driver::imu_driver::g366 Namespace Reference

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

Typedefs
using	command = const unsigned char
	Commands to configure the G366.

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

Typedef Documentation

command

using driver::imu_driver::g366::command = typedef const unsigned char

Commands to configure the G366.

wcomm is write command, rcomm is read command comm0 is window 0 command, comm1 is windows 1 command

Variable Documentation

accel_sf

const double driver::imu_driver::g366::accel_sf = 1.0 / 4.0

for 16bit gyro data [(degree/s)/LSB]

atti_motion_rcomm1

command driver::imu_driver::g366::atti_motion_rcomm1[3] = {0x16, 0x00, 0x0d}

Set attitude mortion profile.

atti_motion_wcomm1

command driver::imu_driver::g366::atti_motion_wcomm1[3] = {0x96, 0x00, 0x0d}

Read set filter status.

atti_sf

const double driver::imu_driver::g366::atti_sf = 0.00699411

for 16bit quaternion data [-/LSB]

baud_rate_230_wcomm1

command driver::imu_driver::g366::baud_rate_230_wcomm1[3] = {0x89, 0x01, 0x0d}

Set baud rate (460800bps)

baud_rate_460_wcomm1

command driver::imu_driver::g366::baud_rate_460_wcomm1[3] = {0x89, 0x00, 0x0d}

Read set profile status.

baud_rate_921_wcomm1

command driver::imu_driver::g366::baud_rate_921_wcomm1[3] = {0x89, 0x02, 0x0d}

Set baud rate (230400bps)

burst_request_wcomm0

command driver::imu_driver::g366::burst_request_wcomm0[3] = {0x80, 0x00, 0x0d}

Select Window 1.

check_ready_rcomm1

command driver::imu_driver::g366::check_ready_rcomm1[3] = {0x0A, 0x00, 0x0d}

Software reset command.

config_comm

command driver::imu_driver::g366::config_comm[33]

Initial value:

= {
  0xFE, 0x01, 0x0d,  
  0x85, 0x09, 0x0d,  
  0x88, 0x00, 0x0d,  
  0x8C, 0x06, 0x0d,  
  0x8D, 0xF3, 0x0d,  
  0x8F, 0x00, 0x0d,  
  0x93, 0x00, 0x0d,  
  0x94, 0x00, 0x0d,  
  0x95, 0x0c, 0x0d,  
}

Set baud rate (921600bps)

config_mode_wcomm0

command driver::imu_driver::g366::config_mode_wcomm0[3] = {0x83, 0x00, 0x0d}

Burst command (BURST Mode). Read data.

default_baudrate

const int driver::imu_driver::g366::default_baudrate = 460800

diag_stat_rcomm0

command driver::imu_driver::g366::diag_stat_rcomm0[3] = {0x04, 0x00, 0x0d}

Select sampling mode.

filter_ctrl_rcomm1

command driver::imu_driver::g366::filter_ctrl_rcomm1[3] = {0x06, 0x00, 0x0d}

Set Filter command.

filter_ctrl_wcomm1

command driver::imu_driver::g366::filter_ctrl_wcomm1[3] = {0x86, 0x00, 0x0d}

Read ready status.

gyro_sf

const double driver::imu_driver::g366::gyro_sf = 1.0 / 66.0

for 16bit attitude data [degree celsius/LSB]

qtn_sf

const double driver::imu_driver::g366::qtn_sf = 1.0 / (1 << 14)

for 16bit, output range ±8 acceleration data [(mG)/LSB]

sampling_mode_wcomm0

command driver::imu_driver::g366::sampling_mode_wcomm0[3] = {0x83, 0x01, 0x0d}

Select configuration mode.

self_test_rcomm1

command driver::imu_driver::g366::self_test_rcomm1[3] = {0x02, 0x00, 0x0d}

Self test command.

self_test_wcomm1

command driver::imu_driver::g366::self_test_wcomm1[3] = {0x83, 0x04, 0x0d}

Read Diagnostic status.

software_reset_wcomm1

command driver::imu_driver::g366::software_reset_wcomm1[3] = {0x8A, 0x80, 0x0d}

Read self test status.

temp_sf

const double driver::imu_driver::g366::temp_sf = 0.00699411

Default baudrate.

The scale factor for each data

window0_select_wcomm

command driver::imu_driver::g366::window0_select_wcomm[3] = {0xFE, 0x00, 0x0d}

window1_select_wcomm

command driver::imu_driver::g366::window1_select_wcomm[3] = {0xFE, 0x01, 0x0d}

Select Window 0.