Detailed Description

Defines the IMU sensor.

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...

Data Structure Documentation

◆ dwIMUFrame

struct dwIMUFrame

Data Fields
float64_t	acceleration[3]	Acceleration in X, Y, and Z directions [m/s^2].
dwIMUAlignmentStatus	alignmentStatus	Alignment status.
uint32_t	flags	The flags to show which values are valid in this IMU frame.
float64_t	heading	Heading of the IMU measured in respect to the ENU system [degrees], i.e., compass.
dwIMUHeadingType	headingType	Type of the heading information.
float64_t	magnetometer[3]	Measurement of the magnetometer unit in X, Y, and Z directions [utesla].
float64_t	orientation[3]	Roll, pitch, and yaw angle of the orientation returned by the IMU [degree].
dwQuaterniond	orientationQuaternion	Quaternion representation (x, y, z, w) of the orientation returned by the IMU.
dwTime_t	timestamp_us	Timestamp for the current message. Indicates when it's first received [usec].
float64_t	turnrate[3]	Roll, pitch, and yaw turn rate (i.e., gyroscope)[rad/s].

◆ dwIMUFrameNew

struct dwIMUFrameNew

Data Fields
float64_t	acceleration[3]	Note ID VS-90050 description Acceleration in X, Y, and Z directions. Linear acceleration measured by the IMU sensor, it does include the gravity component as the sensor measures the reaction due to gravity. This is sometimes referred to as “proper acceleration”. This is an IMU sensor signal, as such it reflects all the motions of the sensor itself, including suspension flexing, gravity, vehicle turning, rolling and pitching. Coordinate system is that of the sensor itself, refer to manufacturer datasheet.. min nan max nan freq 100 unit m/s2
float64_t	accelerationOffset[3]	Note ID VS-90100 description IMU acceleration offset values. min nan max nan freq 100 unit m/s2
dwIMUAlignmentStatus	alignmentStatus	Alignment status.
float64_t	heading	Note ID VS-90070 description Heading of the IMU measured in respect to the ENU system, i.e., compass. This is a signal that can be provided by certain IMU+GNSS sensor solutions as part of the state estimation. It is not used by egomotion. Heading is defined with respect to ENU coordinate system, whereas yaw is in an arbitrary local coordinate system.. min nan max nan freq 100 unit deg
dwIMUImuAccelerationQuality	imuAccelerationQuality[3]	Note ID VS-90150 description Vehicle IMU acceleration values status. TODO: Backend not yet implemented min nan max nan freq 100 unit - * valid values: { DW_IMU_IMU_ACCELERATION_QUALITY_INIT, DW_IMU_IMU_ACCELERATION_QUALITY_UNCALIB, DW_IMU_IMU_ACCELERATION_QUALITY_OK, DW_IMU_IMU_ACCELERATION_QUALITY_TMP_FAIL, DW_IMU_IMU_ACCELERATION_QUALITY_PRMNT_FAIL, DW_IMU_IMU_ACCELERATION_QUALITY_SENS_NOT_INST, DW_IMU_IMU_ACCELERATION_QUALITY_OVERLOAD, DW_IMU_IMU_ACCELERATION_QUALITY_TEMPERATURE }
dwIMUImuStatus	imuStatus	Note ID VS-90200 description Vehicle IMU overall status. min nan max nan freq 100 unit - * valid values: { DW_IMU_IMU_STATUS_INIT, DW_IMU_IMU_STATUS_UNCALIB, DW_IMU_IMU_STATUS_OK, DW_IMU_IMU_STATUS_TMP_FAIL, DW_IMU_IMU_STATUS_PRMNT_FAIL, DW_IMU_IMU_STATUS_SENS_NOT_INST }
dwIMUImuTempQuality	imuTempQuality	Note ID VS-90140 description Vehicle IMU temperature status. TODO: Backend not yet implemented min nan max nan freq 100 unit - * valid values: { DW_IMU_IMU_TEMP_QUALITY_INIT, DW_IMU_IMU_TEMP_QUALITY_UNCALIB, DW_IMU_IMU_TEMP_QUALITY_OK, DW_IMU_IMU_TEMP_QUALITY_TMP_FAIL, DW_IMU_IMU_TEMP_QUALITY_PRMNT_FAIL, DW_IMU_IMU_TEMP_QUALITY_SENS_NOT_INST }
dwIMUImuTimestampQuality	imuTimestampQuality	Note ID VS-90190 description Vehicle IMU timestamp quality. TODO: Backend not yet implemented min nan max nan freq 100 unit - * valid values: { DW_IMU_IMU_TIMESTAMP_QUALITY_NOT_INIT, DW_IMU_IMU_TIMESTAMP_QUALITY_OK, DW_IMU_IMU_TIMESTAMP_QUALITY_SYNC_LOST, }
dwIMUImuTurnrateAccelQuality	imuTurnrateAccelQuality[3]	Note ID VS-90180 description Vehicle IMU gyroscope acceleration values quality. TODO: Backend not yet implemented min nan max nan freq 100 unit - * valid values: { DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_INIT, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_UNCALIB, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OK, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TMP_FAIL, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_PRMNT_FAIL, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_SENS_NOT_INST, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OVERLOAD, DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TEMPERATURE }
uint8_t	imuTurnrateOffsetQuality[3]	Note ID VS-90170 description Vehicle IMU gyroscope offset values quality on a scale of 0...62. TODO: Backend not yet implemented min nan max nan freq 100 unit unitless
dwIMUImuTurnrateQuality	imuTurnrateQuality[3]	Note ID VS-90160 description Vehicle IMU gyroscope values quality. TODO: Backend not yet implemented min nan max nan freq 100 unit - * valid values: { DW_IMU_IMU_TURNRATE_QUALITY_INIT, DW_IMU_IMU_TURNRATE_QUALITY_UNCALIB, DW_IMU_IMU_TURNRATE_QUALITY_OK, DW_IMU_IMU_TURNRATE_QUALITY_TMP_FAIL, DW_IMU_IMU_TURNRATE_QUALITY_PRMNT_FAIL, DW_IMU_IMU_TURNRATE_QUALITY_SENS_NOT_INST, DW_IMU_IMU_TURNRATE_QUALITY_OVERLOAD, DW_IMU_IMU_TURNRATE_QUALITY_TEMPERATURE }
float64_t	magnetometer[3]	Note ID VS-90060 description Measurement of the magnetometer unit in X, Y, and Z directions. min nan max nan freq 100 unit utesla
float64_t	orientation[3]	Note ID VS-90020 description Roll, pitch, and yaw angle of the orientation returned by the IMU. This is a signal that can be provided by certain types of IMUs as part of their internal state estimation. It is not used by egomotion. min nan max nan freq 100 unit deg
dwQuaterniond	orientationQuaternion	Note ID VS-90030 description Quaternion representation (x, y, z, w) of the orientation returned by the IMU. This is a signal that can be provided by certain types of IMUs as part of their internal state estimation. It is not used by egomotion.. min nan max nan freq 100 unit unitless
uint8_t	reserved[508]
uint8_t	sequenceCounter	Note description Sequence counter TODO: Backend not yet implemented
float32_t	temperature	Note ID VS-90090 description IMU temperature. min nan max nan freq 100 unit C
dwTime_t	timestamp_us	Note ID VS-90010 description Timestamp for the current message. Indicates when it's first received. min nan max nan freq 100 unit us
float64_t	turnrate[3]	Note ID VS-90040 description Roll, pitch, and yaw turn rate (i.e., gyroscope). Angular velocities measured by the IMU sensor, they are given in the coordinate system of the sensor.. min nan max nan freq 100 unit rad/s
float64_t	turnrateAccel[3]	Note ID VS-90120 description IMU gyroscope acceleration values. min nan max nan freq 100 unit rad/sec2
float64_t	turnrateOffset[3]	Note ID VS-90110 description IMU gyroscope offset values. min nan max nan freq 100 unit rad/s
struct dwIMUFrameNew.validityInfo	validityInfo

◆ dwIMUFrameNew.validityInfo

struct dwIMUFrameNew.validityInfo

Data Fields
dwSignalValidity	acceleration[3]
dwSignalValidity	accelerationOffset[3]
dwSignalValidity	alignmentStatus
dwSignalValidity	heading
dwSignalValidity	imuAccelerationQuality[3]
dwSignalValidity	imuStatus
dwSignalValidity	imuTempQuality
dwSignalValidity	imuTimestampQuality
dwSignalValidity	imuTurnrateAccelQuality[3]
dwSignalValidity	imuTurnrateOffsetQuality[3]
dwSignalValidity	imuTurnrateQuality[3]
dwSignalValidity	magnetometer[3]
dwSignalValidity	orientation[3]
dwSignalValidity	orientationQuaternion
dwSignalValidity	reserved[63]
dwSignalValidity	sequenceCounter
dwSignalValidity	temperature
dwSignalValidity	timestamp_us
dwSignalValidity	turnrate[3]
dwSignalValidity	turnrateAccel[3]
dwSignalValidity	turnrateOffset[3]

Enumeration Type Documentation

◆ dwIMUAlignmentStatus

enum dwIMUAlignmentStatus

High rate data output from GNSS-IMU device requires fusion of GNSS and IMU.

The data can only be accurate if the GNSS/IMU device has gone through an internal alignment initialization, which allows the device to know the orientation of the IMU. This status indicates the quality of IMU alignment.

Enumerator
DW_IMU_ALIGNMENT_STATUS_UNKNOWN	Unknown status means the device does not or has not yet provided this information.
DW_IMU_ALIGNMENT_STATUS_INVALID	Invalid means the IMU alignment is not yet valid, and the output data is not accurate.
DW_IMU_ALIGNMENT_STATUS_COARSE	Coarse means the IMU is roughly aligned, so the data is useful, but not of the highest quality.
DW_IMU_ALIGNMENT_STATUS_FINE	Fine means the IMU alignment is complete, and the device can output high quality data.
DW_IMU_ALIGNMENT_STATUS_FORCE32

Definition at line 104 of file IMU.h.

◆ dwIMUFlags

enum dwIMUFlags

Each flag shows if that value is valid in this IMU frame.

Enumerator
DW_IMU_HEADING	Value of dwIMUFrame.heading is valid.
DW_IMU_ROLL	Value of dwIMUFrame.orientation[0] is valid.
DW_IMU_PITCH	Value of dwIMUFrame.orientation[1] is valid.
DW_IMU_YAW	Value of dwIMUFrame.orientation[2] is valid.
DW_IMU_QUATERNION_X
DW_IMU_QUATERNION_Y	!< Value of dwIMUFrame.orientationQuaternion.x is valid.
DW_IMU_QUATERNION_Z	!< Value of dwIMUFrame.orientationQuaternion.y is valid.
DW_IMU_QUATERNION_W	!< Value of dwIMUFrame.orientationQuaternion.z is valid.
DW_IMU_ROLL_RATE	!< Value of dwIMUFrame.orientationQuaternion.w is valid. Value of dwIMUFrame.turnrate[0] is valid.
DW_IMU_PITCH_RATE	Value of dwIMUFrame.turnrate[1] is valid.
DW_IMU_YAW_RATE	Value of dwIMUFrame.turnrate[2] is valid.
DW_IMU_ACCELERATION_X	Value of dwIMUFrame.acceleration[0] is valid.
DW_IMU_ACCELERATION_Y	Value of dwIMUFrame.acceleration[1] is valid.
DW_IMU_ACCELERATION_Z	Value of dwIMUFrame.acceleration[2] is valid.
DW_IMU_MAGNETOMETER_X	Value of dwIMUFrame.magnetometer[0] is valid.
DW_IMU_MAGNETOMETER_Y	Value of dwIMUFrame.magnetometer[1] is valid.
DW_IMU_MAGNETOMETER_Z	Value of dwIMUFrame.magnetometer[2] is valid.
DW_IMU_ALIGNMENTSTATUS	Value of dwIMUFrame.alignmentStatus is valid.

Definition at line 61 of file IMU.h.

◆ dwIMUHeadingType

enum dwIMUHeadingType

Types of the heading degree.

Enumerator

DW_IMU_HEADING_TRUE

True heading.

'dwIMUFrame.heading' points towards true north.

DW_IMU_HEADING_MAGNETIC

Magnetic heading.

'dwIMUFrame.heading' points towards magnetic north.

Definition at line 90 of file IMU.h.

◆ dwIMUImuAccelerationQuality

enum dwIMUImuAccelerationQuality

Enumerator
DW_IMU_IMU_ACCELERATION_QUALITY_INIT	Signal initializing.
DW_IMU_IMU_ACCELERATION_QUALITY_UNCALIB	Sensor uncalibrated.
DW_IMU_IMU_ACCELERATION_QUALITY_OK	Signal in specification.
DW_IMU_IMU_ACCELERATION_QUALITY_TMP_FAIL	Signal temporary failure.
DW_IMU_IMU_ACCELERATION_QUALITY_PRMNT_FAIL	Signal permanent failure.
DW_IMU_IMU_ACCELERATION_QUALITY_SENS_NOT_INST	Sensor not installed.
DW_IMU_IMU_ACCELERATION_QUALITY_OVERLOAD
DW_IMU_IMU_ACCELERATION_QUALITY_TEMPERATURE
DW_IMU_IMU_ACCELERATION_QUALITY_FORCE32

Definition at line 171 of file IMU.h.

◆ dwIMUImuStatus

enum dwIMUImuStatus

Enumerator
DW_IMU_IMU_STATUS_INIT	Signal initializing.
DW_IMU_IMU_STATUS_UNCALIB	Sensor uncalibrated.
DW_IMU_IMU_STATUS_OK	Signal in specification.
DW_IMU_IMU_STATUS_TMP_FAIL	Signal temporary failure.
DW_IMU_IMU_STATUS_PRMNT_FAIL	Signal permanent failure.
DW_IMU_IMU_STATUS_SENS_NOT_INST	Sensor not installed.
DW_IMU_IMU_STATUS_FORCE32

Definition at line 241 of file IMU.h.

◆ dwIMUImuTempQuality

enum dwIMUImuTempQuality

Enumerator
DW_IMU_IMU_TEMP_QUALITY_INIT	Signal initializing.
DW_IMU_IMU_TEMP_QUALITY_UNCALIB	Sensor uncalibrated.
DW_IMU_IMU_TEMP_QUALITY_OK	Signal in specification.
DW_IMU_IMU_TEMP_QUALITY_TMP_FAIL	Signal temporary failure.
DW_IMU_IMU_TEMP_QUALITY_PRMNT_FAIL	Signal permanent failure.
DW_IMU_IMU_TEMP_QUALITY_SENS_NOT_INST	Sensor not installed.
DW_IMU_IMU_TEMP_QUALITY_FORCE32

Definition at line 155 of file IMU.h.

◆ dwIMUImuTimestampQuality

enum dwIMUImuTimestampQuality

Enumerator
DW_IMU_IMU_TIMESTAMP_QUALITY_NOT_INIT	Not Initialized. still initializing.
DW_IMU_IMU_TIMESTAMP_QUALITY_OK	Normal Operation. Functional and Electrical Checks Passed.
DW_IMU_IMU_TIMESTAMP_QUALITY_SYNC_LOST	Synchronization lost.
DW_IMU_IMU_TIMESTAMP_QUALITY_FORCE32

Definition at line 231 of file IMU.h.

◆ dwIMUImuTurnrateAccelQuality

enum dwIMUImuTurnrateAccelQuality

Enumerator
DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_INIT	Signal initializing.
DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_UNCALIB	Sensor uncalibrated.
DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OK	Signal in specification.
DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TMP_FAIL	Signal temporary failure.
DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_PRMNT_FAIL	Signal permanent failure.
DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_SENS_NOT_INST	Sensor not installed.
DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_OVERLOAD
DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_TEMPERATURE
DW_IMU_IMU_TURNRATE_ACCEL_QUALITY_FORCE32

Definition at line 211 of file IMU.h.

◆ dwIMUImuTurnrateQuality

enum dwIMUImuTurnrateQuality

Enumerator
DW_IMU_IMU_TURNRATE_QUALITY_INIT	Signal initializing.
DW_IMU_IMU_TURNRATE_QUALITY_UNCALIB	Sensor uncalibrated.
DW_IMU_IMU_TURNRATE_QUALITY_OK	Signal in specification.
DW_IMU_IMU_TURNRATE_QUALITY_TMP_FAIL	Signal temporary failure.
DW_IMU_IMU_TURNRATE_QUALITY_PRMNT_FAIL	Signal permanent failure.
DW_IMU_IMU_TURNRATE_QUALITY_SENS_NOT_INST	Sensor not installed.
DW_IMU_IMU_TURNRATE_QUALITY_OVERLOAD
DW_IMU_IMU_TURNRATE_QUALITY_TEMPERATURE
DW_IMU_IMU_TURNRATE_QUALITY_FORCE32

Definition at line 191 of file IMU.h.

Function Documentation

◆ dwSensorIMU_popFrame()

DW_API_PUBLIC dwStatus dwSensorIMU_popFrame	(	dwIMUFrame *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any IMU data previously processed through the raw data stream.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[out]	frame	Pointer to an IMU frame structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

Deprecated:: This API will be removed. Use 'dwSensorIMU_popFrameNew'

◆ dwSensorIMU_popFrameNew()

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.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[out]	frame	Pointer to an IMU frame New structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

◆ dwSensorIMU_processRawData()

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.

Any processed messages can be picked up using the dwSensorIMU_readFrame() method. This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[in]	data	Undecoded imu data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

Deprecated:: This API will be removed. Use 'dwSensorIMU_processRawDataNew'

◆ dwSensorIMU_processRawDataNew()

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.

Any processed messages can be picked up using the dwSensorIMU_readFrameNew() method. This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[in]	data	Undecoded imu data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

◆ dwSensorIMU_readFrame()

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.

The method blocks until either a new valid frame is received from the sensor or the given timeout is exceeded.

Parameters

[out]	frame	A pointer to an IMU frame structure to be filled with new data.
[in]	timeoutUs	Timeout, in us, to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitely. Zero - means polling of internal queue.
[in]	sensor	Sensor handle of the IMU sensor previously created with dwSAL_createSensor().

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid
DW_INVALID_ARGUMENTS - if given arguments are invalid
DW_TIME_OUT - if operation has timeout
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS

Deprecated:: This API will be removed. Use 'dwSensorIMU_readFrameNew'

◆ dwSensorIMU_readFrameNew()

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.

The method blocks until either a new valid frame is received from the sensor or the given timeout is exceeded.

Parameters

[out]	frame	A pointer to an IMU frame New structure to be filled with new data.
[in]	timeoutUs	Timeout, in us, to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitely. Zero - means polling of internal queue.
[in]	sensor	Sensor handle of the IMU sensor previously created with dwSAL_createSensor().

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid
DW_INVALID_ARGUMENTS - if given arguments are invalid
DW_TIME_OUT - if operation has timeout
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS

Detailed Description

Data Structures

Enumerations

Functions

Data Structure Documentation

◆ dwIMUFrame

◆ dwIMUFrameNew

◆ dwIMUFrameNew.validityInfo

Enumeration Type Documentation

◆ dwIMUAlignmentStatus

◆ dwIMUFlags

◆ dwIMUHeadingType

◆ dwIMUImuAccelerationQuality

◆ dwIMUImuStatus

◆ dwIMUImuTempQuality

◆ dwIMUImuTimestampQuality

◆ dwIMUImuTurnrateAccelQuality

◆ dwIMUImuTurnrateQuality

Function Documentation

◆ dwSensorIMU_popFrame()

◆ dwSensorIMU_popFrameNew()

◆ dwSensorIMU_processRawData()

◆ dwSensorIMU_processRawDataNew()

◆ dwSensorIMU_readFrame()

◆ dwSensorIMU_readFrameNew()