {0};
292 uint8_t command[4];
293 ssize_t read = 0;
294 ssize_t written = 0;
295
296 command[0] = 0xc4; // entete
297 command[1] = 0xc1; // confirm
298 command[2] = 0x29; // confirm
299 command[3] = continuous_command;
300
301 written = serialport->Write(command, sizeof(command));
302 if (written < 0) {
303 self->Thread::Err("Write error (%s)\n", strerror(-written));
304 } else if (written != sizeof(command)) {
305 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
306 }
307
308 read = serialport->Read(response, sizeof(response));
309 if (read < 0) {
310 self->Thread::Err("Read error (%s)\n", strerror(-read));
311 } else if (read != sizeof(response)) {
312 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
313 }
314
315 if (CalcChecksum(response, sizeof(response)) == false) {
316 self->Thread::Err("wrong checksum\n", self->IODevice::ObjectName().c_str());
317 }
318}
319
320void Gx3_25_imu_impl::SamplingSettings(void) {
321 uint8_t response[19] = {0};
322 uint8_t command[20];
323 uint8_t result;
324 ssize_t read = 0;
325 ssize_t written = 0;
326
327 uint16_t rate = 1000 / data_rate->Value();
328
329 command[0] = 0xdb; // entete
330 command[1] = 0xa8; // confirm
331 command[2] = 0xb9; // confirm
332 command[3] = 1; // change values
333 command[4] = (rate >> 8) & 0xff; // data rate MSB
334 command[5] = rate & 0xff; // data rate LSB
335 result = 0;
336 if (disable_magn->IsChecked() == true)
337 result |= 0x01;
338 if (disable_north_comp->IsChecked() == true)
339 result |= 0x04;
340 if (disable_grav_comp->IsChecked() == true)
341 result |= 0x08;
342
343 command[6] = result;
344 result = 0x01; // Calculate orientation
345 if (coning->IsChecked() == true)
346 result |= 0x02;
347
348 command[7] = result;
349 command[8] = gyro_acc_size->Value(); // gyro acc filter window
350 command[9] = mag_size->Value(); // mag filter window
351 command[10] = (up_comp->Value() >> 8) & 0xff; // up comp MSB
352 command[11] = up_comp->Value() & 0xff; // up comp LSB
353 command[12] = (north_comp->Value() >> 8) & 0xff; // north comp MSB
354 command[13] = north_comp->Value() & 0xff; // north comp LSB
355 command[14] = 0; // reserved
356 command[15] = 0; // reserved
357 command[16] = 0; // reserved
358 command[17] = 0; // reserved
359 command[18] = 0; // reserved
360 command[19] = 0; // reserved
361
362 written = serialport->Write(&command, sizeof(command));
363 if (written < 0) {
364 self->Thread::Err("Write error (%s)\n", strerror(-written));
365 } else if (written != sizeof(command)) {
366 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
367 }
368
369 read = serialport->Read(&response[0], sizeof(response));
370 if (read < 0) {
371 self->Thread::Err("Read error (%s)\n", strerror(-read));
372 } else if (read != sizeof(response)) {
373 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
374 }
375
376 if (CalcChecksum(response, sizeof(response)) == false) {
377 self->Thread::Err("wrong checksum\n", self->IODevice::ObjectName().c_str());
378 } else {
379 data_rate_label->SetText("real: %.2fHz", 1000. / rate);
380 }
381}
382
383void Gx3_25_imu_impl::SetBaudrate(int value) {
384 uint8_t response[10] = {0};
385 uint8_t command[11];
386 ssize_t read = 0;
387 ssize_t written = 0;
388
389 union int32_4uint8 {
390 int32_t i;
391 uint8_t b[4];
392 } baudrate_value;
393
394 baudrate_value.i = value;
395 Printf("Gx3_25_imu::SetBaudrate: %s ->%i\n",
396 self->IODevice::ObjectName().c_str(), baudrate_value.i);
397
398 command[0] = 0xd9; // entete
399 command[1] = 0xc3; // confirm
400 command[2] = 0x55; // confirm
401 command[3] = 1; // primary uart
402 command[4] = 1; // chgt temporaire
403 command[5] = baudrate_value.b[3];
404 command[6] = baudrate_value.b[2];
405 command[7] = baudrate_value.b[1];
406 command[8] = baudrate_value.b[0];
407 command[9] = 2; // uart enabled
408 command[10] = 0; // reserved
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;
427 }
428
429 serialport->SetBaudrate(value);
430}
431
432int Gx3_25_imu_impl::FirmwareNumber(void) {
433 uint8_t response[7] = {0};
434 uint8_t command;
435 ssize_t read = 0;
436 ssize_t written = 0;
437 union int32_4uint8 {
438 int32_t i;
439 uint8_t b[4];
440 } value;
441
442 command = 0xe9; // entete
443
444 written = serialport->Write(&command, sizeof(command));
445 if (written < 0) {
446 self->Thread::Err("Write error (%s)\n", strerror(-written));
447 } else if (written != sizeof(command)) {
448 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
449 }
450
451 read = serialport->Read(&response[0], sizeof(response));
452 if (read < 0) {
453 self->Thread::Err("Read error (%s)\n", strerror(-read));
454 } else if (read != sizeof(response)) {
455 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
456 }
457
458 if (CalcChecksum(response, sizeof(response)) == false) {
459 self->Thread::Err("wrong checksum\n");
460 return -1;
461 }
462
463 value.b[3] = response[1];
464 value.b[2] = response[2];
465 value.b[1] = response[3];
466 value.b[0] = response[4];
467
468 return value.i;
469}
470
471void Gx3_25_imu_impl::PrintModelInfo(void) {
472 uint8_t response[20] = {0};
473 uint8_t command[2];
474 ssize_t read = 0;
475 ssize_t written = 0;
476
477 for (int i = 0; i < 3; i++) {
478 command[0] = 0xea; // entete
479 command[1] = i; // entete
480
481 written = serialport->Write(&command, sizeof(command));
482 if (written < 0) {
483 self->Thread::Err("Write error (%s)\n", strerror(-written));
484 } else if (written != sizeof(command)) {
485 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
486 }
487
488 read = serialport->Read(&response[0], sizeof(response));
489 if (read < 0) {
490 self->Thread::Err("Read error (%s)\n", strerror(-read));
491 } else if (read != sizeof(response)) {
492 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
493 }
494
495 if (CalcChecksum(response, sizeof(response)) == false) {
496 self->Thread::Err("wrong checksum\n");
497 // return -1;
498 }
499
500 char *msg = (char *)(&response[2]);
501 msg[16] = 0;
502 switch (i) {
503 case 0:
504 Printf("Gx3_25_imu model number: %s\n", msg);
505 break;
506 case 1:
507 Printf("Gx3_25_imu serial number: %s\n", msg);
508 break;
509 case 2:
510 Printf("Gx3_25_imu model name: %s\n", msg);
511 break;
512 }
513 }
514}
515
516void Gx3_25_imu_impl::RealignUpNorth(bool realign_up, bool realign_north) {
517 uint8_t response[7] = {0};
518 uint8_t command[10];
519 ssize_t read = 0;
520 ssize_t written = 0;
521
522 command[0] = 0xdd; // entete
523 command[1] = 0x54; // confirm
524 command[2] = 0x4c; // confirm
525 command[3] = 0; // send reply
526 command[4] = 255; // up realign
527 command[5] = 1; // north realign
528 command[6] = 0; // reserved
529 command[7] = 0; // reserved
530 command[8] = 0; // reserved
531 command[9] = 0; // reserved
532
533 written = serialport->Write(&command, sizeof(command));
534 if (written < 0) {
535 self->Thread::Err("Write error (%s)\n", strerror(-written));
536 } else if (written != sizeof(command)) {
537 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
538 }
539
540 read = serialport->Read(&response[0], sizeof(response));
541 if (read < 0) {
542 self->Thread::Err("Read error(%s)\n", strerror(-read));
543 } else if (read != sizeof(response)) {
544 self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
545 }
546
547 if (CalcChecksum(response, sizeof(response)) == false) {
548 self->Thread::Err("wrong checksum\n");
549 }
550}
551
552void Gx3_25_imu_impl::DeviceReset(void) {
553 uint8_t command[3];
554 ssize_t written = 0;
555
556 command[0] = 0xfe; // entete
557 command[1] = 0x9e; // confirm
558 command[2] = 0x3a; // confirm
559
560 written = serialport->Write(&command, sizeof(command));
561 if (written < 0) {
562 self->Thread::Err("Write error (%s)\n", strerror(-written));
563 } else if (written != sizeof(command)) {
564 self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
565 }
566}
567
568bool Gx3_25_imu_impl::CalcChecksum(uint8_t *buf, int size) {
569 uint16_t tChksum, tResponseChksum;
570
571 tChksum = 0;
572 for (int i = 0; i < size - 2; i++)
573 tChksum += buf[i];
574 // Extract the big-endian checksum from reply
575 tResponseChksum = 0;
576 tResponseChksum = buf[size - 2] << 8;
577 tResponseChksum += buf[size - 1];
578
579 if (tChksum != tResponseChksum)
580 return false;
581 else
582 return true;
583}
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