lhiggs CSUM / Mbed 2 deprecated FLIGHT_CONTROL_AND_COMMUNICATIONS_SYSTEM

Capstone project for Bachelor's in Mechanical Engineering 2011

Dependencies:   FatFileSystem MAX3100 MODGPS MODSERIAL SDFileSystem mbed

UM6_config.h@0:0529d2d7762f, 2013-05-29 (annotated)

Committer:
lhiggs
Date:
Wed May 29 00:45:41 2013 +0000
Revision:
0:0529d2d7762f
Broken, after updating all the libraries. RPC has issues with new mbed libraries.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lhiggs 0:0529d2d7762f 1 /* ------------------------------------------------------------------------------
lhiggs 0:0529d2d7762f 2 File: UM6_config.h
lhiggs 0:0529d2d7762f 3 Author: CH Robotics
lhiggs 0:0529d2d7762f 4 Version: 1.0
lhiggs 0:0529d2d7762f 5
lhiggs 0:0529d2d7762f 6 Description: Preprocessor definitions and function declarations for UM6 configuration
lhiggs 0:0529d2d7762f 7 ------------------------------------------------------------------------------ */
lhiggs 0:0529d2d7762f 8 #ifndef __UM6_CONFIG_H
lhiggs 0:0529d2d7762f 9 #define __UM6_CONFIG_H
lhiggs 0:0529d2d7762f 10
lhiggs 0:0529d2d7762f 11 //#include "CHR_matrix.h"
lhiggs 0:0529d2d7762f 12 #include "UM6_usart.h"
lhiggs 0:0529d2d7762f 13
lhiggs 0:0529d2d7762f 14
lhiggs 0:0529d2d7762f 15 // CONFIG_ARRAY_SIZE and DATA_ARRAY_SIZE specify the number of 32 bit configuration and data registers used by the firmware
lhiggs 0:0529d2d7762f 16 // (Note: The term "register" is used loosely here. These "registers" are not actually registers in the same sense of a
lhiggs 0:0529d2d7762f 17 // microcontroller register. They are simply index locations into arrays stored in global memory. Data and configuration
lhiggs 0:0529d2d7762f 18 // parameters are stored in arrays because it allows a common communication protocol to be used to access all data and
lhiggs 0:0529d2d7762f 19 // configuration. The software communicating with the sensor needs only specify the register address, and the communication
lhiggs 0:0529d2d7762f 20 // software running on the sensor knows exactly where to find it - it needn't know what the data is. The software communicatin
lhiggs 0:0529d2d7762f 21 // with the sensor, on the other hand, needs to know what it is asking for (naturally...)
lhiggs 0:0529d2d7762f 22 // This setup makes it easy to make more data immediately available when needed - simply increase the array size, add code in
lhiggs 0:0529d2d7762f 23 // the firmware that writes data to the new array location, and then make updates to the firmware definition on the PC side.
lhiggs 0:0529d2d7762f 24 #define CONFIG_ARRAY_SIZE 44
lhiggs 0:0529d2d7762f 25 #define DATA_ARRAY_SIZE 33
lhiggs 0:0529d2d7762f 26 #define COMMAND_COUNT 9
lhiggs 0:0529d2d7762f 27
lhiggs 0:0529d2d7762f 28 //
lhiggs 0:0529d2d7762f 29 #define CONFIG_REG_START_ADDRESS 0
lhiggs 0:0529d2d7762f 30 #define DATA_REG_START_ADDRESS 85
lhiggs 0:0529d2d7762f 31 #define COMMAND_START_ADDRESS 170
lhiggs 0:0529d2d7762f 32
lhiggs 0:0529d2d7762f 33 // These preprocessor definitions make it easier to access specific configuration parameters in code
lhiggs 0:0529d2d7762f 34 // They specify array locations associated with each register name. Note that in the comments below, many of the values are
lhiggs 0:0529d2d7762f 35 // said to be 32-bit IEEE floating point. Obviously this isn't directly the case, since the arrays are actually 32-bit unsigned
lhiggs 0:0529d2d7762f 36 // integer arrays. Bit for bit, the data does correspond to the correct floating point value. Since you can't cast ints as floats,
lhiggs 0:0529d2d7762f 37 // special conversion has to happen to copy the float data to and from the array.
lhiggs 0:0529d2d7762f 38 // Starting with configuration register locations...
lhiggs 0:0529d2d7762f 39 #define UM6_COMMUNICATION CONFIG_REG_START_ADDRESS // Stores settings in individual bits
lhiggs 0:0529d2d7762f 40 #define UM6_MISC_CONFIG (CONFIG_REG_START_ADDRESS + 1) // Stores settings in individual bits
lhiggs 0:0529d2d7762f 41 #define UM6_MAG_REF_X (CONFIG_REG_START_ADDRESS + 2) // Mag reference values are stored as 32-bit IEEE floating point values (these reflect data AFTER scale factors and compensation are applied)
lhiggs 0:0529d2d7762f 42 #define UM6_MAG_REF_Y (CONFIG_REG_START_ADDRESS + 3)
lhiggs 0:0529d2d7762f 43 #define UM6_MAG_REF_Z (CONFIG_REG_START_ADDRESS + 4)
lhiggs 0:0529d2d7762f 44 #define UM6_ACCEL_REF_X (CONFIG_REG_START_ADDRESS + 5) // Accel reference values are stored as 32-bit IEEE floating point values (these reflect data AFTER scale factors and compensation are applied)
lhiggs 0:0529d2d7762f 45 #define UM6_ACCEL_REF_Y (CONFIG_REG_START_ADDRESS + 6)
lhiggs 0:0529d2d7762f 46 #define UM6_ACCEL_REF_Z (CONFIG_REG_START_ADDRESS + 7)
lhiggs 0:0529d2d7762f 47 #define UM6_EKF_MAG_VARIANCE (CONFIG_REG_START_ADDRESS + 8) // Variances are stored as 32-bit IEEE floating point values.
lhiggs 0:0529d2d7762f 48 #define UM6_EKF_ACCEL_VARIANCE (CONFIG_REG_START_ADDRESS + 9)
lhiggs 0:0529d2d7762f 49 #define UM6_EKF_PROCESS_VARIANCE (CONFIG_REG_START_ADDRESS + 10)
lhiggs 0:0529d2d7762f 50 #define UM6_GYRO_BIAS_XY (CONFIG_REG_START_ADDRESS + 11) // Gyro biases are stored as 16-bit signed integers. Bias correction is applied BEFORE scale factors are applied
lhiggs 0:0529d2d7762f 51 #define UM6_GYRO_BIAS_Z (CONFIG_REG_START_ADDRESS + 12)
lhiggs 0:0529d2d7762f 52 #define UM6_ACCEL_BIAS_XY (CONFIG_REG_START_ADDRESS + 13) // Accel biases are stored as 16-bit signed integers. Bias correction is applied BEFORE scale factors are applied
lhiggs 0:0529d2d7762f 53 #define UM6_ACCEL_BIAS_Z (CONFIG_REG_START_ADDRESS + 14)
lhiggs 0:0529d2d7762f 54 #define UM6_MAG_BIAS_XY (CONFIG_REG_START_ADDRESS + 15) // Mag biases are stored as 16-bit signed integers. Bias correction is applied BEFORE magnetometer adjustment
lhiggs 0:0529d2d7762f 55 #define UM6_MAG_BIAS_Z (CONFIG_REG_START_ADDRESS + 16)
lhiggs 0:0529d2d7762f 56 #define UM6_ACCEL_CAL_00 (CONFIG_REG_START_ADDRESS + 17) // The accelerometer alignment matrix is a 3x3 matrix with 32-bit IEEE floating point entries
lhiggs 0:0529d2d7762f 57 #define UM6_ACCEL_CAL_01 (CONFIG_REG_START_ADDRESS + 18)
lhiggs 0:0529d2d7762f 58 #define UM6_ACCEL_CAL_02 (CONFIG_REG_START_ADDRESS + 19)
lhiggs 0:0529d2d7762f 59 #define UM6_ACCEL_CAL_10 (CONFIG_REG_START_ADDRESS + 20)
lhiggs 0:0529d2d7762f 60 #define UM6_ACCEL_CAL_11 (CONFIG_REG_START_ADDRESS + 21)
lhiggs 0:0529d2d7762f 61 #define UM6_ACCEL_CAL_12 (CONFIG_REG_START_ADDRESS + 22)
lhiggs 0:0529d2d7762f 62 #define UM6_ACCEL_CAL_20 (CONFIG_REG_START_ADDRESS + 23)
lhiggs 0:0529d2d7762f 63 #define UM6_ACCEL_CAL_21 (CONFIG_REG_START_ADDRESS + 24)
lhiggs 0:0529d2d7762f 64 #define UM6_ACCEL_CAL_22 (CONFIG_REG_START_ADDRESS + 25)
lhiggs 0:0529d2d7762f 65 #define UM6_GYRO_CAL_00 (CONFIG_REG_START_ADDRESS + 26) // The gyro alignment matrix is a 3x3 matrix with 32-bit IEEE floating point entries
lhiggs 0:0529d2d7762f 66 #define UM6_GYRO_CAL_01 (CONFIG_REG_START_ADDRESS + 27)
lhiggs 0:0529d2d7762f 67 #define UM6_GYRO_CAL_02 (CONFIG_REG_START_ADDRESS + 28)
lhiggs 0:0529d2d7762f 68 #define UM6_GYRO_CAL_10 (CONFIG_REG_START_ADDRESS + 29)
lhiggs 0:0529d2d7762f 69 #define UM6_GYRO_CAL_11 (CONFIG_REG_START_ADDRESS + 30)
lhiggs 0:0529d2d7762f 70 #define UM6_GYRO_CAL_12 (CONFIG_REG_START_ADDRESS + 31)
lhiggs 0:0529d2d7762f 71 #define UM6_GYRO_CAL_20 (CONFIG_REG_START_ADDRESS + 32)
lhiggs 0:0529d2d7762f 72 #define UM6_GYRO_CAL_21 (CONFIG_REG_START_ADDRESS + 33)
lhiggs 0:0529d2d7762f 73 #define UM6_GYRO_CAL_22 (CONFIG_REG_START_ADDRESS + 34)
lhiggs 0:0529d2d7762f 74 #define UM6_MAG_CAL_00 (CONFIG_REG_START_ADDRESS + 35) // The magnetometer calibration matrix is a 3x3 matrix with 32-bit IEEE floating point entries
lhiggs 0:0529d2d7762f 75 #define UM6_MAG_CAL_01 (CONFIG_REG_START_ADDRESS + 36)
lhiggs 0:0529d2d7762f 76 #define UM6_MAG_CAL_02 (CONFIG_REG_START_ADDRESS + 37)
lhiggs 0:0529d2d7762f 77 #define UM6_MAG_CAL_10 (CONFIG_REG_START_ADDRESS + 38)
lhiggs 0:0529d2d7762f 78 #define UM6_MAG_CAL_11 (CONFIG_REG_START_ADDRESS + 39)
lhiggs 0:0529d2d7762f 79 #define UM6_MAG_CAL_12 (CONFIG_REG_START_ADDRESS + 40)
lhiggs 0:0529d2d7762f 80 #define UM6_MAG_CAL_20 (CONFIG_REG_START_ADDRESS + 41)
lhiggs 0:0529d2d7762f 81 #define UM6_MAG_CAL_21 (CONFIG_REG_START_ADDRESS + 42)
lhiggs 0:0529d2d7762f 82 #define UM6_MAG_CAL_22 (CONFIG_REG_START_ADDRESS + 43)
lhiggs 0:0529d2d7762f 83
lhiggs 0:0529d2d7762f 84 // Now for data register locations.
lhiggs 0:0529d2d7762f 85 // In the communication protocol, data registers are labeled with number ranging from 128 to 255. The value of 128 will be subtracted from these numbers
lhiggs 0:0529d2d7762f 86 // to produce the actual array index labeled below
lhiggs 0:0529d2d7762f 87 #define UM6_STATUS DATA_REG_START_ADDRESS // Status register defines error codes with individual bits
lhiggs 0:0529d2d7762f 88 #define UM6_GYRO_RAW_XY (DATA_REG_START_ADDRESS + 1) // Raw gyro data is stored in 16-bit signed integers
lhiggs 0:0529d2d7762f 89 #define UM6_GYRO_RAW_Z (DATA_REG_START_ADDRESS + 2)
lhiggs 0:0529d2d7762f 90 #define UM6_ACCEL_RAW_XY (DATA_REG_START_ADDRESS + 3) // Raw accel data is stored in 16-bit signed integers
lhiggs 0:0529d2d7762f 91 #define UM6_ACCEL_RAW_Z (DATA_REG_START_ADDRESS + 4)
lhiggs 0:0529d2d7762f 92 #define UM6_MAG_RAW_XY (DATA_REG_START_ADDRESS + 5) // Raw mag data is stored in 16-bit signed integers
lhiggs 0:0529d2d7762f 93 #define UM6_MAG_RAW_Z (DATA_REG_START_ADDRESS + 6)
lhiggs 0:0529d2d7762f 94 #define UM6_GYRO_PROC_XY (DATA_REG_START_ADDRESS + 7) // Processed gyro data has scale factors applied and alignment correction performed. Data is 16-bit signed integer.
lhiggs 0:0529d2d7762f 95 #define UM6_GYRO_PROC_Z (DATA_REG_START_ADDRESS + 8)
lhiggs 0:0529d2d7762f 96 #define UM6_ACCEL_PROC_XY (DATA_REG_START_ADDRESS + 9) // Processed accel data has scale factors applied and alignment correction performed. Data is 16-bit signed integer.
lhiggs 0:0529d2d7762f 97 #define UM6_ACCEL_PROC_Z (DATA_REG_START_ADDRESS + 10)
lhiggs 0:0529d2d7762f 98 #define UM6_MAG_PROC_XY (DATA_REG_START_ADDRESS + 11) // Processed mag data has scale factors applied and alignment correction performed. Data is 16-bit signed integer.
lhiggs 0:0529d2d7762f 99 #define UM6_MAG_PROC_Z (DATA_REG_START_ADDRESS + 12)
lhiggs 0:0529d2d7762f 100 #define UM6_EULER_PHI_THETA (DATA_REG_START_ADDRESS + 13) // Euler angles are 32-bit IEEE floating point
lhiggs 0:0529d2d7762f 101 #define UM6_EULER_PSI (DATA_REG_START_ADDRESS + 14)
lhiggs 0:0529d2d7762f 102 #define UM6_QUAT_AB (DATA_REG_START_ADDRESS + 15) // Quaternions are 16-bit signed integers.
lhiggs 0:0529d2d7762f 103 #define UM6_QUAT_CD (DATA_REG_START_ADDRESS + 16)
lhiggs 0:0529d2d7762f 104 #define UM6_ERROR_COV_00 (DATA_REG_START_ADDRESS + 17) // Error covariance is a 4x4 matrix of 32-bit IEEE floating point values
lhiggs 0:0529d2d7762f 105 #define UM6_ERROR_COV_01 (DATA_REG_START_ADDRESS + 18)
lhiggs 0:0529d2d7762f 106 #define UM6_ERROR_COV_02 (DATA_REG_START_ADDRESS + 19)
lhiggs 0:0529d2d7762f 107 #define UM6_ERROR_COV_03 (DATA_REG_START_ADDRESS + 20)
lhiggs 0:0529d2d7762f 108 #define UM6_ERROR_COV_10 (DATA_REG_START_ADDRESS + 21)
lhiggs 0:0529d2d7762f 109 #define UM6_ERROR_COV_11 (DATA_REG_START_ADDRESS + 22)
lhiggs 0:0529d2d7762f 110 #define UM6_ERROR_COV_12 (DATA_REG_START_ADDRESS + 23)
lhiggs 0:0529d2d7762f 111 #define UM6_ERROR_COV_13 (DATA_REG_START_ADDRESS + 24)
lhiggs 0:0529d2d7762f 112 #define UM6_ERROR_COV_20 (DATA_REG_START_ADDRESS + 25)
lhiggs 0:0529d2d7762f 113 #define UM6_ERROR_COV_21 (DATA_REG_START_ADDRESS + 26)
lhiggs 0:0529d2d7762f 114 #define UM6_ERROR_COV_22 (DATA_REG_START_ADDRESS + 27)
lhiggs 0:0529d2d7762f 115 #define UM6_ERROR_COV_23 (DATA_REG_START_ADDRESS + 28)
lhiggs 0:0529d2d7762f 116 #define UM6_ERROR_COV_30 (DATA_REG_START_ADDRESS + 29)
lhiggs 0:0529d2d7762f 117 #define UM6_ERROR_COV_31 (DATA_REG_START_ADDRESS + 30)
lhiggs 0:0529d2d7762f 118 #define UM6_ERROR_COV_32 (DATA_REG_START_ADDRESS + 31)
lhiggs 0:0529d2d7762f 119 #define UM6_ERROR_COV_33 (DATA_REG_START_ADDRESS + 32)
lhiggs 0:0529d2d7762f 120
lhiggs 0:0529d2d7762f 121 // Finally, define some non-register registers... sometimes commands must be sent to the sensor - commands that don't involve the transmission of any data.
lhiggs 0:0529d2d7762f 122 // Like, for example, a command to zero rate gyros. Or whatever. These commands are given "register" addresses so that they can be sent using the same
lhiggs 0:0529d2d7762f 123 // communication framework used to set and read registers. The only difference is that when a command is received and no data is attached, the communication
lhiggs 0:0529d2d7762f 124 // code doesn't set any registers.
lhiggs 0:0529d2d7762f 125 //
lhiggs 0:0529d2d7762f 126 // The communication code will do two things for every packet received:
lhiggs 0:0529d2d7762f 127 // 1. Copy data to the relevant register if data was provided in the packet
lhiggs 0:0529d2d7762f 128 // 2. Call a "dispatch packet" function that performs additional functions if the packet requires it.
lhiggs 0:0529d2d7762f 129 // Step 2 is what handles commands and causes status packets to be returned.
lhiggs 0:0529d2d7762f 130 #define UM6_GET_FW_VERSION COMMAND_START_ADDRESS // Causes the UM6 to report the firmware revision
lhiggs 0:0529d2d7762f 131 #define UM6_FLASH_COMMIT (COMMAND_START_ADDRESS + 1) // Causes the UM6 to write all configuration values to FLASH
lhiggs 0:0529d2d7762f 132 #define UM6_ZERO_GYROS (COMMAND_START_ADDRESS + 2) // Causes the UM6 to start a zero gyros command
lhiggs 0:0529d2d7762f 133 #define UM6_RESET_EKF (COMMAND_START_ADDRESS + 3) // Causes the UM6 to reset the EKF
lhiggs 0:0529d2d7762f 134 #define UM6_GET_DATA (COMMAND_START_ADDRESS + 4) // Causes the UM6 to transmit a data packet containing data from all enabled channels
lhiggs 0:0529d2d7762f 135 #define UM6_SET_ACCEL_REF (COMMAND_START_ADDRESS + 5) // Causes the UM6 to set the current measured accel data to the reference vector
lhiggs 0:0529d2d7762f 136 #define UM6_SET_MAG_REF (COMMAND_START_ADDRESS + 6) // Causes the UM6 to set the current measured magnetometer data to the reference vector
lhiggs 0:0529d2d7762f 137 #define UM6_RESET_TO_FACTORY (COMMAND_START_ADDRESS + 7) // Causes the UM6 to load default factory settings
lhiggs 0:0529d2d7762f 138
lhiggs 0:0529d2d7762f 139 #define UM6_SAVE_FACTORY (COMMAND_START_ADDRESS + 8) // Causes the UM6 to save the current settings to the factory flash location
lhiggs 0:0529d2d7762f 140
lhiggs 0:0529d2d7762f 141 #define UM6_USE_CONFIG_ADDRESS 0
lhiggs 0:0529d2d7762f 142 #define UM6_USE_FACTORY_ADDRESS 1
lhiggs 0:0529d2d7762f 143
lhiggs 0:0529d2d7762f 144 #define UM6_BAD_CHECKSUM 253 // Sent if the UM6 receives a packet with a bad checksum
lhiggs 0:0529d2d7762f 145 #define UM6_UNKNOWN_ADDRESS 254 // Sent if the UM6 receives a packet with an unknown address
lhiggs 0:0529d2d7762f 146 #define UM6_INVALID_BATCH_SIZE 255 // Sent if a requested batch read or write operation would go beyond the bounds of the config or data array
lhiggs 0:0529d2d7762f 147
lhiggs 0:0529d2d7762f 148 // Now make even more definitions for writing data to specific registers
lhiggs 0:0529d2d7762f 149 // Start with the UM6_COMMUNICATION register. These definitions specify what individual bits in the regist mean
lhiggs 0:0529d2d7762f 150 #define UM6_BROADCAST_ENABLED (1 << 30) // Enable serial data transmission
lhiggs 0:0529d2d7762f 151 #define UM6_GYROS_RAW_ENABLED (1 << 29) // Enable transmission of raw gyro data
lhiggs 0:0529d2d7762f 152 #define UM6_ACCELS_RAW_ENABLED (1 << 28) // Enable transmission of raw accelerometer data
lhiggs 0:0529d2d7762f 153 #define UM6_MAG_RAW_ENABLED (1 << 27) // Enable transmission of raw magnetometer data
lhiggs 0:0529d2d7762f 154 #define UM6_GYROS_PROC_ENABLED (1 << 26) // Enable transmission of processed gyro data (biases removed, scale factor applied, rotation correction applied)
lhiggs 0:0529d2d7762f 155 #define UM6_ACCELS_PROC_ENABLED (1 << 25) // Enable transmission of processed accel data (biases removed, scale factor applied, rotation correction applied)
lhiggs 0:0529d2d7762f 156 #define UM6_MAG_PROC_ENABLED (1 << 24) // Enable transmission of processed mag data (biases removed, scale factor applied, rotation correction applied)
lhiggs 0:0529d2d7762f 157 #define UM6_QUAT_ENABLED (1 << 23) // Enable transmission of quaternion data
lhiggs 0:0529d2d7762f 158 #define UM6_EULER_ENABLED (1 << 22) // Enable transmission of euler angle data
lhiggs 0:0529d2d7762f 159 #define UM6_COV_ENABLED (1 << 21) // Enable transmission of state covariance data
lhiggs 0:0529d2d7762f 160
lhiggs 0:0529d2d7762f 161 #define UM6_BAUD_RATE_MASK (0x07) // Mask specifying the number of bits used to set the serial baud rate
lhiggs 0:0529d2d7762f 162 #define UM6_BAUD_START_BIT 8 // Specifies the start location of the baud rate bits
lhiggs 0:0529d2d7762f 163
lhiggs 0:0529d2d7762f 164 #define UM6_SERIAL_RATE_MASK (0x000FF) // Mask specifying which bits in this register are used to indicate the broadcast frequency
lhiggs 0:0529d2d7762f 165
lhiggs 0:0529d2d7762f 166 // MISC Configuration register
lhiggs 0:0529d2d7762f 167 #define UM6_MAG_UPDATE_ENABLED (1 << 31) // Enable magnetometer-based updates in the EKF
lhiggs 0:0529d2d7762f 168 #define UM6_ACCEL_UPDATE_ENABLED (1 << 30) // Enable accelerometer-based updates in the EKF
lhiggs 0:0529d2d7762f 169 #define UM6_GYRO_STARTUP_CAL (1 << 29) // Enable automatic gyro calibration on startup
lhiggs 0:0529d2d7762f 170 #define UM6_QUAT_ESTIMATE_ENABLED (1 << 28) // Enable quaternion-based state estimation
lhiggs 0:0529d2d7762f 171 #define UM6_PPS_ENABLED (1 << 27) // Enable PPS support (requires connection to external PPS signal)
lhiggs 0:0529d2d7762f 172
lhiggs 0:0529d2d7762f 173 // UM6 Status Register
lhiggs 0:0529d2d7762f 174 #define UM6_MAG_INIT_FAILED (1 << 31) // Indicates magnetometer initialization failed
lhiggs 0:0529d2d7762f 175 #define UM6_ACCEL_INIT_FAILED (1 << 30) // Indicates accelerometer initialization failed
lhiggs 0:0529d2d7762f 176 #define UM6_GYRO_INIT_FAILED (1 << 29) // Indicates gyro initialization failed
lhiggs 0:0529d2d7762f 177 #define UM6_GYRO_ST_FAILED_X (1 << 28) // Indicates that the x-axis gyro self test failed
lhiggs 0:0529d2d7762f 178 #define UM6_GYRO_ST_FAILED_Y (1 << 27) // Indicates that the y-axis gyro self test failed
lhiggs 0:0529d2d7762f 179 #define UM6_GYRO_ST_FAILED_Z (1 << 26) // Indicates that the z-axis gyro self test failed
lhiggs 0:0529d2d7762f 180 #define UM6_ACCEL_ST_FAILED_X (1 << 25) // Indicates that the x-axis accel self test failed
lhiggs 0:0529d2d7762f 181 #define UM6_ACCEL_ST_FAILED_Y (1 << 24) // Indicates that the y-axis accel self test failed
lhiggs 0:0529d2d7762f 182 #define UM6_ACCEL_ST_FAILED_Z (1 << 23) // Indicates that the z-axis accel self test failed
lhiggs 0:0529d2d7762f 183 #define UM6_MAG_ST_FAILED_X (1 << 22) // Indicates that the x-axis mag self test failed
lhiggs 0:0529d2d7762f 184 #define UM6_MAG_ST_FAILED_Y (1 << 21) // Indicates that the y-axis mag self test failed
lhiggs 0:0529d2d7762f 185 #define UM6_MAG_ST_FAILED_Z (1 << 20) // Indicates that the z-axis mag self test failed
lhiggs 0:0529d2d7762f 186 #define UM6_I2C_GYRO_BUS_ERROR (1 << 19) // Indicates that there was an i2c bus error while communicating with the rate gyros
lhiggs 0:0529d2d7762f 187 #define UM6_I2C_ACCEL_BUS_ERROR (1 << 18) // Indicates that there was an i2c bus error while communicating with the accelerometers
lhiggs 0:0529d2d7762f 188 #define UM6_I2C_MAG_BUS_ERROR (1 << 17) // Indicates that there was an i2c bus error while communicating with the magnetometer
lhiggs 0:0529d2d7762f 189 #define UM6_EKF_DIVERGENT (1 << 16) // Indicates that the EKF estimate failed and had to be restarted
lhiggs 0:0529d2d7762f 190 #define UM6_GYRO_UNRESPONSIVE (1 << 15) // Inidicates that the rate gyros failed to signal new data for longer than expected
lhiggs 0:0529d2d7762f 191 #define UM6_ACCEL_UNRESPONSIVE (1 << 14) // Indicates that the accelerometer failed to signal new data for longer than expected
lhiggs 0:0529d2d7762f 192 #define UM6_MAG_UNRESPONSIVE (1 << 13) // Indicates that the magnetometer failed to signal new data for longer than expected
lhiggs 0:0529d2d7762f 193 #define UM6_FLASH_WRITE_FAILED (1 << 12) // Indicates that a write to flash command failed to complete properly
lhiggs 0:0529d2d7762f 194
lhiggs 0:0529d2d7762f 195 #define UM6_SELF_TEST_COMPLETE (1 << 0) // Indicates that a self-test was completed
lhiggs 0:0529d2d7762f 196
lhiggs 0:0529d2d7762f 197
lhiggs 0:0529d2d7762f 198 #define GYRO_ZERO_SAMPLE_SIZE 500
lhiggs 0:0529d2d7762f 199
lhiggs 0:0529d2d7762f 200 typedef struct __UM6_config {
lhiggs 0:0529d2d7762f 201 uint32_t r[CONFIG_ARRAY_SIZE];
lhiggs 0:0529d2d7762f 202 } UM6_config;
lhiggs 0:0529d2d7762f 203
lhiggs 0:0529d2d7762f 204 typedef struct __UM6_data {
lhiggs 0:0529d2d7762f 205 uint32_t r[DATA_ARRAY_SIZE];
lhiggs 0:0529d2d7762f 206 } UM6_data;
lhiggs 0:0529d2d7762f 207
lhiggs 0:0529d2d7762f 208
lhiggs 0:0529d2d7762f 209 #endif