g366.hpp File Reference

G366 library. More...

#include <cstdint>
#include <memory>
#include <serial/serial.hpp>

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Classes
struct	driver::imu_driver::g366::DATA_META
	Store meta data of G366. More...
struct	driver::imu_driver::g366::DATA
	Store data with modified type of G366. More...
struct	driver::imu_driver::g366::RAW_DATA_T
	Store raw data of G355. More...
class	driver::imu_driver::g366::G366
	for 16bit attitude data [degree/LSB] More...

Namespaces
namespace	driver::imu_driver
	For imu driver.
namespace	driver
namespace	driver::imu_driver::g366

Typedefs
using	driver::imu_driver::g366::command = const unsigned char
	Commands to configure the G366.

Variables
command	driver::imu_driver::g366::window0_select_wcomm [3] = {0xFE, 0x00, 0x0d}
command	driver::imu_driver::g366::window1_select_wcomm [3] = {0xFE, 0x01, 0x0d}
	Select Window 0.
command	driver::imu_driver::g366::burst_request_wcomm0 [3] = {0x80, 0x00, 0x0d}
	Select Window 1.
command	driver::imu_driver::g366::config_mode_wcomm0 [3] = {0x83, 0x00, 0x0d}
	Burst command (BURST Mode). Read data.
command	driver::imu_driver::g366::sampling_mode_wcomm0 [3] = {0x83, 0x01, 0x0d}
	Select configuration mode.
command	driver::imu_driver::g366::diag_stat_rcomm0 [3] = {0x04, 0x00, 0x0d}
	Select sampling mode.
command	driver::imu_driver::g366::self_test_wcomm1 [3] = {0x83, 0x04, 0x0d}
	Read Diagnostic status.
command	driver::imu_driver::g366::self_test_rcomm1 [3] = {0x02, 0x00, 0x0d}
	Self test command.
command	driver::imu_driver::g366::software_reset_wcomm1 [3] = {0x8A, 0x80, 0x0d}
	Read self test status.
command	driver::imu_driver::g366::check_ready_rcomm1 [3] = {0x0A, 0x00, 0x0d}
	Software reset command.
command	driver::imu_driver::g366::filter_ctrl_wcomm1 [3] = {0x86, 0x00, 0x0d}
	Read ready status.
command	driver::imu_driver::g366::filter_ctrl_rcomm1 [3] = {0x06, 0x00, 0x0d}
	Set Filter command.
command	driver::imu_driver::g366::atti_motion_wcomm1 [3] = {0x96, 0x00, 0x0d}
	Read set filter status.
command	driver::imu_driver::g366::atti_motion_rcomm1 [3] = {0x16, 0x00, 0x0d}
	Set attitude mortion profile.
command	driver::imu_driver::g366::baud_rate_460_wcomm1 [3] = {0x89, 0x00, 0x0d}
	Read set profile status.
command	driver::imu_driver::g366::baud_rate_230_wcomm1 [3] = {0x89, 0x01, 0x0d}
	Set baud rate (460800bps)
command	driver::imu_driver::g366::baud_rate_921_wcomm1 [3] = {0x89, 0x02, 0x0d}
	Set baud rate (230400bps)
command	driver::imu_driver::g366::config_comm [33]
	Set baud rate (921600bps)
const int	driver::imu_driver::g366::default_baudrate = 460800
const double	driver::imu_driver::g366::temp_sf = 0.00699411
	Default baudrate.
const double	driver::imu_driver::g366::gyro_sf = 1.0 / 66.0
	for 16bit attitude data [degree celsius/LSB]
const double	driver::imu_driver::g366::accel_sf = 1.0 / 4.0
	for 16bit gyro data [(degree/s)/LSB]
const double	driver::imu_driver::g366::qtn_sf = 1.0 / (1 << 14)
	for 16bit, output range ±8 acceleration data [(mG)/LSB]
const double	driver::imu_driver::g366::atti_sf = 0.00699411
	for 16bit quaternion data [-/LSB]

Detailed Description

G366 library.

Author

R.Ohnishi

Date

2024/10/27

IMU(G366) のデータを取得