1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2011/08/19
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6 | // filename: Gx3_25_imu_impl.cpp
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7 | //
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8 | // author: Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: objet integrant la centrale 3dmgx3-25
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 | #include "Gx3_25_imu_impl.h"
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19 | #include <FrameworkManager.h>
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20 | #include <SerialPort.h>
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21 | #include <GroupBox.h>
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22 | #include <SpinBox.h>
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23 | #include <CheckBox.h>
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24 | #include <PushButton.h>
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25 | #include <Label.h>
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26 | #include <ImuData.h>
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27 | #include <AhrsData.h>
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28 | #include <Euler.h>
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29 | #include <Vector3D.h>
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30 | #include <RotationMatrix.h>
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31 |
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32 | #include <math.h>
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33 | #include <string.h>
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34 |
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35 | using std::string;
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36 | using namespace flair::core;
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37 | using namespace flair::gui;
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38 | using namespace flair::sensor;
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39 |
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40 | Gx3_25_imu_impl::Gx3_25_imu_impl(Gx3_25_imu *self, string name,
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41 | SerialPort *serialport,
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42 | Gx3_25_imu::Command_t command,
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43 | GroupBox *setupgroupbox) {
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44 | int err = 0;
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45 |
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46 | this->self = self;
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47 | this->command = (uint8_t)command;
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48 | this->setupgroupbox = setupgroupbox;
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49 | this->serialport = serialport;
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50 |
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51 | ahrsData = new AhrsData((Imu *)self);
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52 |
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53 | // station sol
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54 | button_bias = new PushButton(setupgroupbox->NewRow(), "gyros bias");
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55 | data_rate =
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56 | new SpinBox(setupgroupbox->NewRow(), "data rate (Hz):", 1, 500, 1, 200);
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57 | data_rate_label = new Label(setupgroupbox->LastRowLastCol(), "data_rate");
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58 | gyro_acc_size = new SpinBox(setupgroupbox->NewRow(),
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59 | "gyro and acc filter win size:", 1, 32, 1, 15);
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60 | mag_size = new SpinBox(setupgroupbox->LastRowLastCol(),
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61 | "mag filter win size:", 1, 32, 1, 17);
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62 | up_comp = new SpinBox(setupgroupbox->NewRow(), "up compensation (s):", 1,
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63 | 1000, 1, 10);
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64 | north_comp = new SpinBox(setupgroupbox->LastRowLastCol(),
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65 | "north compensation (s):", 1, 1000, 1, 10);
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66 | coning =
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67 | new CheckBox(setupgroupbox->NewRow(), "enable Coning&Sculling:", true);
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68 | disable_magn = new CheckBox(setupgroupbox->LastRowLastCol(),
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69 | "disable magnetometer:", true);
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70 | disable_north_comp = new CheckBox(
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71 | setupgroupbox->NewRow(), "disable magnetic north compensation:", false);
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72 | disable_grav_comp = new CheckBox(setupgroupbox->NewRow(),
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73 | "disable gravity compensation:", false);
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74 | }
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75 |
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76 | Gx3_25_imu_impl::~Gx3_25_imu_impl() {}
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77 |
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78 | void Gx3_25_imu_impl::Run(void) {
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79 | Time imuTime;
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80 | ImuData *imuData;
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81 | self->GetDatas(&imuData);
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82 |
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83 | self->WarnUponSwitches(true);
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84 |
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85 | // reset IMU to be sure it is at 115200
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86 | Printf("Gx3_25_imu::Reset IMU at 921600\n");
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87 | serialport->SetBaudrate(921600);
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88 | DeviceReset();
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89 | self->Thread::SleepMS(100);
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90 | serialport->FlushInput();
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91 | serialport->SetBaudrate(115200);
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92 |
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93 | SetBaudrate(921600);
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94 | Printf("Gx3_25_imu firmware number: %i\n", FirmwareNumber());
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95 | PrintModelInfo();
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96 | SamplingSettings();
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97 | GyrosBias();
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98 | self->SetIsReady(true);
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99 | // RealignUpNorth(true,true);
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100 |
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101 | // on provoque les 9 ValueChanged
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102 | for (int i = 0; i < 9; i++) {
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103 | if (data_rate->ValueChanged() == true ||
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104 | disable_magn->ValueChanged() == true ||
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105 | disable_north_comp->ValueChanged() == true ||
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106 | disable_grav_comp->ValueChanged() == true ||
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107 | coning->ValueChanged() == true ||
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108 | gyro_acc_size->ValueChanged() == true ||
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109 | mag_size->ValueChanged() == true || up_comp->ValueChanged() == true ||
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110 | north_comp->ValueChanged() == true) {
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111 | if (setupgroupbox->isEnabled() == true)
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112 | SamplingSettings();
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113 | }
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114 | }
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115 |
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116 | // periode a passer en argument (reglable)
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117 | // ou plutot laisser la periode geree par le centrale (polling)
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118 | // self->SetPeriodMS(2);
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119 | SetContinuousMode(command);
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120 |
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121 | while (!self->ToBeStopped()) {
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122 | if (command == Gx3_25_imu::EulerAnglesAndAngularRates) {
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123 | uint8_t response[31] = {0};
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124 | uint8_t *buf = &response[1];
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125 | GetData(response, sizeof(response), &imuTime);
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126 |
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127 | Euler eulerAngles;
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128 | eulerAngles.roll = Dequeue(&buf);
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129 | eulerAngles.pitch = Dequeue(&buf);
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130 | eulerAngles.yaw = Dequeue(&buf);
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131 |
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132 | Vector3D filteredAngRates;
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133 | filteredAngRates.x = Dequeue(&buf);
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134 | filteredAngRates.y = Dequeue(&buf);
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135 | filteredAngRates.z = Dequeue(&buf);
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136 |
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137 | ahrsData->SetQuaternionAndAngularRates(eulerAngles.ToQuaternion(),
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138 | filteredAngRates);
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139 | } else if (command ==
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140 | Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix) {
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141 | uint8_t response[67] = {0};
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142 | uint8_t *buf = &response[1];
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143 | GetData(response, sizeof(response), &imuTime);
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144 |
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145 | Vector3D rawAcc;
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146 | rawAcc.x = 9.80665 * Dequeue(&buf);
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147 | rawAcc.y = 9.80665 * Dequeue(&buf);
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148 | rawAcc.z = 9.80665 * Dequeue(&buf);
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149 |
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150 | Vector3D filteredAngRates;
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151 | filteredAngRates.x = Dequeue(&buf);
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152 | filteredAngRates.y = Dequeue(&buf);
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153 | filteredAngRates.z = Dequeue(&buf);
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154 |
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155 | RotationMatrix matrix;
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156 | matrix(0, 0) = Dequeue(&buf);
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157 | matrix(0, 1) = Dequeue(&buf);
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158 | matrix(0, 2) = Dequeue(&buf);
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159 | matrix(1, 0) = Dequeue(&buf);
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160 | matrix(1, 1) = Dequeue(&buf);
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161 | matrix(1, 2) = Dequeue(&buf);
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162 | matrix(2, 0) = Dequeue(&buf);
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163 | matrix(2, 1) = Dequeue(&buf);
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164 | matrix(2, 2) = Dequeue(&buf);
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165 |
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166 | ahrsData->SetQuaternionAndAngularRates(matrix.ToQuaternion(),
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167 | filteredAngRates);
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168 | imuData->SetRawAcc(rawAcc);
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169 | } else if (command == Gx3_25_imu::Quaternion) {
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170 | uint8_t response[23] = {0};
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171 | uint8_t *buf = &response[1];
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172 | GetData(response, sizeof(response), &imuTime);
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173 |
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174 | Quaternion quaternion;
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175 | quaternion.q0 = Dequeue(&buf);
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176 | quaternion.q1 = Dequeue(&buf);
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177 | quaternion.q2 = Dequeue(&buf);
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178 | quaternion.q3 = Dequeue(&buf);
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179 |
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180 | Vector3D filteredAngRates;
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181 | filteredAngRates.x = 0;
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182 | filteredAngRates.y = 0;
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183 | filteredAngRates.z = 0;
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184 |
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185 | ahrsData->SetQuaternionAndAngularRates(quaternion,
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186 | filteredAngRates);
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187 | }
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188 |
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189 | // change settings as soon as possible
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190 | // we assume that new imu datas will not come so fast
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191 | // so newt message from imu is an ack from the change settings
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192 | if (button_bias->Clicked() == true)
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193 | GyrosBias();
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194 |
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195 | if (data_rate->ValueChanged() == true ||
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196 | disable_magn->ValueChanged() == true ||
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197 | disable_north_comp->ValueChanged() == true ||
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198 | disable_grav_comp->ValueChanged() == true ||
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199 | coning->ValueChanged() == true ||
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200 | gyro_acc_size->ValueChanged() == true ||
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201 | mag_size->ValueChanged() == true || up_comp->ValueChanged() == true ||
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202 | north_comp->ValueChanged() == true) {
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203 | if (setupgroupbox->isEnabled() == true)
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204 | SamplingSettings();
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205 | }
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206 |
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207 | imuData->SetDataTime(imuTime);
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208 | ahrsData->SetDataTime(imuTime);
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209 | self->UpdateImu();
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210 | self->ProcessUpdate(ahrsData);
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211 | }
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212 | SetContinuousMode(0);
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213 | SetBaudrate(115200);
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214 |
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215 | self->WarnUponSwitches(false);
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216 | }
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217 |
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218 | void Gx3_25_imu_impl::GetData(uint8_t *buf, ssize_t buf_size, Time *time) {
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219 | ssize_t read = 0;
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220 | ssize_t written = 0;
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221 | /*
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222 | written = serialport->Write(&command, sizeof(command));
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223 | if(written<0)
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224 | {
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225 | self->Thread::Err("Write error (%s)\n",strerror(-written));
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226 | }
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227 | else if (written != sizeof(command))
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228 | {
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229 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
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230 | }
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231 | */
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232 | read = serialport->Read(buf, buf_size);
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233 | *time = GetTime();
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234 | if (read < 0) {
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235 | self->Thread::Err("Read error (%s)\n", strerror(-read));
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236 | } else if (read != buf_size) {
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237 | self->Thread::Err("Read error %i/%i\n", read, buf_size);
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238 | }
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239 |
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240 | if (CalcChecksum(buf, buf_size) == false) {
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241 | self->Thread::Err("wrong checksum\n");
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242 | return;
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243 | }
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244 | }
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245 |
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246 | float Gx3_25_imu_impl::Dequeue(uint8_t **buf) {
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247 | union float_4uint8 {
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248 | float f;
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249 | uint8_t b[4];
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250 | } float_value;
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251 |
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252 | float_value.b[0] = (*buf)[3];
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253 | float_value.b[1] = (*buf)[2];
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254 | float_value.b[2] = (*buf)[1];
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255 | float_value.b[3] = (*buf)[0];
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256 | (*buf) += sizeof(float);
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257 |
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258 | return float_value.f;
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259 | }
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260 |
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261 | void Gx3_25_imu_impl::GyrosBias(void) {
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262 | if (setupgroupbox->isEnabled() == true) { // devrait toujours etre bon
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263 | uint8_t response[19] = {0};
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264 | uint8_t command[5];
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265 | ssize_t read = 0;
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266 | ssize_t written = 0;
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267 |
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268 | Printf("Gx3_25_imu::calibrating gyros, do not move imu\n");
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269 |
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270 | command[0] = 0xcd; // entete
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271 | command[1] = 0xc1; // confirm
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272 | command[2] = 0x29; // confirm
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273 | command[3] = 0x27; // time MSB en us
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274 | command[4] = 0x10; // time LSB en us
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275 |
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276 | written = serialport->Write(&command, sizeof(command));
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277 | if (written < 0) {
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278 | self->Thread::Err("Write error (%s)\n", strerror(-written));
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279 | } else if (written != sizeof(command)) {
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280 | self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
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281 | }
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282 |
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283 | self->SleepUS(1.1 * (command[3] * 256 +
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284 | command[4])); // on fait un sleep un peu plus grand
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285 |
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286 | read = serialport->Read(&response[0], sizeof(response));
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287 | if (read < 0) {
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288 | self->Thread::Err("Read error (%s)\n", strerror(-read));
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289 | } else if (read != sizeof(response)) {
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290 | self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
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291 | }
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292 |
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293 | if (CalcChecksum(response, sizeof(response)) == false) {
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294 | self->Thread::Err("wrong checksum\n");
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295 | // return -1;
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296 | }
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297 |
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298 | Printf("Gx3_25_imu::calibration done\n");
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299 |
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300 | } else {
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301 | self->Thread::Err("error locked\n");
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302 | }
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303 | }
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304 |
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305 | void Gx3_25_imu_impl::SetContinuousMode(uint8_t continuous_command) {
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306 | uint8_t response[8] = {0};
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307 | uint8_t command[4];
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308 | ssize_t read = 0;
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309 | ssize_t written = 0;
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310 |
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311 | command[0] = 0xc4; // entete
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312 | command[1] = 0xc1; // confirm
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313 | command[2] = 0x29; // confirm
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314 | command[3] = continuous_command;
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315 |
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316 | written = serialport->Write(command, sizeof(command));
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317 | if (written < 0) {
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318 | self->Thread::Err("Write error (%s)\n", strerror(-written));
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319 | } else if (written != sizeof(command)) {
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320 | self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
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321 | }
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322 |
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323 | read = serialport->Read(response, sizeof(response));
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324 | if (read < 0) {
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325 | self->Thread::Err("Read error (%s)\n", strerror(-read));
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326 | } else if (read != sizeof(response)) {
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327 | self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
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328 | }
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329 |
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330 | if (CalcChecksum(response, sizeof(response)) == false) {
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331 | self->Thread::Err("wrong checksum\n", self->IODevice::ObjectName().c_str());
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332 | }
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333 | }
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334 |
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335 | void Gx3_25_imu_impl::SamplingSettings(void) {
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336 | uint8_t response[19] = {0};
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337 | uint8_t command[20];
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338 | uint8_t result;
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339 | ssize_t read = 0;
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340 | ssize_t written = 0;
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341 |
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342 | uint16_t rate = 1000 / data_rate->Value();
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343 |
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344 | command[0] = 0xdb; // entete
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345 | command[1] = 0xa8; // confirm
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346 | command[2] = 0xb9; // confirm
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347 | command[3] = 1; // change values
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348 | command[4] = (rate >> 8) & 0xff; // data rate MSB
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349 | command[5] = rate & 0xff; // data rate LSB
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350 | result = 0;
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351 | if (disable_magn->IsChecked() == true) result |= 0x01;
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352 | if (disable_north_comp->IsChecked() == true) result |= 0x04;
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353 | if (disable_grav_comp->IsChecked() == true) result |= 0x08;
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354 | if (this->command == Gx3_25_imu::Quaternion) result |= 0x10;//enable quaternion
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355 | command[6] = result;
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356 |
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357 | result = 0x01; // Calculate orientation
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358 | if (coning->IsChecked() == true)
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359 | result |= 0x02;
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360 |
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361 | command[7] = result;
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362 | command[8] = gyro_acc_size->Value(); // gyro acc filter window
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363 | command[9] = mag_size->Value(); // mag filter window
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364 | command[10] = (up_comp->Value() >> 8) & 0xff; // up comp MSB
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365 | command[11] = up_comp->Value() & 0xff; // up comp LSB
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366 | command[12] = (north_comp->Value() >> 8) & 0xff; // north comp MSB
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367 | command[13] = north_comp->Value() & 0xff; // north comp LSB
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368 | command[14] = 0; // reserved
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369 | command[15] = 0; // reserved
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370 | command[16] = 0; // reserved
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371 | command[17] = 0; // reserved
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372 | command[18] = 0; // reserved
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373 | command[19] = 0; // reserved
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374 |
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375 | written = serialport->Write(&command, sizeof(command));
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376 | if (written < 0) {
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377 | self->Thread::Err("Write error (%s)\n", strerror(-written));
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378 | } else if (written != sizeof(command)) {
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379 | self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
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380 | }
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381 |
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382 | read = serialport->Read(&response[0], sizeof(response));
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383 | if (read < 0) {
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384 | self->Thread::Err("Read error (%s)\n", strerror(-read));
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385 | } else if (read != sizeof(response)) {
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386 | self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
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387 | }
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388 |
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389 | if (CalcChecksum(response, sizeof(response)) == false) {
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390 | self->Thread::Err("wrong checksum\n", self->IODevice::ObjectName().c_str());
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391 | } else {
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392 | data_rate_label->SetText("real: %.2fHz", 1000. / rate);
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393 | }
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394 | }
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395 |
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396 | void Gx3_25_imu_impl::SetBaudrate(int value) {
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397 | uint8_t response[10] = {0};
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398 | uint8_t command[11];
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399 | ssize_t read = 0;
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400 | ssize_t written = 0;
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401 |
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402 | union int32_4uint8 {
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403 | int32_t i;
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404 | uint8_t b[4];
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405 | } baudrate_value;
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406 |
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407 | baudrate_value.i = value;
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408 | Printf("Gx3_25_imu::SetBaudrate: %s ->%i\n",
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409 | self->IODevice::ObjectName().c_str(), baudrate_value.i);
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410 |
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411 | command[0] = 0xd9; // entete
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412 | command[1] = 0xc3; // confirm
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413 | command[2] = 0x55; // confirm
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414 | command[3] = 1; // primary uart
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415 | command[4] = 1; // chgt temporaire
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416 | command[5] = baudrate_value.b[3];
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417 | command[6] = baudrate_value.b[2];
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418 | command[7] = baudrate_value.b[1];
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419 | command[8] = baudrate_value.b[0];
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420 | command[9] = 2; // uart enabled
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421 | command[10] = 0; // reserved
|
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422 |
|
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423 | written = serialport->Write(&command, sizeof(command));
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---|
424 | if (written < 0) {
|
---|
425 | self->Thread::Err("Write error (%s)\n", strerror(-written));
|
---|
426 | } else if (written != sizeof(command)) {
|
---|
427 | self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
|
---|
428 | }
|
---|
429 |
|
---|
430 | read = serialport->Read(&response[0], sizeof(response));
|
---|
431 | if (read < 0) {
|
---|
432 | self->Thread::Err("Read error (%s)\n", strerror(-read));
|
---|
433 | } else if (read != sizeof(response)) {
|
---|
434 | self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
|
---|
435 | }
|
---|
436 |
|
---|
437 | if (CalcChecksum(response, sizeof(response)) == false) {
|
---|
438 | self->Thread::Err("wrong checksum\n");
|
---|
439 | return;
|
---|
440 | }
|
---|
441 |
|
---|
442 | serialport->SetBaudrate(value);
|
---|
443 | }
|
---|
444 |
|
---|
445 | int Gx3_25_imu_impl::FirmwareNumber(void) {
|
---|
446 | uint8_t response[7] = {0};
|
---|
447 | uint8_t command;
|
---|
448 | ssize_t read = 0;
|
---|
449 | ssize_t written = 0;
|
---|
450 | union int32_4uint8 {
|
---|
451 | int32_t i;
|
---|
452 | uint8_t b[4];
|
---|
453 | } value;
|
---|
454 |
|
---|
455 | command = 0xe9; // entete
|
---|
456 |
|
---|
457 | written = serialport->Write(&command, sizeof(command));
|
---|
458 | if (written < 0) {
|
---|
459 | self->Thread::Err("Write error (%s)\n", strerror(-written));
|
---|
460 | } else if (written != sizeof(command)) {
|
---|
461 | self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
|
---|
462 | }
|
---|
463 |
|
---|
464 | read = serialport->Read(&response[0], sizeof(response));
|
---|
465 | if (read < 0) {
|
---|
466 | self->Thread::Err("Read error (%s)\n", strerror(-read));
|
---|
467 | } else if (read != sizeof(response)) {
|
---|
468 | self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
|
---|
469 | }
|
---|
470 |
|
---|
471 | if (CalcChecksum(response, sizeof(response)) == false) {
|
---|
472 | self->Thread::Err("wrong checksum\n");
|
---|
473 | return -1;
|
---|
474 | }
|
---|
475 |
|
---|
476 | value.b[3] = response[1];
|
---|
477 | value.b[2] = response[2];
|
---|
478 | value.b[1] = response[3];
|
---|
479 | value.b[0] = response[4];
|
---|
480 |
|
---|
481 | return value.i;
|
---|
482 | }
|
---|
483 |
|
---|
484 | void Gx3_25_imu_impl::PrintModelInfo(void) {
|
---|
485 | uint8_t response[20] = {0};
|
---|
486 | uint8_t command[2];
|
---|
487 | ssize_t read = 0;
|
---|
488 | ssize_t written = 0;
|
---|
489 |
|
---|
490 | for (int i = 0; i < 3; i++) {
|
---|
491 | command[0] = 0xea; // entete
|
---|
492 | command[1] = i; // entete
|
---|
493 |
|
---|
494 | written = serialport->Write(&command, sizeof(command));
|
---|
495 | if (written < 0) {
|
---|
496 | self->Thread::Err("Write error (%s)\n", strerror(-written));
|
---|
497 | } else if (written != sizeof(command)) {
|
---|
498 | self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
|
---|
499 | }
|
---|
500 |
|
---|
501 | read = serialport->Read(&response[0], sizeof(response));
|
---|
502 | if (read < 0) {
|
---|
503 | self->Thread::Err("Read error (%s)\n", strerror(-read));
|
---|
504 | } else if (read != sizeof(response)) {
|
---|
505 | self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
|
---|
506 | }
|
---|
507 |
|
---|
508 | if (CalcChecksum(response, sizeof(response)) == false) {
|
---|
509 | self->Thread::Err("wrong checksum\n");
|
---|
510 | // return -1;
|
---|
511 | }
|
---|
512 |
|
---|
513 | char *msg = (char *)(&response[2]);
|
---|
514 | msg[16] = 0;
|
---|
515 | switch (i) {
|
---|
516 | case 0:
|
---|
517 | Printf("Gx3_25_imu model number: %s\n", msg);
|
---|
518 | break;
|
---|
519 | case 1:
|
---|
520 | Printf("Gx3_25_imu serial number: %s\n", msg);
|
---|
521 | break;
|
---|
522 | case 2:
|
---|
523 | Printf("Gx3_25_imu model name: %s\n", msg);
|
---|
524 | break;
|
---|
525 | }
|
---|
526 | }
|
---|
527 | }
|
---|
528 |
|
---|
529 | void Gx3_25_imu_impl::RealignUpNorth(bool realign_up, bool realign_north) {
|
---|
530 | uint8_t response[7] = {0};
|
---|
531 | uint8_t command[10];
|
---|
532 | ssize_t read = 0;
|
---|
533 | ssize_t written = 0;
|
---|
534 |
|
---|
535 | command[0] = 0xdd; // entete
|
---|
536 | command[1] = 0x54; // confirm
|
---|
537 | command[2] = 0x4c; // confirm
|
---|
538 | command[3] = 0; // send reply
|
---|
539 | command[4] = 255; // up realign
|
---|
540 | command[5] = 1; // north realign
|
---|
541 | command[6] = 0; // reserved
|
---|
542 | command[7] = 0; // reserved
|
---|
543 | command[8] = 0; // reserved
|
---|
544 | command[9] = 0; // reserved
|
---|
545 |
|
---|
546 | written = serialport->Write(&command, sizeof(command));
|
---|
547 | if (written < 0) {
|
---|
548 | self->Thread::Err("Write error (%s)\n", strerror(-written));
|
---|
549 | } else if (written != sizeof(command)) {
|
---|
550 | self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
|
---|
551 | }
|
---|
552 |
|
---|
553 | read = serialport->Read(&response[0], sizeof(response));
|
---|
554 | if (read < 0) {
|
---|
555 | self->Thread::Err("Read error(%s)\n", strerror(-read));
|
---|
556 | } else if (read != sizeof(response)) {
|
---|
557 | self->Thread::Err("Read error %i/%i\n", read, sizeof(response));
|
---|
558 | }
|
---|
559 |
|
---|
560 | if (CalcChecksum(response, sizeof(response)) == false) {
|
---|
561 | self->Thread::Err("wrong checksum\n");
|
---|
562 | }
|
---|
563 | }
|
---|
564 |
|
---|
565 | void Gx3_25_imu_impl::DeviceReset(void) {
|
---|
566 | uint8_t command[3];
|
---|
567 | ssize_t written = 0;
|
---|
568 |
|
---|
569 | command[0] = 0xfe; // entete
|
---|
570 | command[1] = 0x9e; // confirm
|
---|
571 | command[2] = 0x3a; // confirm
|
---|
572 |
|
---|
573 | written = serialport->Write(&command, sizeof(command));
|
---|
574 | if (written < 0) {
|
---|
575 | self->Thread::Err("Write error (%s)\n", strerror(-written));
|
---|
576 | } else if (written != sizeof(command)) {
|
---|
577 | self->Thread::Err("Write error %i/%i\n", written, sizeof(command));
|
---|
578 | }
|
---|
579 | }
|
---|
580 |
|
---|
581 | bool Gx3_25_imu_impl::CalcChecksum(uint8_t *buf, int size) {
|
---|
582 | uint16_t tChksum, tResponseChksum;
|
---|
583 |
|
---|
584 | tChksum = 0;
|
---|
585 | for (int i = 0; i < size - 2; i++)
|
---|
586 | tChksum += buf[i];
|
---|
587 | // Extract the big-endian checksum from reply
|
---|
588 | tResponseChksum = 0;
|
---|
589 | tResponseChksum = buf[size - 2] << 8;
|
---|
590 | tResponseChksum += buf[size - 1];
|
---|
591 |
|
---|
592 | if (tChksum != tResponseChksum)
|
---|
593 | return false;
|
---|
594 | else
|
---|
595 | return true;
|
---|
596 | }
|
---|