Parse IMU (Inertial Measurement Unit) measurement logs. More...

#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>

Data Structures
struct	_SbgEComLogImuLegacy
	Structure that stores data for the SBG_ECOM_LOG_IMU_DATA message. More...

struct	_SbgEComLogImuShort

struct	_SbgEComLogImuFastLegacy

Macros
#define	SBG_ECOM_IMU_COM_OK (0x00000001u << 0)

#define	SBG_ECOM_IMU_STATUS_BIT (0x00000001u << 1)

#define	SBG_ECOM_IMU_ACCEL_X_BIT (0x00000001u << 2)

#define	SBG_ECOM_IMU_ACCEL_Y_BIT (0x00000001u << 3)

#define	SBG_ECOM_IMU_ACCEL_Z_BIT (0x00000001u << 4)

#define	SBG_ECOM_IMU_GYRO_X_BIT (0x00000001u << 5)

#define	SBG_ECOM_IMU_GYRO_Y_BIT (0x00000001u << 6)

#define	SBG_ECOM_IMU_GYRO_Z_BIT (0x00000001u << 7)

#define	SBG_ECOM_IMU_ACCELS_IN_RANGE (0x00000001u << 8)

#define	SBG_ECOM_IMU_GYROS_IN_RANGE (0x00000001u << 9)

#define	SBG_ECOM_IMU_GYROS_USE_HIGH_SCALE (0x00000001u << 10)

Typedefs
typedef struct _SbgEComLogImuLegacy	SbgEComLogImuLegacy
	Structure that stores data for the SBG_ECOM_LOG_IMU_DATA message.

typedef struct _SbgEComLogImuShort	SbgEComLogImuShort

typedef struct _SbgEComLogImuFastLegacy	SbgEComLogImuFastLegacy

Functions
SbgErrorCode	sbgEComLogImuLegacyReadFromStream (SbgEComLogImuLegacy pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogImuLegacyWriteToStream (const SbgEComLogImuLegacy pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogImuShortReadFromStream (SbgEComLogImuShort pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogImuShortWriteToStream (const SbgEComLogImuShort pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogImuFastLegacyReadFromStream (SbgEComLogImuFastLegacy pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogImuFastLegacyWriteToStream (const SbgEComLogImuFastLegacy pLogData, SbgStreamBuffer pStreamBuffer)

float	sbgEComLogImuShortGetDeltaAngle (const SbgEComLogImuShort *pImuShort, size_t idx)

void	sbgEComLogImuShortSetDeltaAngle (SbgEComLogImuShort pImuShort, const float pArray, size_t arraySize)

float	sbgEComLogImuShortGetDeltaVelocity (const SbgEComLogImuShort *pImuShort, size_t idx)

void	sbgEComLogImuShortSetDeltaVelocity (SbgEComLogImuShort pImuShort, const float pArray, size_t arraySize)

float	sbgEComLogImuShortGetTemperature (const SbgEComLogImuShort *pImuShort)

void	sbgEComLogImuShortSetTemperature (SbgEComLogImuShort *pImuShort, float temperature)

Detailed Description

Parse IMU (Inertial Measurement Unit) measurement logs.

Author: SBG Systems

Date: 25 February 2013

Copyright: Copyright (C) 2007-2024, SBG Systems SAS. All rights reserved.

License

The MIT license

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Macro Definition Documentation

◆ SBG_ECOM_IMU_COM_OK

#define SBG_ECOM_IMU_COM_OK (0x00000001u << 0)

Log inertial data status mask definitions Set to 1 if the communication with the IMU is ok.

◆ SBG_ECOM_IMU_STATUS_BIT

#define SBG_ECOM_IMU_STATUS_BIT (0x00000001u << 1)

Set to 1 if the IMU passes general Built in Tests (calibration, CPU, ...).

◆ SBG_ECOM_IMU_ACCEL_X_BIT

#define SBG_ECOM_IMU_ACCEL_X_BIT (0x00000001u << 2)

Set to 1 if the accelerometer X passes Built In Test.

◆ SBG_ECOM_IMU_ACCEL_Y_BIT

#define SBG_ECOM_IMU_ACCEL_Y_BIT (0x00000001u << 3)

Set to 1 if the accelerometer Y passes Built In Test.

◆ SBG_ECOM_IMU_ACCEL_Z_BIT

#define SBG_ECOM_IMU_ACCEL_Z_BIT (0x00000001u << 4)

Set to 1 if the accelerometer Z passes Built In Test.

◆ SBG_ECOM_IMU_GYRO_X_BIT

#define SBG_ECOM_IMU_GYRO_X_BIT (0x00000001u << 5)

Set to 1 if the gyroscope X passes Built In Test.

◆ SBG_ECOM_IMU_GYRO_Y_BIT

#define SBG_ECOM_IMU_GYRO_Y_BIT (0x00000001u << 6)

Set to 1 if the gyroscope Y passes Built In Test.

◆ SBG_ECOM_IMU_GYRO_Z_BIT

#define SBG_ECOM_IMU_GYRO_Z_BIT (0x00000001u << 7)

Set to 1 if the gyroscope Z passes Built In Test.

◆ SBG_ECOM_IMU_ACCELS_IN_RANGE

#define SBG_ECOM_IMU_ACCELS_IN_RANGE (0x00000001u << 8)

Set to 1 if all accelerometers are within operating range.

◆ SBG_ECOM_IMU_GYROS_IN_RANGE

#define SBG_ECOM_IMU_GYROS_IN_RANGE (0x00000001u << 9)

Set to 1 if all gyroscopes are within operating range.

◆ SBG_ECOM_IMU_GYROS_USE_HIGH_SCALE

#define SBG_ECOM_IMU_GYROS_USE_HIGH_SCALE (0x00000001u << 10)

Set if the gyroscope scale factor range is high. Applicable only for SBG_ECOM_LOG_IMU_SHORT logs.

Typedef Documentation

◆ SbgEComLogImuLegacy

typedef struct _SbgEComLogImuLegacy SbgEComLogImuLegacy

Structure that stores data for the SBG_ECOM_LOG_IMU_DATA message.

This message provides synchronous IMU measurements aligned to UTC time.
Most SBG Systems INS, except ELLIPSE products, use IMUs with asynchronous measurements.

These measurements are extrapolated to match the EKF processing loop, which can introduce
artificial noise, particularly in high-frequency processing loops (e.g., 200Hz with up to 5ms extrapolation).

Note: This message is not suitable for post-processing due to the introduced noise. For accurate UTC/GPS-timestamped asynchronous IMU measurements, use SBG_ECOM_LOG_IMU_SHORT.

Warning: This message is not recommended for new designs and will be deprecated in sbgECom 5.x.

◆ SbgEComLogImuShort

typedef struct _SbgEComLogImuShort SbgEComLogImuShort

Structure that stores data for the SBG_ECOM_LOG_IMU_SHORT message.

This message is sent asynchronously and must be used for post processing.

The delta angle values are scaled based on the gyroscopes output. If any output exceeds a predefined limit, the scale factor switches from standard to high range to prevent saturation.

◆ SbgEComLogImuFastLegacy

typedef struct _SbgEComLogImuFastLegacy SbgEComLogImuFastLegacy

Structure that stores the data for SBG_ECOM_LOG_FAST_IMU_DATA message

Note: This message is not recommended for new designs and will be deprecated in sbgECom 5.x

Function Documentation

◆ sbgEComLogImuLegacyReadFromStream()

SbgErrorCode sbgEComLogImuLegacyReadFromStream	(	SbgEComLogImuLegacy *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Parse data for the SBG_ECOM_LOG_IMU_DATA message and fill the corresponding structure.

Parameters

[out]	pLogData	Log structure instance to fill.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns: SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogImuLegacyWriteToStream()

SbgErrorCode sbgEComLogImuLegacyWriteToStream	(	const SbgEComLogImuLegacy *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Write data for the SBG_ECOM_LOG_IMU_DATA message to the output stream buffer from the provided structure.

Parameters

[in]	pLogData	Log structure instance to write.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns: SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogImuShortReadFromStream()

SbgErrorCode sbgEComLogImuShortReadFromStream	(	SbgEComLogImuShort *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Parse data for the SBG_ECOM_LOG_IMU_SHORT message and fill the corresponding structure.

Parameters

[out]	pLogData	Log structure instance to fill.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns: SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogImuShortWriteToStream()

SbgErrorCode sbgEComLogImuShortWriteToStream	(	const SbgEComLogImuShort *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Write data for the SBG_ECOM_LOG_IMU_SHORT message to the output stream buffer from the provided structure.

Parameters

[in]	pLogData	Log structure instance to write.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns: SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogImuFastLegacyReadFromStream()

SbgErrorCode sbgEComLogImuFastLegacyReadFromStream	(	SbgEComLogImuFastLegacy *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Parse data for the SBG_ECOM_LOG_FAST_IMU_DATA message and fill the corresponding structure.

Parameters

[out]	pLogData	Log structure instance to fill.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns: SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogImuFastLegacyWriteToStream()

SbgErrorCode sbgEComLogImuFastLegacyWriteToStream	(	const SbgEComLogImuFastLegacy *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Write data for the SBG_ECOM_LOG_FAST_IMU_DATA message to the output stream buffer from the provided structure.

Parameters

[in]	pLogData	Log structure instance to write.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns: SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogImuShortGetDeltaAngle()

float sbgEComLogImuShortGetDeltaAngle	(	const SbgEComLogImuShort *	pImuShort,
		size_t	idx )

Return from an IMU Short log, the X, Y or Z delta angle value in rad.s^-1

Parameters

[in]	pImuShort	Input IMU short message instance.
[in]	idx	The component to return from 0 to 2.

Returns: The delta angle value converted in rad.s^-1.

◆ sbgEComLogImuShortSetDeltaAngle()

void sbgEComLogImuShortSetDeltaAngle	(	SbgEComLogImuShort *	pImuShort,
		const float *	pArray,
		size_t	arraySize )

Set the delta angle values.

Parameters

[in]	pImuShort	Input IMU short message instance.
[in]	pArray	Array of delta angle values, in rad.s^-1.
[in]	arraySize	Size of the array (should be 3).

◆ sbgEComLogImuShortGetDeltaVelocity()

float sbgEComLogImuShortGetDeltaVelocity	(	const SbgEComLogImuShort *	pImuShort,
		size_t	idx )

Return from an IMU Short log, the X, Y or Z delta velocity value in m.s^-2

Parameters

[in]	pImuShort	Input IMU short message instance.
[in]	idx	The component to return from 0 to 2.

Returns: The delta velocity value converted in m.s^-2.

◆ sbgEComLogImuShortSetDeltaVelocity()

void sbgEComLogImuShortSetDeltaVelocity	(	SbgEComLogImuShort *	pImuShort,
		const float *	pArray,
		size_t	arraySize )

Set the delta velocity values.

Parameters

[in]	pImuShort	Input IMU short message instance.
[in]	pArray	Array of delta velocity values, in m.s^-2.
[in]	arraySize	Size of the array (should be 3).

◆ sbgEComLogImuShortGetTemperature()

float sbgEComLogImuShortGetTemperature ( const SbgEComLogImuShort * pImuShort )

Return from an IMU Short log, the temperature in °C

Parameters

[in] pImuShort Input IMU short message instance.

Returns: The converted temperature in °C

◆ sbgEComLogImuShortSetTemperature()

void sbgEComLogImuShortSetTemperature	(	SbgEComLogImuShort *	pImuShort,
		float	temperature )

Set the temperature.

Parameters

[in]	pImuShort	Input IMU short message instance.
[in]	temperature	Temperature value to set, in °C.

Data Structures

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

◆ SBG_ECOM_IMU_COM_OK

◆ SBG_ECOM_IMU_STATUS_BIT

◆ SBG_ECOM_IMU_ACCEL_X_BIT

◆ SBG_ECOM_IMU_ACCEL_Y_BIT

◆ SBG_ECOM_IMU_ACCEL_Z_BIT

◆ SBG_ECOM_IMU_GYRO_X_BIT

◆ SBG_ECOM_IMU_GYRO_Y_BIT

◆ SBG_ECOM_IMU_GYRO_Z_BIT

◆ SBG_ECOM_IMU_ACCELS_IN_RANGE

◆ SBG_ECOM_IMU_GYROS_IN_RANGE

◆ SBG_ECOM_IMU_GYROS_USE_HIGH_SCALE

Typedef Documentation

◆ SbgEComLogImuLegacy

◆ SbgEComLogImuShort

◆ SbgEComLogImuFastLegacy

Function Documentation

◆ sbgEComLogImuLegacyReadFromStream()

◆ sbgEComLogImuLegacyWriteToStream()

◆ sbgEComLogImuShortReadFromStream()

◆ sbgEComLogImuShortWriteToStream()

◆ sbgEComLogImuFastLegacyReadFromStream()

◆ sbgEComLogImuFastLegacyWriteToStream()

◆ sbgEComLogImuShortGetDeltaAngle()

◆ sbgEComLogImuShortSetDeltaAngle()

◆ sbgEComLogImuShortGetDeltaVelocity()

◆ sbgEComLogImuShortSetDeltaVelocity()

◆ sbgEComLogImuShortGetTemperature()

◆ sbgEComLogImuShortSetTemperature()