Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 NovAtel Inc.
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef _RAWIMU_H_
00012 #define _RAWIMU_H_
00013 
00014 #include <hydronovatelutil/header.h>
00015 
00016 namespace hydronovatelutil{
00017 
00018     const long IMU_STATUS_CNT   = 0x0000000f;
00019     const long IMU_STATUS_TEST  = 0x00000010;
00020     const long IMU_STATUS_ZGYRO = 0x00000020;
00021     const long IMU_STATUS_YGYRO = 0x00000040;
00022     const long IMU_STATUS_XGYRO = 0x00000080;
00023 
00024     const long IMU_STATUS_TEMP  = 0x0000ff00;
00025     const long IMU_STATUS_VER   = 0x00ff0000;
00026 
00027     const long IMU_STATUS_GYRO  = 0x08000000;
00028     const long IMU_STATUS_ACC   = 0x10000000;
00029     const long IMU_STATUS_OTHER = 0x20000000;
00030     const long IMU_STATUS_MEM   = 0x40000000;
00031     const long IMU_STATUS_PROC  = 0x80000000;
00032 
00033     // TODO: these need to be double checked! Values, units, same for different IMU type??
00034     const double IMU_GYRO_CONST = (1.1642e-10); // yields change in angle in [degree]; divide by dt to get rate
00035     const double IMU_ACCEL_CONST = (1.4901e-8*12.0*0.0254); // yields change in velocity [m/s]; divide by dt to get acc
00036 
00037 
00038 #pragma pack(push,1)
00039     typedef struct{
00040         unsigned long    week;
00041         double           seconds;
00042         long             status;
00043         long             z_accel;
00044         long             y_accel;
00045         long             x_accel;
00046         long             z_gyro;
00047         long             y_gyro;
00048         long             x_gyro;
00049         unsigned long    crc;
00050     }RAWIMU_DATA;
00051 
00052     typedef struct{
00053         OEM4_BINARY_HEADER   hdr;
00054         RAWIMU_DATA          data;
00055     }RAWIMUB_LOG;
00056 
00057     typedef struct RAWIMUSB_LOG{
00058         OEM4_SHORT_BINARY_HEADER   hdr;
00059         RAWIMU_DATA          data;
00060     }RAWIMUSB_LOG;
00061 
00062 #pragma pack(pop)
00063 
00064 }//namespace
00065 
00066 #endif
rawimu.h
