![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
Diff: MAVlink/include/common/mavlink_msg_raw_imu.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_raw_imu.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,290 @@ +// MESSAGE RAW_IMU PACKING + +#define MAVLINK_MSG_ID_RAW_IMU 28 + +typedef struct __mavlink_raw_imu_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + int16_t xacc; ///< X acceleration (raw) + int16_t yacc; ///< Y acceleration (raw) + int16_t zacc; ///< Z acceleration (raw) + int16_t xgyro; ///< Angular speed around X axis (raw) + int16_t ygyro; ///< Angular speed around Y axis (raw) + int16_t zgyro; ///< Angular speed around Z axis (raw) + int16_t xmag; ///< X Magnetic field (raw) + int16_t ymag; ///< Y Magnetic field (raw) + int16_t zmag; ///< Z Magnetic field (raw) + +} mavlink_raw_imu_t; + + + +/** + * @brief Pack a raw_imu message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param xacc X acceleration (raw) + * @param yacc Y acceleration (raw) + * @param zacc Z acceleration (raw) + * @param xgyro Angular speed around X axis (raw) + * @param ygyro Angular speed around Y axis (raw) + * @param zgyro Angular speed around Z axis (raw) + * @param xmag X Magnetic field (raw) + * @param ymag Y Magnetic field (raw) + * @param zmag Z Magnetic field (raw) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_RAW_IMU; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) + i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (raw) + i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (raw) + i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (raw) + i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (raw) + i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (raw) + i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (raw) + i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (raw) + i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (raw) + i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (raw) + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a raw_imu message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param xacc X acceleration (raw) + * @param yacc Y acceleration (raw) + * @param zacc Z acceleration (raw) + * @param xgyro Angular speed around X axis (raw) + * @param ygyro Angular speed around Y axis (raw) + * @param zgyro Angular speed around Z axis (raw) + * @param xmag X Magnetic field (raw) + * @param ymag Y Magnetic field (raw) + * @param zmag Z Magnetic field (raw) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_RAW_IMU; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) + i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (raw) + i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (raw) + i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (raw) + i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (raw) + i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (raw) + i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (raw) + i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (raw) + i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (raw) + i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (raw) + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a raw_imu struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param raw_imu C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu) +{ + return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag); +} + +/** + * @brief Send a raw_imu message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param xacc X acceleration (raw) + * @param yacc Y acceleration (raw) + * @param zacc Z acceleration (raw) + * @param xgyro Angular speed around X axis (raw) + * @param ygyro Angular speed around Y axis (raw) + * @param zgyro Angular speed around Z axis (raw) + * @param xmag X Magnetic field (raw) + * @param ymag Y Magnetic field (raw) + * @param zmag Z Magnetic field (raw) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) +{ + mavlink_message_t msg; + mavlink_msg_raw_imu_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE RAW_IMU UNPACKING + +/** + * @brief Get field usec from raw_imu message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_raw_imu_get_usec(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload)[0]; + r.b[6] = (msg->payload)[1]; + r.b[5] = (msg->payload)[2]; + r.b[4] = (msg->payload)[3]; + r.b[3] = (msg->payload)[4]; + r.b[2] = (msg->payload)[5]; + r.b[1] = (msg->payload)[6]; + r.b[0] = (msg->payload)[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field xacc from raw_imu message + * + * @return X acceleration (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field yacc from raw_imu message + * + * @return Y acceleration (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field zacc from raw_imu message + * + * @return Z acceleration (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field xgyro from raw_imu message + * + * @return Angular speed around X axis (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field ygyro from raw_imu message + * + * @return Angular speed around Y axis (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field zgyro from raw_imu message + * + * @return Angular speed around Z axis (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field xmag from raw_imu message + * + * @return X Magnetic field (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field ymag from raw_imu message + * + * @return Y Magnetic field (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Get field zmag from raw_imu message + * + * @return Z Magnetic field (raw) + */ +static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; + return (int16_t)r.s; +} + +/** + * @brief Decode a raw_imu message into a struct + * + * @param msg The message to decode + * @param raw_imu C-struct to decode the message contents into + */ +static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu) +{ + raw_imu->usec = mavlink_msg_raw_imu_get_usec(msg); + raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg); + raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg); + raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg); + raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg); + raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg); + raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg); + raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg); + raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg); + raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg); +}