This file is used to parse received IMU binary logs. More...

#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>

Include dependency graph for sbgEComBinaryLogImu.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	_SbgLogFastImuData

struct	_SbgLogImuData

struct	_SbgLogImuShort

Macros
#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_ACCELS_IN_RANGE (0x00000001u << 8)

#define	SBG_ECOM_IMU_COM_OK (0x00000001u << 0)

#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_GYROS_IN_RANGE (0x00000001u << 9)

#define	SBG_ECOM_IMU_STATUS_BIT (0x00000001u << 1)

Typedefs
typedef struct _SbgLogFastImuData	SbgLogFastImuData

typedef struct _SbgLogImuData	SbgLogImuData

typedef struct _SbgLogImuShort	SbgLogImuShort

Functions
SbgErrorCode	sbgEComBinaryLogParseFastImuData (SbgStreamBuffer pInputStream, SbgLogFastImuData pOutputData)

SbgErrorCode	sbgEComBinaryLogParseImuData (SbgStreamBuffer pInputStream, SbgLogImuData pOutputData)

SbgErrorCode	sbgEComBinaryLogParseImuShort (SbgStreamBuffer pInputStream, SbgLogImuShort pOutputData)

SbgErrorCode	sbgEComBinaryLogWriteFastImuData (SbgStreamBuffer pOutputStream, const SbgLogFastImuData pInputData)

SbgErrorCode	sbgEComBinaryLogWriteImuData (SbgStreamBuffer pOutputStream, const SbgLogImuData pInputData)

SbgErrorCode	sbgEComBinaryLogWriteImuShort (SbgStreamBuffer pOutputStream, const SbgLogImuShort pInputData)

float	sbgLogImuShortGetDeltaAngle (const SbgLogImuShort *pImuShort, size_t idx)

float	sbgLogImuShortGetDeltaVelocity (const SbgLogImuShort *pImuShort, size_t idx)

float	sbgLogImuShortGetTemperature (const SbgLogImuShort *pImuShort)

Detailed Description

This file is used to parse received IMU binary logs.

Author: SBG Systems (Raphael Siryani)

Date: 25 February 2013

Copyright Notice

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.

Definition in file sbgEComBinaryLogImu.h.

Macro Definition Documentation

◆ SBG_ECOM_IMU_ACCEL_X_BIT

#define SBG_ECOM_IMU_ACCEL_X_BIT (0x00000001u << 2)

Set to 1 if the accelerometer X passes Built In Test.

Definition at line 36 of file sbgEComBinaryLogImu.h.

◆ SBG_ECOM_IMU_ACCEL_Y_BIT

#define SBG_ECOM_IMU_ACCEL_Y_BIT (0x00000001u << 3)

Set to 1 if the accelerometer Y passes Built In Test.

Definition at line 37 of file sbgEComBinaryLogImu.h.

◆ SBG_ECOM_IMU_ACCEL_Z_BIT

#define SBG_ECOM_IMU_ACCEL_Z_BIT (0x00000001u << 4)

Set to 1 if the accelerometer Z passes Built In Test.

Definition at line 38 of file sbgEComBinaryLogImu.h.

◆ SBG_ECOM_IMU_ACCELS_IN_RANGE

#define SBG_ECOM_IMU_ACCELS_IN_RANGE (0x00000001u << 8)

Set to 1 if all accelerometers are within operating range.

Definition at line 44 of file sbgEComBinaryLogImu.h.

◆ SBG_ECOM_IMU_COM_OK

#define SBG_ECOM_IMU_COM_OK (0x00000001u << 0)

Log inertial data status mask definitionsSet to 1 if the communication with the IMU is ok.

Definition at line 33 of file sbgEComBinaryLogImu.h.

◆ SBG_ECOM_IMU_GYRO_X_BIT

#define SBG_ECOM_IMU_GYRO_X_BIT (0x00000001u << 5)

Set to 1 if the gyroscope X passes Built In Test.

Definition at line 40 of file sbgEComBinaryLogImu.h.

◆ SBG_ECOM_IMU_GYRO_Y_BIT

#define SBG_ECOM_IMU_GYRO_Y_BIT (0x00000001u << 6)

Set to 1 if the gyroscope Y passes Built In Test.

Definition at line 41 of file sbgEComBinaryLogImu.h.

◆ SBG_ECOM_IMU_GYRO_Z_BIT

#define SBG_ECOM_IMU_GYRO_Z_BIT (0x00000001u << 7)

Set to 1 if the gyroscope Z passes Built In Test.

Definition at line 42 of file sbgEComBinaryLogImu.h.

◆ SBG_ECOM_IMU_GYROS_IN_RANGE

#define SBG_ECOM_IMU_GYROS_IN_RANGE (0x00000001u << 9)

Set to 1 if all gyroscopes are within operating range.

Definition at line 45 of file sbgEComBinaryLogImu.h.

◆ SBG_ECOM_IMU_STATUS_BIT

#define SBG_ECOM_IMU_STATUS_BIT (0x00000001u << 1)

Set to 1 if the IMU passes general Built in Tests (calibration, CPU, ...).

Definition at line 34 of file sbgEComBinaryLogImu.h.

Typedef Documentation

◆ SbgLogFastImuData

typedef struct _SbgLogFastImuData SbgLogFastImuData

Structure that stores the data for SBG_ECOM_LOG_FAST_IMU_DATA message

◆ SbgLogImuData

typedef struct _SbgLogImuData SbgLogImuData

Structure that stores data for the SBG_ECOM_LOG_IMU_DATA message.

◆ SbgLogImuShort

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.

Function Documentation

◆ sbgEComBinaryLogParseFastImuData()

SbgErrorCode sbgEComBinaryLogParseFastImuData	(	SbgStreamBuffer *	pInputStream,
		SbgLogFastImuData *	pOutputData
	)

Parse data for the SBG_ECOM_LOG_FAST_IMU_DATA message and fill the corresponding structure.

Parameters

[in]	pInputStream	Input stream buffer to read the payload from.
[out]	pOutputData	Pointer on the output structure that stores parsed data.

Returns: SBG_NO_ERROR if the payload has been parsed.

Definition at line 205 of file sbgEComBinaryLogImu.c.

◆ sbgEComBinaryLogParseImuData()

SbgErrorCode sbgEComBinaryLogParseImuData	(	SbgStreamBuffer *	pInputStream,
		SbgLogImuData *	pOutputData
	)

Parse data for the SBG_ECOM_LOG_IMU_DATA message and fill the corresponding structure.

Parameters

[in]	pInputStream	Input stream buffer to read the payload from.
[out]	pOutputData	Pointer on the output structure that stores parsed data.

Returns: SBG_NO_ERROR if the payload has been parsed.

Definition at line 57 of file sbgEComBinaryLogImu.c.

◆ sbgEComBinaryLogParseImuShort()

SbgErrorCode sbgEComBinaryLogParseImuShort	(	SbgStreamBuffer *	pInputStream,
		SbgLogImuShort *	pOutputData
	)

Parse data for the SBG_ECOM_LOG_IMU_SHORT message and fill the corresponding structure.

Parameters

[in]	pInputStream	Input stream buffer to read the payload from.
[out]	pOutputData	Pointer on the output structure that stores parsed data.

Returns: SBG_NO_ERROR if the payload has been parsed.

Definition at line 139 of file sbgEComBinaryLogImu.c.

◆ sbgEComBinaryLogWriteFastImuData()

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.

Parameters

[out]	pOutputStream	Output stream buffer to write the payload to.
[in]	pInputData	Pointer on the input structure that stores data to write.

Returns: SBG_NO_ERROR if the message has been generated in the provided buffer.

Definition at line 236 of file sbgEComBinaryLogImu.c.

◆ sbgEComBinaryLogWriteImuData()

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.

Parameters

[out]	pOutputStream	Output stream buffer to write the payload to.
[in]	pInputData	Pointer on the input structure that stores data to write.

Returns: SBG_NO_ERROR if the message has been generated in the provided buffer.

Definition at line 98 of file sbgEComBinaryLogImu.c.

◆ sbgEComBinaryLogWriteImuShort()

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.

Parameters

[out]	pOutputStream	Output stream buffer to write the payload to.
[in]	pInputData	Pointer on the input structure that stores data to write.

Returns: SBG_NO_ERROR if the message has been generated in the provided buffer.

Definition at line 172 of file sbgEComBinaryLogImu.c.

◆ sbgLogImuShortGetDeltaAngle()

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

Parameters

[in]	pImuShort	Input IMU short message instance.
[in]	idx	The component to return from 0 to 2.

Returns: The delta angle value converted in rad.s^-1.

Definition at line 13 of file sbgEComBinaryLogImu.c.

◆ sbgLogImuShortGetDeltaVelocity()

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

Parameters

[in]	pImuShort	Input IMU short message instance.
[in]	idx	The component to return from 0 to 2.

Returns: The delta velocity value converted in m.s^-2.

Definition at line 27 of file sbgEComBinaryLogImu.c.

◆ sbgLogImuShortGetTemperature()

float sbgLogImuShortGetTemperature ( const SbgLogImuShort * pImuShort )

Return from an IMU Short log, the temperature in °C

Parameters

[in] pImuShort Input IMU short message instance.

Returns: The converted temperature in °C

Definition at line 40 of file sbgEComBinaryLogImu.c.

Classes

Macros

Typedefs

Functions

Detailed Description

Copyright Notice

Macro Definition Documentation

◆ SBG_ECOM_IMU_ACCEL_X_BIT

◆ SBG_ECOM_IMU_ACCEL_Y_BIT

◆ SBG_ECOM_IMU_ACCEL_Z_BIT

◆ SBG_ECOM_IMU_ACCELS_IN_RANGE

◆ SBG_ECOM_IMU_COM_OK

◆ SBG_ECOM_IMU_GYRO_X_BIT

◆ SBG_ECOM_IMU_GYRO_Y_BIT

◆ SBG_ECOM_IMU_GYRO_Z_BIT

◆ SBG_ECOM_IMU_GYROS_IN_RANGE

◆ SBG_ECOM_IMU_STATUS_BIT

Typedef Documentation

◆ SbgLogFastImuData

◆ SbgLogImuData

◆ SbgLogImuShort

Function Documentation

◆ sbgEComBinaryLogParseFastImuData()

◆ sbgEComBinaryLogParseImuData()

◆ sbgEComBinaryLogParseImuShort()

◆ sbgEComBinaryLogWriteFastImuData()

◆ sbgEComBinaryLogWriteImuData()

◆ sbgEComBinaryLogWriteImuShort()

◆ sbgLogImuShortGetDeltaAngle()

◆ sbgLogImuShortGetDeltaVelocity()

◆ sbgLogImuShortGetTemperature()