Diff: UM6LT.cpp

Revision:

0:5651731cfb32

diff -r 000000000000 -r 5651731cfb32 UM6LT.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UM6LT.cpp	Sun Sep 30 17:59:52 2012 +0000
@@ -0,0 +1,997 @@
+#include "UM6LT.h"
+#include "mbed.h"
+
+UM6LT::UM6LT(PinName tx, PinName rx):serial_(tx,rx) {serial_.baud(115200);stdDelayMs = 2;}
+
+//----------------------------------------------------------------------------------------------
+//-----------------------------------   Private Functions   ------------------------------------
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::verifyChecksum(int byte1, int byte2){
+
+    int checksumDATA = 0;
+    div_t div_res1;
+    div_t div_res2;
+    int quot1 = byte1;
+    int quot2 = byte2;
+    
+    int coef[16] = {1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 32768};
+    
+    for(int i=0; i<8; ++i){
+        div_res1 = div(quot1,2);
+        div_res2 = div(quot2,2);
+        checksumDATA = checksumDATA + div_res1.rem * coef[i+8] + div_res2.rem * coef[i];
+        quot1 = div_res1.quot;
+        quot2 = div_res2.quot;
+    }
+    
+    return checksumDATA;
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::createChecksum(int checksum_dec, int& byte1, int& byte2){
+
+    div_t div_res;
+    int quot = checksum_dec;    
+    int coef[24] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 4, 8, 16, 32, 64, 128, 0, 0, 0, 0, 0, 0, 0, 0};
+    
+    byte1 = 0;
+    byte2 = 0;
+    
+    for(int i=0; i<16; ++i){
+        div_res = div(quot,2);
+        byte1 = byte1 + div_res.rem * coef[i];
+        byte2 = byte2 + div_res.rem * coef[i + 8];
+        quot = div_res.quot;
+    }
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::createByte(int* bitsList, int& byte) {
+
+    int coef[] = {1, 2, 4, 8, 16, 32, 64, 128};
+
+    for(int i=0; i<8; i++){
+        byte = byte + bitsList[i]*coef[i];
+    }
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::decomposeByte(int* bitsList, int byte){
+
+    div_t div_res;
+    int quot = byte;
+    
+    for(int i=0; i<8; i++){
+        div_res = div(quot, 2);
+        bitsList[i] = div_res.rem;
+        quot = div_res.quot;
+    }
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::twosComplement(int byte1, int byte2){
+
+    int sumData = 0;
+    div_t div_res1;
+    div_t div_res2;
+    int quot1 = byte1;
+    int quot2 = byte2;
+    
+    int coef[16] = {1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 32768};
+    
+    for(int i=0; i<7; ++i){
+        div_res1 = div(quot1,2);
+        div_res2 = div(quot2,2);
+        sumData = sumData + div_res1.rem * coef[i+8] + div_res2.rem * coef[i];
+        quot1 = div_res1.quot;
+        quot2 = div_res2.quot;
+    }
+    
+    div_res1 = div(quot1,2);
+    div_res2 = div(quot2,2);
+    
+    if(div_res1.rem == 1){
+        sumData = sumData + div_res2.rem * coef[7] - coef[15];
+    }
+    else{        
+        sumData = sumData + div_res2.rem * coef[7];
+    }
+    
+    return sumData;
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::oneWordWrite(int hasData, int isBatch, int BL, int address, int* data) {
+
+    int N, PT, checksumDATA;
+    
+
+    if(hasData){        
+        N = BL*4; //Number of data bytes
+    }
+    else{
+        N = 0;
+    }
+    
+    int word [N+7];      
+    int coef [] = {4, 8, 16, 32};
+    div_t div_res;
+    int quot = BL;
+    
+    PT = 128*hasData + 64*isBatch;
+    for(int i=0; i<4; ++i){
+        div_res = div(quot,2);
+        PT = PT + div_res.rem * coef[i];
+        quot = div_res.quot;
+    }
+    
+    checksumDATA = 115 + 110 + 112 + PT + address;
+    
+    if(hasData){
+        for(int i=0; i<N; i++){
+            checksumDATA = checksumDATA + data[i];
+            word[i+5] = data[i];
+        }        
+    }    
+    
+    int byte1 = 0;
+    int byte2 = 0;
+    createChecksum(checksumDATA, byte1, byte2);
+    
+    word[0] = 115; //'s'
+    word[1] = 110; //'n'
+    word[2] = 112; //'p'
+    word[3] = PT;
+    word[4] = address;
+    word[N+5] = byte1;
+    word[N+6] = byte2;    
+    
+    if(serial_.writeable()) {
+        for(int i=0; i<N+7; i++){
+            serial_.putc(word[i]);
+        }
+    }
+    else{
+        printf("IMU not writeable.\r\n");
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::oneWordRead(int& PT, int& N, int& address, int* data){
+
+    int sumData = 0;
+    int PT_byte [8];
+    char snp [] = {'0', '0', '0'};
+
+    if(serial_.readable()){
+        
+        while((snp[0] != 's' || snp[1] != 'n' || snp[2] != 'p') && serial_.readable()){
+            snp[0] = snp[1];
+            snp[1] = snp[2];
+            snp[2] = serial_.getc();
+        }
+        
+        if(snp[0] == 's' && snp[1]=='n' && snp[2] == 'p'){            
+            PT = serial_.getc();
+            address = serial_.getc();
+            
+            decomposeByte(PT_byte, PT);
+            
+            int hasData = PT_byte[7];
+            int CF = PT_byte[0];
+            
+            if(CF){
+                // find something to do if command failed
+                printf("Last command sent to UM6 failed.\r\n");
+            }
+            else if(hasData){            
+                int BL = PT_byte[5]*8 + PT_byte[4]*4 + PT_byte[3]*2 + PT_byte[2];
+                N = 4*BL;       
+                for(int i=0; i<N; i++){
+                    data[i] = serial_.getc();
+                    sumData = sumData + data[i];
+                }            
+            }            
+            else{
+                N = 0;
+            }
+            
+            int byte1 = serial_.getc();
+            int byte2 = serial_.getc();
+       
+            int checksumUM6LT = verifyChecksum(byte1, byte2);
+            int checksumDATA = 115 + 110 + 112 + PT + address + sumData;
+            
+            if(checksumDATA != checksumUM6LT){
+                // Find something to do if checksum not good
+                printf("Calculated checksum does not match the one from the UM6.\r\n");
+                data[0] = -1;
+            }            
+        }
+        else{
+            printf("Could not read an expected word from UM6. Its buffer is now empty\r\n");
+        }               
+    }
+    else{
+        // Find something to do if IMU not readable
+        printf("Minor synchronization issue with UM6.\r\n");
+        data[0] = -1;
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::requestData(int address, int expectedBL){
+
+    int hasData = 0;
+    int isBatch = 1;
+    int data[1];
+    
+    if(serial_.readable()){
+        while(serial_.readable()){
+            data[0] = serial_.getc();
+        }
+    }
+    if(serial_.writeable()){
+        oneWordWrite(hasData, isBatch, expectedBL, address, data);
+    }
+    else{
+        printf("IMU not writeable. Data request not sent.\r\n");
+    }
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::sendOneCommand(int address){
+
+    int PT = -1;
+    int N = -1;
+    int addressRead = -1;
+    int data [1] = {0};
+    
+    int okToMoveOn = 0;
+    int count = 0;
+    
+    while(!okToMoveOn && count<5){
+        requestData(address, 0);
+        wait_ms(stdDelayMs);
+        oneWordRead(PT, N, addressRead, data);
+        okToMoveOn = noCommError(addressRead, address, PT);
+        count++;
+    }
+    
+    if(okToMoveOn){
+        switch(address){
+            case UM6_FLASH_COMMIT:
+                printf("All current configurations were written to flash.\r\n");
+                break;
+            case UM6_RESET_EKF:
+                printf("EKF algorithm successfully reset.\r\n");
+                break;
+            case UM6_SET_ACCEL_REF:
+                printf("Acceleration reference vector updated.\r\n");
+                break;
+            case UM6_SET_MAG_REF:
+                printf("Magnetic reference vector updated.\r\n");
+                break;
+            case UM6_RESET_TO_FACTORY:
+                printf("UM6 reset to factory settings.\r\n");
+                break;
+            default:
+                printf("This command is not coded. Can't say what happened. address: 0x%x\r\n", address);
+                break;
+        }
+        return 1;
+    }
+    else{
+        WhatCommError(addressRead, address, PT);
+        switch(address){
+            case UM6_FLASH_COMMIT:
+                printf("Current configurations could not be written to flash.\r\n");
+                break;
+            case UM6_RESET_EKF:
+                printf("EKF algorithm could not be reset.\r\n");
+                break;
+            case UM6_SET_ACCEL_REF:
+                printf("Acceleration reference vector failed to update.\r\n");
+                break;
+            case UM6_SET_MAG_REF:
+                printf("Magnetic reference vector failed to update.\r\n");
+                break;
+            case UM6_RESET_TO_FACTORY:
+                printf("UM6 could not be reset to factory settings.\r\n");
+                break;
+            default:
+                printf("This command is not coded. Can't say what happened. address: 0x%x\r\n", address);
+                break;
+        }
+        return 0;
+    }  
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::getTwoBatches(int address, int* dataToPost){
+
+    dataToPost[0] = 0;
+    dataToPost[1] = 0;
+    dataToPost[2] = 0;
+    dataToPost[3] = 0;
+    
+    int PT = -1;
+    int N = -1;
+    int addressRead = -1;
+    int dataToRead [8] = {0,0,0,0,0,0,0,0};
+    
+    int okToMoveOn = 0;
+    int count = 0;
+    
+    while(!okToMoveOn && count<5){
+        requestData(address, 2);
+        wait_ms(stdDelayMs);
+        oneWordRead(PT, N, addressRead, dataToRead);
+        okToMoveOn = noCommError(addressRead, address, PT);
+        count++;
+    }
+    
+    if(okToMoveOn){
+        switch(address){
+            case UM6_EULER_PHI_THETA:
+                dataToPost[0] = (int)(twosComplement(dataToRead[0], dataToRead[1])*UM6_ANGLE_FACTOR);
+                dataToPost[1] = (int)(twosComplement(dataToRead[2], dataToRead[3])*UM6_ANGLE_FACTOR);
+                dataToPost[2] = (int)(twosComplement(dataToRead[4], dataToRead[5])*UM6_ANGLE_FACTOR);
+                break;
+            case UM6_ACCEL_PROC_XY:
+                dataToPost[0] = (int)(twosComplement(dataToRead[0], dataToRead[1])*UM6_ACCEL_FACTOR*1000);
+                dataToPost[1] = (int)(twosComplement(dataToRead[2], dataToRead[3])*UM6_ACCEL_FACTOR*1000);
+                dataToPost[2] = (int)(twosComplement(dataToRead[4], dataToRead[5])*UM6_ACCEL_FACTOR*1000);
+                break;
+            case UM6_MAG_PROC_XY:
+                dataToPost[0] = (int)(twosComplement(dataToRead[0], dataToRead[1])*UM6_MAG_FACTOR*1000);
+                dataToPost[1] = (int)(twosComplement(dataToRead[2], dataToRead[3])*UM6_MAG_FACTOR*1000);
+                dataToPost[2] = (int)(twosComplement(dataToRead[4], dataToRead[5])*UM6_MAG_FACTOR*1000);
+                break;
+            case UM6_GYRO_PROC_XY:
+                dataToPost[0] = (int)(twosComplement(dataToRead[0], dataToRead[1])*UM6_ANGLE_RATE_FACTOR);
+                dataToPost[1] = (int)(twosComplement(dataToRead[2], dataToRead[3])*UM6_ANGLE_RATE_FACTOR);
+                dataToPost[2] = (int)(twosComplement(dataToRead[4], dataToRead[5])*UM6_ANGLE_RATE_FACTOR);
+                break;
+            case UM6_QUAT_AB:
+                dataToPost[0] = (int)(twosComplement(dataToRead[0], dataToRead[1])*UM6_QUATERNION_FACTOR*1000);
+                dataToPost[1] = (int)(twosComplement(dataToRead[2], dataToRead[3])*UM6_QUATERNION_FACTOR*1000);
+                dataToPost[2] = (int)(twosComplement(dataToRead[4], dataToRead[5])*UM6_QUATERNION_FACTOR*1000);
+                dataToPost[3] = (int)(twosComplement(dataToRead[6], dataToRead[7])*UM6_QUATERNION_FACTOR*1000);
+                break;
+            default:
+                dataToPost[0] = -1;
+                dataToPost[1] = -1;
+                dataToPost[2] = -1;
+                dataToPost[3] = -1;
+                printf("Data acquisition not programmed for this address: %d\r\n", address);
+                break;
+        }
+        return 1;
+    }
+    else{
+        WhatCommError(address, UM6_ACCEL_PROC_XY, PT);
+        switch(address){
+            case UM6_EULER_PHI_THETA:
+                printf("Could not acquire the values of the Euler angles.\r\n");
+                break;
+            case UM6_ACCEL_PROC_XY:
+                printf("Could not acquire the components of the acceleration vector.\r\n");
+                break;
+            case UM6_MAG_PROC_XY:
+                printf("Could not acquire the components of the magnetic vector.\r\n");
+                break;
+            case UM6_GYRO_PROC_XY:
+                printf("Could not acquire the values of angle rates.\r\n");
+                break;
+            case UM6_QUAT_AB:
+                printf("Could not acquire the components of the quaternion.\r\n");
+                break;
+            default:
+                printf("Data acquisition not programmed for this address: %d\r\n", address);
+                break;
+        }
+        return 0;
+    }   
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::noCommError(int addressRead, int addressExpected, int PT){
+
+    if(addressRead == 0xFD){
+        return 0;
+    }
+    else if(addressRead == 0xFE){
+        return 0;
+    }
+    else if(addressRead == 0xFF){
+        return 0;
+    }
+    else if(addressRead == addressExpected){
+        return 1;
+    }
+    else{
+        return 0;
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::WhatCommError(int addressRead, int addressExpected, int PT){
+
+    if(addressRead == 0xFD){
+        printf("\r\n !!!!!! \r\nLast word sent to UM6 had a bad checksum.\r\n !!!!!! \r\n");
+    }
+    else if(addressRead == 0xFE){
+        printf("\r\n !!!!!! \r\nLast word was sent to UM6 at an unknown address.\r\n !!!!!! \r\n");
+        printf("address read: 0x%x\r\naddress expected: 0x%x\r\n", addressRead, addressExpected);
+    }
+    else if(addressRead == 0xFF){
+        printf("\r\n !!!!!! \r\nLast word sent to UM6 had a bad batch size.\r\n !!!!!! \r\n");
+        printf("PT: %d\r\n", PT);
+    }
+    else if(addressRead == addressExpected){
+        printf("No communication error detected...\r\n");
+        printf("PT: %d\r\n", PT);
+        printf("address read: 0x%x\r\naddress expected: 0x%x\r\n", addressRead, addressExpected);
+    }
+    else{    
+        printf("\r\n !!!!!! \r\nLast word read was not the one expected.\r\n !!!!!! \r\n");
+        printf("PT: %d\r\n", PT);
+        printf("address read: 0x%x\r\naddress expected: 0x%x\r\n", addressRead, addressExpected);
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+//----------------------------------   Public Functions   --------------------------------------
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::baud(int baudrate){serial_.baud(baudrate);}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::readable(void){return serial_.readable();}
+
+//----------------------------------------------------------------------------------------------
+
+char UM6LT::getc(void){return serial_.getc();}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::putc(char byte){serial_.putc(byte);}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::setCommParams(int broadcastRate, int baudrate, int* dataToTransmit, int broadcastEnabled){
+
+ // Broadcast rate should be an integer between 20 and 300 (in Hertz)
+ // Baudrate should be either 9600, 14400, 19200, 38400, 57600 or 115200
+ // DataToTransmit defines what data the UM6LT will provide. It's a list of 0 and 1 for a total length of N=9. See UM6LT documentation
+ 
+    int data [4] = {0, 0, 0, 0};
+    int bitsList2 [8];
+    int bitsList3 [8];
+    int bitsList4 [8];
+    
+    int broadcastRateByte = ((broadcastRate - 20)*255)/280;
+    
+    int baudrateByte [3];
+    switch(baudrate){
+        case 9600:
+            baudrateByte[0] = 0;
+            baudrateByte[1] = 0;
+            baudrateByte[2] = 0;
+            break;
+        case 14400:
+            baudrateByte[0] = 1;
+            baudrateByte[1] = 0;
+            baudrateByte[2] = 0;
+            break;
+        case 19200:
+            baudrateByte[0] = 0;
+            baudrateByte[1] = 1;
+            baudrateByte[2] = 0;
+            break;
+        case 38400:
+            baudrateByte[0] = 1;
+            baudrateByte[1] = 1;
+            baudrateByte[2] = 0;
+            break;
+        case 57600:
+            baudrateByte[0] = 0;
+            baudrateByte[1] = 0;
+            baudrateByte[2] = 1;
+            break;
+        case 115200:
+            baudrateByte[0] = 1;
+            baudrateByte[1] = 0;
+            baudrateByte[2] = 1;
+            break;
+        default:
+            baudrateByte[0] = 1;
+            baudrateByte[1] = 0;
+            baudrateByte[2] = 1;
+            printf("Baudrate not listed for UM6LT. Default = 115200.\r\n");
+            break;
+        }
+    
+    bitsList2[0] = baudrateByte[0];
+    bitsList2[1] = baudrateByte[1];
+    bitsList2[2] = baudrateByte[2];
+    for(int i=0; i<5; i++){
+        bitsList2[i+3] = 0;
+        bitsList3[i] = 0;
+    }
+    
+    for(int i=0; i<3; i++){
+        bitsList3[i+5] = dataToTransmit[i];
+    }
+    
+    for(int i=0; i<6; i++){
+        bitsList4[i] = dataToTransmit[i+3];
+    }
+    
+    bitsList4[6] = broadcastEnabled;
+    bitsList4[7] = 0;
+    
+    data[3] = broadcastRateByte;
+    createByte(bitsList2, data[2]);
+    createByte(bitsList3, data[1]);
+    createByte(bitsList4, data[0]);
+        
+    int hasData = 1;
+    int isBatch = 0;
+    int address = UM6_COMMUNICATION;
+    int BL = 1;
+    
+    int PTread = -1;
+    int Nread = -1;
+    int addressRead = -1;
+    int dataRead[1];
+    
+    while(addressRead != address){
+        oneWordWrite(hasData, isBatch, BL, address, data);
+        wait_ms(stdDelayMs);
+        oneWordRead(PTread, Nread, addressRead, dataRead);
+    }
+    
+    if(PTread%2 == 1){
+        printf("Communication configuration failed\r\n");
+    }
+    else{
+        printf("UM6 communication configuration completed\r\n");
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+void UM6LT::setConfigParams(int wantPPS, int wantQuatUpdate, int wantCal, int wantAccelUpdate, int wantMagUpdate){
+    
+    int data [4] = {0, 0, 0, 0};
+    int bitsList [8] = {0, 0, 0, 0, 0, 0, 0, 0};
+    
+    bitsList[3] = wantPPS;
+    bitsList[4] = wantQuatUpdate;
+    bitsList[5] = wantCal;
+    bitsList[6] = wantAccelUpdate;
+    bitsList[7] = wantMagUpdate;
+    
+    createByte(bitsList, data[0]);
+    
+    int hasData = 1;
+    int isBatch = 0;
+    int address = UM6_MISC_CONFIG;
+    int BL = 1;
+    
+    int PTread = -1;
+    int Nread = -1;
+    int addressRead = -1;
+    int dataRead[1];
+        
+    while(addressRead != address){
+        oneWordWrite(hasData, isBatch, BL, address, data);
+        wait_ms(stdDelayMs);
+        oneWordRead(PTread, Nread, addressRead, dataRead);
+    }
+    
+    if(PTread%2 == 1){
+        printf("Miscellaneous configuration failed\r\n");
+    }
+    else{
+        printf("UM6 miscellaneous configuration completed\r\n");
+    }
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::getStatus(void){
+
+    int PT, N, address;
+    PT = -1;
+    N = -1;
+    address = -1;
+    
+    int data[4] = {1, 1, 1, 1};
+    int bitsList1[8];
+    int bitsList2[8];
+    int bitsList3[8];
+    int bitsList4[8];
+    
+    int okToMoveOn = 0;
+    int count = 0;
+    
+    while(!okToMoveOn && count<5){
+        requestData(UM6_STATUS, 1);
+        wait_ms(stdDelayMs);
+        oneWordRead(PT, N, address, data);
+        okToMoveOn = noCommError(address, UM6_STATUS, PT);
+        count++;
+    }
+    
+    if(okToMoveOn){
+        decomposeByte(bitsList1, data[3]);
+        decomposeByte(bitsList2, data[2]);
+        decomposeByte(bitsList3, data[1]);
+        decomposeByte(bitsList4, data[0]);
+                
+        if(bitsList1[0] == 1){
+            printf("Self-test completed\r\n");
+            return 0;
+        }
+        else if(bitsList2[5] == 1){
+            printf("Mag data timed out\r\n");
+            return 0;
+        }
+        else if(bitsList2[6] == 1){
+            printf("Accel data timed out\r\n");
+            return 0;
+        }
+        else if(bitsList2[7] == 1){
+            printf("Gyro data timed out\r\n");
+            return 0;
+        }
+        else if(bitsList3[0] == 1){
+            printf("EKF rebooted b/c of state estimate divergence\r\n");
+            return 0;
+        }
+        else if(bitsList3[1] == 1){
+            printf("Bus error with Mag sensor\r\n");
+            return 0;
+        }
+        else if(bitsList3[2] == 1){
+            printf("Bus error with Accel sensor\r\n");
+            return 0;
+        }
+        else if(bitsList3[3] == 1){
+            printf("Bus error with Gyro sensor\r\n");
+            return 0;
+        }
+        else if(bitsList3[4] == 1){
+            printf("Self-test operation failed on Mag z-axis\r\n");
+            return 0;
+        }
+        else if(bitsList3[5] == 1){
+            printf("Self-test operation failed on Mag y-axis\r\n");
+            return 0;
+        }
+        else if(bitsList3[6] == 1){
+            printf("Self-test operation failed on Mag x-axis\r\n");
+            return 0;
+        }
+        else if(bitsList3[7] == 1){
+            printf("Self-test operation failed on Accel z-axis\r\n");
+            return 0;
+        }
+        else if(bitsList4[0] == 1){
+            printf("Self-test operation failed on Accel y-axis\r\n");
+            return 0;
+        }
+        else if(bitsList4[1] == 1){
+            printf("Self-test operation failed on Accel x-axis\r\n");
+            return 0;
+        }
+        else if(bitsList4[2] == 1){
+            printf("Self-test operation failed on Gyro z-axis\r\n");
+            return 0;
+        }
+        else if(bitsList4[3] == 1){
+            printf("Self-test operation failed on Gyro y-axis\r\n");
+            return 0;
+        }
+        else if(bitsList4[4] == 1){
+            printf("Self-test operation failed on Gyro x-axis\r\n");
+            return 0;
+        }
+        else if(bitsList4[5] == 1){
+            printf("Gyro start-up initialization failed -> Gyro is dead\r\n");
+            return 0;
+        }
+        else if(bitsList4[6] == 1){
+            printf("Accel start-up initialization failed -> Accel is dead\r\n");
+            return 0;
+        }
+        else if(bitsList4[7] == 1){
+            printf("Mag start-up initialization failed -> Mag is dead\r\n");
+            return 0;
+        }
+        else{
+            printf("No problem to report.\r\n");
+            return 1;
+        }
+    }
+    else{
+        WhatCommError(address, UM6_STATUS, PT);
+        return 0;
+    }
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::zeroGyros(int& gyroBiasX, int& gyroBiasY, int& gyroBiasZ){
+
+    int PT = -1;
+    int N = -1;
+    int address = -1;
+    int data [8] = {0, 0, 0, 0, 0, 0, 0, 0};
+    
+    int okToMoveOn = 0;
+    int count = 0;
+    
+    printf("Do not move the imu: gyro zeroing in progress.\r\n");
+    
+    while(!okToMoveOn && count<5){
+        requestData(UM6_ZERO_GYROS, 0);
+        wait_ms(stdDelayMs);
+        oneWordRead(PT, N, address, data);
+        okToMoveOn = noCommError(address, UM6_ZERO_GYROS, PT);
+        count++;
+    }
+    if(okToMoveOn){
+        okToMoveOn = 0;
+        count = 0;
+        PT = -1;
+        N = -1;
+        address = -1;
+        wait(1);
+        while(!okToMoveOn && count<5){
+            wait_ms(stdDelayMs);
+            oneWordRead(PT, N, address, data);
+            okToMoveOn = noCommError(address, UM6_GYRO_BIAS_XY, PT);
+            count++;
+        }
+        
+        if(okToMoveOn){
+            gyroBiasX = twosComplement(data[0], data[1]);
+            gyroBiasY = twosComplement(data[2], data[3]);
+            gyroBiasZ = twosComplement(data[4], data[5]);
+            printf("Gyro zeroing completed.\r\n");
+            return 1;
+        }
+        else{
+            WhatCommError(address, UM6_GYRO_BIAS_XY, PT);
+            printf("Could not acquire the values of gyro biases.\r\n");
+            return 0;
+        }
+    }
+    else{
+        WhatCommError(address, UM6_ZERO_GYROS, PT);
+        printf("Could not trigger gyro zeroing script.\r\n");
+        return 0;
+    }
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::autoSetAccelRef(void){
+
+    int address = UM6_SET_ACCEL_REF;
+    
+    if(sendOneCommand(address)){
+        return 1;
+    }
+    else{
+        return 0;
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::autoSetMagRef(void){
+
+    int address = UM6_SET_MAG_REF;
+    
+    if(sendOneCommand(address)){
+        return 1;
+    }
+    else{
+        return 0;
+    }
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::resetEKF(void){
+
+    int address = UM6_RESET_EKF;
+    
+    if(sendOneCommand(address)){
+        return 1;
+    }
+    else{
+        return 0;
+    }
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::writeToFlash(void){
+
+    int address = UM6_FLASH_COMMIT;
+    
+    if(sendOneCommand(address)){
+        return 1;
+    }
+    else{
+        return 0;
+    }
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::resetToFactory(void){
+
+    int address = UM6_RESET_TO_FACTORY;
+    
+    if(sendOneCommand(address)){
+        return 1;
+    }
+    else{
+        return 0;
+    }
+
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::getAngles(int& roll, int& pitch, int& yaw){
+
+    roll = 0;
+    pitch= 0;
+    yaw= 0;
+    int data[4] = {0, 0, 0, 0};
+    int address = UM6_EULER_PHI_THETA;
+    
+    if(getTwoBatches(address, data)){
+        roll = data[0];
+        pitch = data[1];
+        yaw = data[2];
+        return 1;
+    }
+    else{
+        return 0;
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+
+int UM6LT::getAccel(int& accelX, int& accelY, int& accelZ){
+
+    accelX = 0;
+    accelY = 0;
+    accelZ = 0;
+    int data[4] = {0, 0, 0, 0};
+    int address = UM6_ACCEL_PROC_XY;
+    
+    if(getTwoBatches(address, data)){
+        accelX = data[0];
+        accelY = data[1];
+        accelZ = data[2];
+        return 1;
+    }
+    else{
+        return 0;
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+
+int UM6LT::getMag(int& magX, int& magY, int& magZ){
+
+    magX = 0;
+    magY = 0;
+    magZ = 0;
+    int data[4] = {0, 0, 0, 0};
+    int address = UM6_MAG_PROC_XY;
+    
+    if(getTwoBatches(address, data)){
+        magX = data[0];
+        magY = data[1];
+        magZ = data[2];
+        return 1;
+    }
+    else{
+        return 0;
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+
+int UM6LT::getAngleRates(int& rollRate, int& pitchRate, int& yawRate){
+
+    rollRate = 0;
+    pitchRate = 0;
+    yawRate = 0;
+    int data[4] = {0, 0, 0, 0};
+    int address = UM6_GYRO_PROC_XY;
+    
+    if(getTwoBatches(address, data)){
+        rollRate = data[0];
+        pitchRate = data[1];
+        yawRate = data[2];
+        return 1;
+    }
+    else{
+        return 0;
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------
+
+int UM6LT::getQuaternion(int& a, int& b, int& c, int& d){
+
+    a = 0;
+    b = 0;
+    c = 0;
+    d = 0;
+    int data[4] = {0, 0, 0, 0};
+    int address = UM6_QUAT_AB;
+    
+    if(getTwoBatches(address, data)){
+        a = data[0];
+        b = data[1];
+        c = data[2];
+        d = data[3];
+        return 1;
+    }
+    else{
+        return 0;
+    }
+    
+}
+
+//----------------------------------------------------------------------------------------------