sbgECom
1.11.920-stable
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This file is used to parse received IMU binary logs. More...
#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>
Go to the source code of this file.
Data Structures | |
struct | _SbgLogImuData |
struct | _SbgLogImuShort |
struct | _SbgLogFastImuData |
Macros | |
#define | SBG_ECOM_IMU_COM_OK (0x00000001u << 0) |
#define | SBG_ECOM_IMU_STATUS_BIT (0x00000001u << 1) |
#define | SBG_ECOM_IMU_ACCEL_X_BIT (0x00000001u << 2) |
#define | SBG_ECOM_IMU_ACCEL_Y_BIT (0x00000001u << 3) |
#define | SBG_ECOM_IMU_ACCEL_Z_BIT (0x00000001u << 4) |
#define | SBG_ECOM_IMU_GYRO_X_BIT (0x00000001u << 5) |
#define | SBG_ECOM_IMU_GYRO_Y_BIT (0x00000001u << 6) |
#define | SBG_ECOM_IMU_GYRO_Z_BIT (0x00000001u << 7) |
#define | SBG_ECOM_IMU_ACCELS_IN_RANGE (0x00000001u << 8) |
#define | SBG_ECOM_IMU_GYROS_IN_RANGE (0x00000001u << 9) |
Typedefs | |
typedef struct _SbgLogImuData | SbgLogImuData |
typedef struct _SbgLogImuShort | SbgLogImuShort |
typedef struct _SbgLogFastImuData | SbgLogFastImuData |
Functions | |
float | sbgLogImuShortGetDeltaAngle (const SbgLogImuShort *pImuShort, size_t idx) |
float | sbgLogImuShortGetDeltaVelocity (const SbgLogImuShort *pImuShort, size_t idx) |
float | sbgLogImuShortGetTemperature (const SbgLogImuShort *pImuShort) |
SbgErrorCode | sbgEComBinaryLogParseImuData (SbgStreamBuffer *pInputStream, SbgLogImuData *pOutputData) |
SbgErrorCode | sbgEComBinaryLogWriteImuData (SbgStreamBuffer *pOutputStream, const SbgLogImuData *pInputData) |
SbgErrorCode | sbgEComBinaryLogParseImuShort (SbgStreamBuffer *pInputStream, SbgLogImuShort *pOutputData) |
SbgErrorCode | sbgEComBinaryLogWriteImuShort (SbgStreamBuffer *pOutputStream, const SbgLogImuShort *pInputData) |
SbgErrorCode | sbgEComBinaryLogParseFastImuData (SbgStreamBuffer *pInputStream, SbgLogFastImuData *pOutputData) |
SbgErrorCode | sbgEComBinaryLogWriteFastImuData (SbgStreamBuffer *pOutputStream, const SbgLogFastImuData *pInputData) |
This file is used to parse received IMU binary logs.
Copyright (C) 2007-2013, SBG Systems SAS. All rights reserved.
This source code is intended for use only by SBG Systems SAS and those that have explicit written permission to use it from SBG Systems SAS.
THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
#define SBG_ECOM_IMU_COM_OK (0x00000001u << 0) |
Log inertial data status mask definitionsSet to 1 if the communication with the IMU is ok.
#define SBG_ECOM_IMU_STATUS_BIT (0x00000001u << 1) |
Set to 1 if the IMU passes general Built in Tests (calibration, CPU, ...).
#define SBG_ECOM_IMU_ACCEL_X_BIT (0x00000001u << 2) |
Set to 1 if the accelerometer X passes Built In Test.
#define SBG_ECOM_IMU_ACCEL_Y_BIT (0x00000001u << 3) |
Set to 1 if the accelerometer Y passes Built In Test.
#define SBG_ECOM_IMU_ACCEL_Z_BIT (0x00000001u << 4) |
Set to 1 if the accelerometer Z passes Built In Test.
#define SBG_ECOM_IMU_GYRO_X_BIT (0x00000001u << 5) |
Set to 1 if the gyroscope X passes Built In Test.
#define SBG_ECOM_IMU_GYRO_Y_BIT (0x00000001u << 6) |
Set to 1 if the gyroscope Y passes Built In Test.
#define SBG_ECOM_IMU_GYRO_Z_BIT (0x00000001u << 7) |
Set to 1 if the gyroscope Z passes Built In Test.
#define SBG_ECOM_IMU_ACCELS_IN_RANGE (0x00000001u << 8) |
Set to 1 if all accelerometers are within operating range.
#define SBG_ECOM_IMU_GYROS_IN_RANGE (0x00000001u << 9) |
Set to 1 if all gyroscopes are within operating range.
typedef struct _SbgLogImuData SbgLogImuData |
Structure that stores data for the SBG_ECOM_LOG_IMU_DATA message.
typedef struct _SbgLogImuShort SbgLogImuShort |
Structure that stores data for the SBG_ECOM_LOG_IMU_SHORT message. This message is only sent asynchronously and is the preferred log for post processing.
typedef struct _SbgLogFastImuData SbgLogFastImuData |
Structure that stores the data for SBG_ECOM_LOG_FAST_IMU_DATA message
float sbgLogImuShortGetDeltaAngle | ( | const SbgLogImuShort * | pImuShort, |
size_t | idx | ||
) |
Return from an IMU Short log, the X, Y or Z delta angle value in rad.s^-1
[in] | pImuShort | Input IMU short message instance. |
[in] | idx | The component to return from 0 to 2. |
float sbgLogImuShortGetDeltaVelocity | ( | const SbgLogImuShort * | pImuShort, |
size_t | idx | ||
) |
Return from an IMU Short log, the X, Y or Z delta velocity value in m.s^-2
[in] | pImuShort | Input IMU short message instance. |
[in] | idx | The component to return from 0 to 2. |
float sbgLogImuShortGetTemperature | ( | const SbgLogImuShort * | pImuShort | ) |
Return from an IMU Short log, the temperature in °C
[in] | pImuShort | Input IMU short message instance. |
SbgErrorCode sbgEComBinaryLogParseImuData | ( | SbgStreamBuffer * | pInputStream, |
SbgLogImuData * | pOutputData | ||
) |
Parse data for the SBG_ECOM_LOG_IMU_DATA message and fill the corresponding structure.
[in] | pInputStream | Input stream buffer to read the payload from. |
[out] | pOutputData | Pointer on the output structure that stores parsed data. |
SbgErrorCode sbgEComBinaryLogWriteImuData | ( | SbgStreamBuffer * | pOutputStream, |
const SbgLogImuData * | pInputData | ||
) |
Write data for the SBG_ECOM_LOG_IMU_DATA message to the output stream buffer from the provided structure.
[out] | pOutputStream | Output stream buffer to write the payload to. |
[in] | pInputData | Pointer on the input structure that stores data to write. |
SbgErrorCode sbgEComBinaryLogParseImuShort | ( | SbgStreamBuffer * | pInputStream, |
SbgLogImuShort * | pOutputData | ||
) |
Parse data for the SBG_ECOM_LOG_IMU_SHORT message and fill the corresponding structure.
[in] | pInputStream | Input stream buffer to read the payload from. |
[out] | pOutputData | Pointer on the output structure that stores parsed data. |
SbgErrorCode sbgEComBinaryLogWriteImuShort | ( | SbgStreamBuffer * | pOutputStream, |
const SbgLogImuShort * | pInputData | ||
) |
Write data for the SBG_ECOM_LOG_IMU_SHORT message to the output stream buffer from the provided structure.
[out] | pOutputStream | Output stream buffer to write the payload to. |
[in] | pInputData | Pointer on the input structure that stores data to write. |
SbgErrorCode sbgEComBinaryLogParseFastImuData | ( | SbgStreamBuffer * | pInputStream, |
SbgLogFastImuData * | pOutputData | ||
) |
Parse data for the SBG_ECOM_LOG_FAST_IMU_DATA message and fill the corresponding structure.
[in] | pInputStream | Input stream buffer to read the payload from. |
[out] | pOutputData | Pointer on the output structure that stores parsed data. |
SbgErrorCode sbgEComBinaryLogWriteFastImuData | ( | SbgStreamBuffer * | pOutputStream, |
const SbgLogFastImuData * | pInputData | ||
) |
Write data for the SBG_ECOM_LOG_FAST_IMU_DATA message to the output stream buffer from the provided structure.
[out] | pOutputStream | Output stream buffer to write the payload to. |
[in] | pInputData | Pointer on the input structure that stores data to write. |