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,SerialPort *serialport,Gx3_25_imu::Command_t command,GroupBox* setupgroupbox) {
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41 | int err = 0;
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42 |
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43 | this->self=self;
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44 | this->command=(uint8_t)command;
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45 | this->setupgroupbox=setupgroupbox;
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46 | this->serialport=serialport;
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47 |
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48 | ahrsData=new AhrsData((Imu*)self);
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49 |
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50 | //station sol
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51 | button_bias=new PushButton(setupgroupbox->NewRow(),"gyros bias");
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52 | data_rate=new SpinBox(setupgroupbox->NewRow(),"data rate (Hz):",1,500,1,200);
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53 | data_rate_label=new Label(setupgroupbox->LastRowLastCol(),"data_rate");
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54 | gyro_acc_size=new SpinBox(setupgroupbox->NewRow(),"gyro and acc filter win size:",1,32,1,15);
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55 | mag_size=new SpinBox(setupgroupbox->LastRowLastCol(),"mag filter win size:",1,32,1,17);
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56 | up_comp=new SpinBox(setupgroupbox->NewRow(),"up compensation (s):",1,1000,1,10);
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57 | north_comp=new SpinBox(setupgroupbox->LastRowLastCol(),"north compensation (s):",1,1000,1,10);
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58 | coning=new CheckBox(setupgroupbox->NewRow(),"enable Coning&Sculling:",true);
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59 | disable_magn=new CheckBox(setupgroupbox->LastRowLastCol(),"disable magnetometer:",true);
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60 | disable_north_comp=new CheckBox(setupgroupbox->NewRow(),"disable magnetic north compensation:",false);
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61 | disable_grav_comp=new CheckBox(setupgroupbox->NewRow(),"disable gravity compensation:",false);
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62 | }
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63 |
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64 | Gx3_25_imu_impl::~Gx3_25_imu_impl() {
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65 | }
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66 |
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67 | void Gx3_25_imu_impl::Run(void) {
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68 | Time imuTime;
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69 | ImuData* imuData;
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70 | self->GetDatas(&imuData);
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71 |
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72 | self->WarnUponSwitches(true);
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73 |
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74 | //reset IMU to be sure it is at 115200
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75 | Printf("Gx3_25_imu::Reset IMU at 921600\n");
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76 | serialport->SetBaudrate(921600);
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77 | DeviceReset();
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78 | self->Thread::SleepMS(100);
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79 | serialport->FlushInput();
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80 | serialport->SetBaudrate(115200);
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81 |
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82 | SetBaudrate(921600);
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83 | Printf("Gx3_25_imu firmware number: %i\n",FirmwareNumber());
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84 | PrintModelInfo();
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85 | SamplingSettings();
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86 | GyrosBias();
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87 | //RealignUpNorth(true,true);
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88 |
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89 | //on provoque les 9 ValueChanged
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90 | for(int i=0; i<9; i++) {
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91 | if(data_rate->ValueChanged()==true || disable_magn->ValueChanged()==true ||disable_north_comp->ValueChanged()==true ||disable_grav_comp->ValueChanged()==true ||coning->ValueChanged()==true
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92 | || gyro_acc_size->ValueChanged()==true || mag_size->ValueChanged()==true ||up_comp->ValueChanged()==true || north_comp->ValueChanged()==true) {
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93 | if(setupgroupbox->isEnabled()==true) SamplingSettings();
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94 | }
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95 | }
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96 |
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97 | //periode a passer an argument (reglable)
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98 | //ou plutot laisser la periode geree par le centrale (polling)
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99 | //self->SetPeriodMS(2);
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100 | SetContinuousMode(command);
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101 |
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102 | //_printf("firmware version: %i\n",get_firmware_number());
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103 |
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104 | while(!self->ToBeStopped()) {
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105 | if(command==Gx3_25_imu::EulerAnglesAndAngularRates) {
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106 | uint8_t response[31] = {0};
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107 | uint8_t *buf=&response[1];
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108 | GetData(response,sizeof(response),&imuTime);
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109 |
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110 | Euler eulerAngles;
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111 | eulerAngles.roll=Dequeue(&buf);
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112 | eulerAngles.pitch=Dequeue(&buf);
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113 | eulerAngles.yaw=Dequeue(&buf);
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114 |
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115 | Vector3D filteredAngRates;
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116 | filteredAngRates.x=Dequeue(&buf);
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117 | filteredAngRates.y=Dequeue(&buf);
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118 | filteredAngRates.z=Dequeue(&buf);
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119 |
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120 | ahrsData->SetQuaternionAndAngularRates(eulerAngles.ToQuaternion(),filteredAngRates);
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121 | } else if(command==Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix) {
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122 | uint8_t response[67] = {0};
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123 | uint8_t *buf=&response[1];
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124 | GetData(response,sizeof(response),&imuTime);
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125 |
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126 | Vector3D rawAcc;
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127 | rawAcc.x=9.80665*Dequeue(&buf);
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128 | rawAcc.y=9.80665*Dequeue(&buf);
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129 | rawAcc.z=9.80665*Dequeue(&buf);
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130 |
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131 | Vector3D filteredAngRates;
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132 | filteredAngRates.x=Dequeue(&buf);
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133 | filteredAngRates.y=Dequeue(&buf);
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134 | filteredAngRates.z=Dequeue(&buf);
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135 |
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136 | RotationMatrix matrix;
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137 | matrix(0,0)=Dequeue(&buf);
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138 | matrix(0,1)=Dequeue(&buf);
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139 | matrix(0,2)=Dequeue(&buf);
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140 | matrix(1,0)=Dequeue(&buf);
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141 | matrix(1,1)=Dequeue(&buf);
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142 | matrix(1,2)=Dequeue(&buf);
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143 | matrix(2,0)=Dequeue(&buf);
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144 | matrix(2,1)=Dequeue(&buf);
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145 | matrix(2,2)=Dequeue(&buf);
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146 |
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147 | ahrsData->SetQuaternionAndAngularRates(matrix.ToEuler().ToQuaternion(),filteredAngRates);
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148 | imuData->SetRawAcc(rawAcc);
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149 | }
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150 |
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151 | //change settings as soon as possible
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152 | //we assume that new imu datas will not come so fast
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153 | //so newt message from imu is an ack from the change settings
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154 | if(button_bias->Clicked()==true) GyrosBias();
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155 |
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156 | if(data_rate->ValueChanged()==true || disable_magn->ValueChanged()==true ||disable_north_comp->ValueChanged()==true ||disable_grav_comp->ValueChanged()==true ||coning->ValueChanged()==true
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157 | || gyro_acc_size->ValueChanged()==true || mag_size->ValueChanged()==true ||up_comp->ValueChanged()==true || north_comp->ValueChanged()==true) {
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158 | if(setupgroupbox->isEnabled()==true) SamplingSettings();
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159 | }
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160 |
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161 | imuData->SetDataTime(imuTime);
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162 | ahrsData->SetDataTime(imuTime);
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163 | self->UpdateImu();
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164 | self->ProcessUpdate(ahrsData);
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165 | }
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166 | SetContinuousMode(0);
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167 | SetBaudrate(115200);
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168 |
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169 | self->WarnUponSwitches(false);
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170 | }
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171 |
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172 | void Gx3_25_imu_impl::GetData(uint8_t* buf,ssize_t buf_size,Time *time) {
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173 | ssize_t read = 0;
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174 | ssize_t written = 0;
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175 | /*
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176 | written = serialport->Write(&command, sizeof(command));
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177 | if(written<0)
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178 | {
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179 | self->Thread::Err("Write error (%s)\n",strerror(-written));
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180 | }
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181 | else if (written != sizeof(command))
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182 | {
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183 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
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184 | }
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185 | */
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186 | read = serialport->Read(buf,buf_size);
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187 | *time=GetTime();
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188 | if(read<0) {
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189 | self->Thread::Err("Read error (%s)\n",strerror(-read));
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190 | } else if (read != buf_size) {
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191 | self->Thread::Err("Read error %i/%i\n",read,buf_size);
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192 | }
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193 |
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194 | if(CalcChecksum(buf,buf_size)==false) {
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195 | self->Thread::Err("wrong checksum\n");
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196 | return;
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197 | }
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198 | }
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199 |
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200 | float Gx3_25_imu_impl::Dequeue(uint8_t** buf) {
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201 | union float_4uint8 {
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202 | float f;
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203 | uint8_t b[4];
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204 | }
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205 | float_value;
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206 |
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207 | float_value.b[0]=(*buf)[3];
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208 | float_value.b[1]=(*buf)[2];
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209 | float_value.b[2]=(*buf)[1];
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210 | float_value.b[3]=(*buf)[0];
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211 | (*buf)+=sizeof(float);
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212 |
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213 | return float_value.f;
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214 | }
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215 |
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216 | void Gx3_25_imu_impl::GyrosBias(void) {
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217 | if(setupgroupbox->isEnabled()==true) { //devrait toujours etre bon
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218 | uint8_t response[19] = {0};
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219 | uint8_t command[5];
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220 | ssize_t read = 0;
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221 | ssize_t written = 0;
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222 |
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223 | Printf("Gx3_25_imu::gyros_bias: %s\n",self->IODevice::ObjectName().c_str());
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224 |
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225 | command[0]=0xcd;//entete
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226 | command[1]=0xc1;//confirm
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227 | command[2]=0x29;//confirm
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228 | command[3]=0x27;//time MSB en us
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229 | command[4]=0x10;//time LSB en us
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230 |
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231 | written = serialport->Write( &command, sizeof(command));
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232 | if(written<0) {
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233 | self->Thread::Err("Write error (%s)\n",strerror(-written));
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234 | } else if (written != sizeof(command)) {
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235 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
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236 | }
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237 |
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238 | self->SleepUS(1.1*(command[3]*256+command[4]));//on fait un sleep un peu plus grand
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239 |
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240 | read = serialport->Read(&response[0],sizeof(response));
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241 | if(read<0) {
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242 | self->Thread::Err("Read error (%s)\n",strerror(-read));
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243 | } else if (read != sizeof(response)) {
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244 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
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245 | }
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246 |
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247 | if(CalcChecksum(response,sizeof(response))==false) {
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248 | self->Thread::Err("wrong checksum\n");
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249 | //return -1;
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250 | }
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251 |
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252 | Printf("Gx3_25_imu::gyros_bias: %s ok\n",self->IODevice::ObjectName().c_str());
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253 |
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254 | } else {
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255 | self->Thread::Err("error locked\n");
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256 | }
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257 | }
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258 |
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259 | void Gx3_25_imu_impl::SetContinuousMode(uint8_t continuous_command) {
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260 | uint8_t response[8] = {0};
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261 | uint8_t command[4];
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262 | ssize_t read = 0;
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263 | ssize_t written = 0;
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264 |
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265 | command[0]=0xc4;//entete
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266 | command[1]=0xc1;//confirm
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267 | command[2]=0x29;//confirm
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268 | command[3]=continuous_command;
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269 |
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270 | written = serialport->Write(command,sizeof(command));
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271 | if(written<0) {
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272 | self->Thread::Err("Write error (%s)\n",strerror(-written));
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273 | } else if (written != sizeof(command)) {
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274 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
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275 | }
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276 |
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277 | read = serialport->Read(response,sizeof(response));
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278 | if(read<0) {
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279 | self->Thread::Err("Read error (%s)\n",strerror(-read));
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280 | } else if (read != sizeof(response)) {
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281 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
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282 | }
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283 |
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284 | if(CalcChecksum(response,sizeof(response))==false) {
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285 | self->Thread::Err("wrong checksum\n",self->IODevice::ObjectName().c_str());
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286 | }
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287 | }
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288 |
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289 | void Gx3_25_imu_impl::SamplingSettings(void) {
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290 | uint8_t response[19] = {0};
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291 | uint8_t command[20];
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292 | uint8_t result;
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293 | ssize_t read = 0;
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294 | ssize_t written = 0;
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295 |
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296 | uint16_t rate=1000/data_rate->Value();
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297 |
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298 | command[0]=0xdb;//entete
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299 | command[1]=0xa8;//confirm
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300 | command[2]=0xb9;//confirm
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301 | command[3]=1;//change values
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302 | command[4]=(rate>>8)&0xff;//data rate MSB
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303 | command[5]=rate&0xff;//data rate LSB
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304 | result=0;
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305 | if(disable_magn->IsChecked()==true) result|=0x01;
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306 | if(disable_north_comp->IsChecked()==true) result|=0x04;
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307 | if(disable_grav_comp->IsChecked()==true) result|=0x08;
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308 |
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309 | command[6]=result;
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310 | result=0x01;//Calculate orientation
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311 | if(coning->IsChecked()==true) result|=0x02;
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312 |
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313 | command[7]=result;
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314 | command[8]=gyro_acc_size->Value();//gyro acc filter window
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315 | command[9]=mag_size->Value();//mag filter window
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316 | command[10]=(up_comp->Value()>>8)&0xff;//up comp MSB
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317 | command[11]=up_comp->Value()&0xff;//up comp LSB
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318 | command[12]=(north_comp->Value()>>8)&0xff;//north comp MSB
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319 | command[13]=north_comp->Value()&0xff;//north comp LSB
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320 | command[14]=0;//reserved
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321 | command[15]=0;//reserved
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322 | command[16]=0;//reserved
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323 | command[17]=0;//reserved
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324 | command[18]=0;//reserved
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325 | command[19]=0;//reserved
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326 |
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327 | written = serialport->Write(&command, sizeof(command));
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328 | if(written<0) {
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329 | self->Thread::Err("Write error (%s)\n",strerror(-written));
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330 | } else if (written != sizeof(command)) {
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331 | self->Thread::Err("Write error %i/%i\n",written,sizeof(command));
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332 | }
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333 |
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334 | read = serialport->Read(&response[0],sizeof(response));
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335 | if(read<0) {
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336 | self->Thread::Err("Read error (%s)\n",strerror(-read));
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337 | } else if (read != sizeof(response)) {
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338 | self->Thread::Err("Read error %i/%i\n",read,sizeof(response));
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339 | }
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340 |
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341 | if(CalcChecksum(response,sizeof(response))==false) {
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342 | self->Thread::Err("wrong checksum\n",self->IODevice::ObjectName().c_str());
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343 | } else {
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344 | data_rate_label->SetText("real: %.2fHz",1000./rate);
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345 | }
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346 | }
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347 |
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348 | void Gx3_25_imu_impl::SetBaudrate(int value) {
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349 | uint8_t response[10] = {0};
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350 | uint8_t command[11];
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351 | ssize_t read = 0;
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352 | ssize_t written = 0;
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353 |
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354 | union int32_4uint8 {
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355 | int32_t i;
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356 | uint8_t b[4];
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357 | }
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358 | baudrate_value;
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359 |
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360 | baudrate_value.i=value;
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361 | Printf("Gx3_25_imu::SetBaudrate: %s ->%i\n",self->IODevice::ObjectName().c_str(),baudrate_value.i);
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362 |
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363 | command[0]=0xd9;//entete
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364 | command[1]=0xc3;//confirm
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365 | command[2]=0x55;//confirm
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366 | command[3]=1;//primary uart
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367 | command[4]=1;//chgt temporaire
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368 | command[5]=baudrate_value.b[3];
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369 | command[6]=baudrate_value.b[2];
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370 | command[7]=baudrate_value.b[1];
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371 | command[8]=baudrate_value.b[0];
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372 | command[9]=2;//uart enabled
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373 | command[10]=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");
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391 | return ;
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392 | }
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393 |
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394 | serialport->SetBaudrate(value);
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395 | }
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396 |
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397 | int Gx3_25_imu_impl::FirmwareNumber(void) {
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398 | uint8_t response[7] = {0};
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399 | uint8_t command;
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400 | ssize_t read = 0;
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401 | ssize_t written = 0;
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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 | }
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406 | value;
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407 |
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408 | command=0xe9;//entete
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409 |
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410 | written = serialport->Write(&command, sizeof(command));
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411 | if(written<0) {
|
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412 | self->Thread::Err("Write error (%s)\n",strerror(-written));
|
---|
413 | } else if (written != sizeof(command)) {
|
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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 | }
|
---|