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RE padding fields to be multipliers and divisors

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-04-12 00:56:06 +02:00
parent ddf78dc1c4
commit 12819f8d26
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GPG key ID: D850A5F772E880F9
2 changed files with 49 additions and 26 deletions
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14
interface_lib/include/device3.h
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@ -39,22 +39,25 @@ extern "C" {
struct __attribute__((__packed__)) device3_packet_t { struct __attribute__((__packed__)) device3_packet_t {
uint8_t signature [2]; uint8_t signature [2];
uint8_t _padding0 [2]; uint8_t temperature [2];
uint64_t timestamp; uint64_t timestamp;
uint8_t _padding1 [6]; uint8_t angular_multiplier [2];
uint8_t angular_divisor [4];
uint8_t angular_velocity_x [3]; uint8_t angular_velocity_x [3];
uint8_t angular_velocity_y [3]; uint8_t angular_velocity_y [3];
uint8_t angular_velocity_z [3]; uint8_t angular_velocity_z [3];
uint8_t _padding2 [6]; uint8_t acceleration_multiplier [2];
uint8_t acceleration_divisor [4];
uint8_t acceleration_x [3]; uint8_t acceleration_x [3];
uint8_t acceleration_y [3]; uint8_t acceleration_y [3];
uint8_t acceleration_z [3]; uint8_t acceleration_z [3];
uint8_t _padding3 [6]; uint8_t magnetic_multiplier [2];
uint8_t magnetic_divisor [4];
uint8_t magnetic_x [2]; uint8_t magnetic_x [2];
uint8_t magnetic_y [2]; uint8_t magnetic_y [2];
uint8_t magnetic_z [2]; uint8_t magnetic_z [2];
uint32_t checksum; uint32_t checksum;
uint8_t _padding4 [6]; uint8_t _padding [6];
}; };
enum device3_event_t { enum device3_event_t {
@ -124,6 +127,7 @@ struct device3_t {
bool claimed; bool claimed;
uint64_t last_timestamp; uint64_t last_timestamp;
float temperature;
void* offset; void* offset;
device3_ahrs_type* ahrs; device3_ahrs_type* ahrs;

61
interface_lib/src/device3.c
View file

@ -327,53 +327,68 @@ static void device3_callback(device3_type* device,
device->callback(timestamp, event, device->ahrs, device->correction); device->callback(timestamp, event, device->ahrs, device->correction);
} }
static int32_t pack32bit_signed(const uint8_t* data) {
uint32_t unsigned_value = (data[0]) | (data[1] << 8) | (data[2] << 16) | (data[3] << 24);
return ((int32_t) unsigned_value);
}
static int32_t pack24bit_signed(const uint8_t* data) { static int32_t pack24bit_signed(const uint8_t* data) {
uint32_t unsigned_value = (data[0]) | (data[1] << 8) | (data[2] << 16); uint32_t unsigned_value = (data[0]) | (data[1] << 8) | (data[2] << 16);
if ((data[2] & 0x80) != 0) unsigned_value |= (0xFF << 24); if ((data[2] & 0x80) != 0) unsigned_value |= (0xFF << 24);
return (int32_t) unsigned_value; return ((int32_t) unsigned_value);
} }
static int16_t pack16bit_signed(const uint8_t* data) { static int16_t pack16bit_signed(const uint8_t* data) {
uint16_t unsigned_value = (data[0] << 8) | (data[1]); uint16_t unsigned_value = (data[0]) | (data[1] << 8);
return (int16_t) unsigned_value; return (int16_t) unsigned_value;
} }
// based on 24bit signed int w/ FSR = +/-2000 dps, datasheet option static int32_t pack32bit_signed_swap(const uint8_t* data) {
#define GYRO_SCALAR (1.0f / 8388608.0f * 2000.0f) uint32_t unsigned_value = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | (data[3]);
return ((int32_t) unsigned_value);
}
// based on 24bit signed int w/ FSR = +/-16 g, datasheet option static int16_t pack16bit_signed_swap(const uint8_t* data) {
#define ACCEL_SCALAR (1.0f / 8388608.0f * 16.0f) uint16_t unsigned_value = (data[0] << 8) | (data[1]);
return (int16_t) unsigned_value;
// based on 16bit signed int w/ FSR = +/-16 gauss, datasheet option }
#define MAGNO_SCALAR (1.0f / 8388608.0f * 16.0f)
static void readIMU_from_packet(const device3_packet_type* packet, static void readIMU_from_packet(const device3_packet_type* packet,
FusionVector* gyroscope, FusionVector* gyroscope,
FusionVector* accelerometer, FusionVector* accelerometer,
FusionVector* magnetometer) { FusionVector* magnetometer) {
int32_t vel_m = pack16bit_signed(packet->angular_multiplier);
int32_t vel_d = pack32bit_signed(packet->angular_divisor);
int32_t vel_x = pack24bit_signed(packet->angular_velocity_x); int32_t vel_x = pack24bit_signed(packet->angular_velocity_x);
int32_t vel_y = pack24bit_signed(packet->angular_velocity_y); int32_t vel_y = pack24bit_signed(packet->angular_velocity_y);
int32_t vel_z = pack24bit_signed(packet->angular_velocity_z); int32_t vel_z = pack24bit_signed(packet->angular_velocity_z);
gyroscope->axis.x = (float) vel_x * GYRO_SCALAR; gyroscope->axis.x = (float) vel_x * (float) vel_m / (float) vel_d;
gyroscope->axis.y = (float) vel_y * GYRO_SCALAR; gyroscope->axis.y = (float) vel_y * (float) vel_m / (float) vel_d;
gyroscope->axis.z = (float) vel_z * GYRO_SCALAR; gyroscope->axis.z = (float) vel_z * (float) vel_m / (float) vel_d;
int32_t accel_m = pack16bit_signed(packet->acceleration_multiplier);
int32_t accel_d = pack32bit_signed(packet->acceleration_divisor);
int32_t accel_x = pack24bit_signed(packet->acceleration_x); int32_t accel_x = pack24bit_signed(packet->acceleration_x);
int32_t accel_y = pack24bit_signed(packet->acceleration_y); int32_t accel_y = pack24bit_signed(packet->acceleration_y);
int32_t accel_z = pack24bit_signed(packet->acceleration_z); int32_t accel_z = pack24bit_signed(packet->acceleration_z);
accelerometer->axis.x = (float) accel_x * ACCEL_SCALAR; accelerometer->axis.x = (float) accel_x * (float) accel_m / (float) accel_d;
accelerometer->axis.y = (float) accel_y * ACCEL_SCALAR; accelerometer->axis.y = (float) accel_y * (float) accel_m / (float) accel_d;
accelerometer->axis.z = (float) accel_z * ACCEL_SCALAR; accelerometer->axis.z = (float) accel_z * (float) accel_m / (float) accel_d;
int16_t magnet_x = pack16bit_signed(packet->magnetic_x); int32_t magnet_m = pack16bit_signed_swap(packet->magnetic_multiplier);
int16_t magnet_y = pack16bit_signed(packet->magnetic_y); int32_t magnet_d = pack32bit_signed_swap(packet->magnetic_divisor);
int16_t magnet_z = pack16bit_signed(packet->magnetic_z);
magnetometer->axis.x = (float) magnet_x * MAGNO_SCALAR; int16_t magnet_x = pack16bit_signed_swap(packet->magnetic_x);
magnetometer->axis.y = (float) magnet_y * MAGNO_SCALAR; int16_t magnet_y = pack16bit_signed_swap(packet->magnetic_y);
magnetometer->axis.z = (float) magnet_z * MAGNO_SCALAR; int16_t magnet_z = pack16bit_signed_swap(packet->magnetic_z);
magnetometer->axis.x = (float) magnet_x * (float) magnet_m / (float) magnet_d;
magnetometer->axis.y = (float) magnet_y * (float) magnet_m / (float) magnet_d;
magnetometer->axis.z = (float) magnet_z * (float) magnet_m / (float) magnet_d;
} }
#define min(x, y) ((x) < (y)? (x) : (y)) #define min(x, y) ((x) < (y)? (x) : (y))
@ -695,6 +710,10 @@ int device3_read(device3_type* device, int timeout) {
device->last_timestamp = timestamp; device->last_timestamp = timestamp;
int16_t temperature = pack16bit_signed(packet.temperature);
device->temperature = (float) temperature;
FusionVector gyroscope; FusionVector gyroscope;
FusionVector accelerometer; FusionVector accelerometer;
FusionVector magnetometer; FusionVector magnetometer;