sensors.h File Reference

TV Managed sensor header. More...

#include <stdint.h>
#include "common/ublox/nav_pvt.h"
#include "common/ublox/nav_relposned.h"

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Classes
struct	imu_data_t

Functions
void	gps_periodic (void)
void	initialize_calibration (void)
	Initialize the IMU decoupling calibration data structures and state.
void	IZZE_angular_rate_CALLBACK (void)
	Finalize the IMU decoupling calibration by deriving the rotation matrix from the accumulated accelerometer data.
void	IZZE_acceleration_CALLBACK (void)
	Callback function for handling IZZE acceleration data.

Variables
static constexpr size_t	ROVER_TX_SIZE = NAV_PVT_TOTAL_LENGTH + NAV_RELPOSNED_TOTAL_LENGTH
volatile uint8_t	rover_rx_buffer [ROVER_TX_SIZE]
NAV_PVT_data_t	nav_pvt
NAV_RELPOSNED_data_t	nav_relposned
imu_data_t	imu_data
static constexpr uint32_t	GPS_THREAD_PERIOD_MS = 100

Detailed Description

TV Managed sensor header.

Author

Irving Wang (irvin.nosp@m.gw@p.nosp@m.urdue.nosp@m..edu)

Function Documentation

gps_periodic()

void gps_periodic

(

void

)

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initialize_calibration()

void initialize_calibration

(

void

)

Initialize the IMU decoupling calibration data structures and state.

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IZZE_acceleration_CALLBACK()

void IZZE_acceleration_CALLBACK

(

void

)

Callback function for handling IZZE acceleration data.

In calibration mode, accumulates the raw acceleration data to derive the calibration rotation. In active mode, applies the decoupling rotation to the raw acceleration data and sends it out as IMU acceleration.

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IZZE_angular_rate_CALLBACK()

void IZZE_angular_rate_CALLBACK

(

void

)

Finalize the IMU decoupling calibration by deriving the rotation matrix from the accumulated accelerometer data.

Callback function for handling IZZE angular rate data.

In active mode, applies the decoupling rotation to the raw angular rate data and sends it out as IMU angular rate.

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Variable Documentation

GPS_THREAD_PERIOD_MS

uint32_t GPS_THREAD_PERIOD_MS = 100

staticconstexpr

imu_data

imu_data_t imu_data

extern

nav_pvt

NAV_PVT_data_t nav_pvt

extern

nav_relposned

NAV_RELPOSNED_data_t nav_relposned

extern

rover_rx_buffer

volatile uint8_t rover_rx_buffer[ROVER_TX_SIZE]

extern

ROVER_TX_SIZE

size_t ROVER_TX_SIZE = NAV_PVT_TOTAL_LENGTH + NAV_RELPOSNED_TOTAL_LENGTH

staticconstexpr