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    DriveWorks SDK Reference
    5.8.83 Release
    For Test and Development only

    •All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
    Data Structures | Enumerations | Functions
    IMU.h File Reference

    Detailed Description

    NVIDIA DriveWorks API: IMU

    Description: This file defines methods to access the IMU sensor.

    Definition in file IMU.h.

    Go to the source code of this file.

    Data Structures

    struct  dwIMUFrame
     An IMU frame containing sensor readings from the IMU sensor. More...
     
    struct  dwIMUFrameNew
     This structure contains one frame of data from a IMU sensor. More...
     
    struct  dwIMUFrameNew.validityInfo
     

    Enumerations

    enum  dwIMUAlignmentStatus {
      DW_IMU_ALIGNMENT_STATUS_UNKNOWN = 0 ,
      DW_IMU_ALIGNMENT_STATUS_INVALID = 1 ,
      DW_IMU_ALIGNMENT_STATUS_COARSE = 2 ,
      DW_IMU_ALIGNMENT_STATUS_FINE = 3 ,
      DW_IMU_ALIGNMENT_STATUS_FORCE32 = 0x7FFFFFFF
    }
     High rate data output from GNSS-IMU device requires fusion of GNSS and IMU. More...
     
    enum  dwIMUFlags {
      DW_IMU_HEADING = 1U << 1 ,
      DW_IMU_ROLL = 1U << 2 ,
      DW_IMU_PITCH = 1U << 3 ,
      DW_IMU_YAW = 1U << 4 ,
      DW_IMU_QUATERNION_X = 1U << 5 ,
      DW_IMU_QUATERNION_Y = 1U << 6 ,
      DW_IMU_QUATERNION_Z = 1U << 7 ,
      DW_IMU_QUATERNION_W = 1U << 8 ,
      DW_IMU_ROLL_RATE = 1U << 9 ,
      DW_IMU_PITCH_RATE = 1U << 10 ,
      DW_IMU_YAW_RATE = 1U << 11 ,
      DW_IMU_ACCELERATION_X = 1U << 12 ,
      DW_IMU_ACCELERATION_Y = 1U << 13 ,
      DW_IMU_ACCELERATION_Z = 1U << 14 ,
      DW_IMU_MAGNETOMETER_X = 1U << 15 ,
      DW_IMU_MAGNETOMETER_Y = 1U << 16 ,
      DW_IMU_MAGNETOMETER_Z = 1U << 17 ,
      DW_IMU_ALIGNMENTSTATUS = 1U << 18
    }
     Each flag shows if that value is valid in this IMU frame. More...
     
    enum  dwIMUHeadingType {
      DW_IMU_HEADING_TRUE = 0 ,
      DW_IMU_HEADING_MAGNETIC = 1
    }
     Types of the heading degree. More...
     
    enum  dwIMUImuAccelerationQuality {
      DW_IMU_IMU_ACCELERATION_QUALITY_INIT = 0 ,
      DW_IMU_IMU_ACCELERATION_QUALITY_UNCALIB = 1 ,
      DW_IMU_IMU_ACCELERATION_QUALITY_OK = 2 ,
      DW_IMU_IMU_ACCELERATION_QUALITY_TMP_FAIL = 3 ,
      DW_IMU_IMU_ACCELERATION_QUALITY_PRMNT_FAIL = 4 ,
      DW_IMU_IMU_ACCELERATION_QUALITY_SENS_NOT_INST = 5 ,
      DW_IMU_IMU_ACCELERATION_QUALITY_OVERLOAD = 6 ,
      DW_IMU_IMU_ACCELERATION_QUALITY_TEMPERATURE = 7 ,
      DW_IMU_IMU_ACCELERATION_QUALITY_FORCE32 = 0x7FFFFFFF
    }
     
    enum  dwIMUImuStatus {
      DW_IMU_IMU_STATUS_INIT = 0 ,
      DW_IMU_IMU_STATUS_UNCALIB = 1 ,
      DW_IMU_IMU_STATUS_OK = 2 ,
      DW_IMU_IMU_STATUS_TMP_FAIL = 3 ,
      DW_IMU_IMU_STATUS_PRMNT_FAIL = 4 ,
      DW_IMU_IMU_STATUS_SENS_NOT_INST = 5 ,
      DW_IMU_IMU_STATUS_FORCE32 = 0x7FFFFFFF
    }
     
    enum  dwIMUImuTempQuality {
      DW_IMU_IMU_TEMP_QUALITY_INIT = 0 ,
      DW_IMU_IMU_TEMP_QUALITY_UNCALIB = 1 ,
      DW_IMU_IMU_TEMP_QUALITY_OK = 2 ,
      DW_IMU_IMU_TEMP_QUALITY_TMP_FAIL = 3 ,
      DW_IMU_IMU_TEMP_QUALITY_PRMNT_FAIL = 4 ,
      DW_IMU_IMU_TEMP_QUALITY_SENS_NOT_INST = 5 ,
      DW_IMU_IMU_TEMP_QUALITY_FORCE32 = 0x7FFFFFFF
    }
     
    enum  dwIMUImuTimestampQuality {
      DW_IMU_IMU_TIMESTAMP_QUALITY_NOT_INIT = 0 ,
      DW_IMU_IMU_TIMESTAMP_QUALITY_OK = 2 ,
      DW_IMU_IMU_TIMESTAMP_QUALITY_SYNC_LOST = 3 ,
      DW_IMU_IMU_TIMESTAMP_QUALITY_FORCE32 = 0x7FFFFFFF
    }
     
    enum  dwIMUImuTurnrateAccelQuality {
      DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_INIT = 0 ,
      DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_UNCALIB = 1 ,
      DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OK = 2 ,
      DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TMP_FAIL = 3 ,
      DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_PRMNT_FAIL = 4 ,
      DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_SENS_NOT_INST = 5 ,
      DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OVERLOAD = 6 ,
      DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TEMPERATURE = 7 ,
      DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_FORCE32 = 0x7FFFFFFF
    }
     
    enum  dwIMUImuTurnrateQuality {
      DW_IMU_IMU_TURNRATE_QUALITY_INIT = 0 ,
      DW_IMU_IMU_TURNRATE_QUALITY_UNCALIB = 1 ,
      DW_IMU_IMU_TURNRATE_QUALITY_OK = 2 ,
      DW_IMU_IMU_TURNRATE_QUALITY_TMP_FAIL = 3 ,
      DW_IMU_IMU_TURNRATE_QUALITY_PRMNT_FAIL = 4 ,
      DW_IMU_IMU_TURNRATE_QUALITY_SENS_NOT_INST = 5 ,
      DW_IMU_IMU_TURNRATE_QUALITY_OVERLOAD = 6 ,
      DW_IMU_IMU_TURNRATE_QUALITY_TEMPERATURE = 7 ,
      DW_IMU_IMU_TURNRATE_QUALITY_FORCE32 = 0x7FFFFFFF
    }
     

    Functions

    DW_API_PUBLIC dwStatus dwSensorIMU_popFrame (dwIMUFrame *const frame, dwSensorHandle_t const sensor)
     Returns any IMU data previously processed through the raw data stream. More...
     
    DW_API_PUBLIC dwStatus dwSensorIMU_popFrameNew (dwIMUFrameNew *const frame, dwSensorHandle_t const sensor)
     Returns any IMU Frame New previously processed through the raw data stream. More...
     
    DW_API_PUBLIC dwStatus dwSensorIMU_processRawData (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
     Reads the IMU frame from raw data. More...
     
    DW_API_PUBLIC dwStatus dwSensorIMU_processRawDataNew (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
     Reads the IMU frame New from raw data. More...
     
    DW_API_PUBLIC dwStatus dwSensorIMU_readFrame (dwIMUFrame *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
     Reads the next IMU frame from the sensor within a given timeout. More...
     
    DW_API_PUBLIC dwStatus dwSensorIMU_readFrameNew (dwIMUFrameNew *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
     Reads the next IMU frame New from the sensor within a given timeout. More...
     
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