569 lines
19 KiB
C++
569 lines
19 KiB
C++
/**
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* \file pros/imu.h
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*
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* Contains prototypes for functions related to the VEX Inertial sensor.
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*
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* Visit https://pros.cs.purdue.edu/v5/tutorials/topical/imu.html to learn
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* more.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#ifndef _PROS_IMU_H_
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#define _PROS_IMU_H_
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#include <stdbool.h>
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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namespace pros {
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namespace c {
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#endif
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typedef enum imu_status_e {
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E_IMU_STATUS_READY = 0, // IMU is connected but not currently calibrating
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E_IMU_STATUS_CALIBRATING = 1, // IMU is calibrating
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E_IMU_STATUS_ERROR = 0xFF, // NOTE: used for returning an error from the get_status function, not that the IMU is
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// necessarily in an error state
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} imu_status_e_t;
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typedef enum imu_orientation_e {
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E_IMU_Z_UP = 0, // IMU has the Z axis UP (VEX Logo facing DOWN)
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E_IMU_Z_DOWN = 1, // IMU has the Z axis DOWN (VEX Logo facing UP)
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E_IMU_X_UP = 2, // IMU has the X axis UP
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E_IMU_X_DOWN = 3, // IMU has the X axis DOWN
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E_IMU_Y_UP = 4, // IMU has the Y axis UP
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E_IMU_Y_DOWN = 5, // IMU has the Y axis DOWN
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} imu_orientation_e_t;
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typedef struct __attribute__((__packed__)) quaternion_s {
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double x;
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double y;
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double z;
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double w;
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} quaternion_s_t;
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struct imu_raw_s {
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double x;
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double y;
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double z;
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};
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typedef struct imu_raw_s imu_gyro_s_t;
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typedef struct imu_raw_s imu_accel_s_t;
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typedef struct __attribute__((__packed__)) euler_s {
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double pitch;
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double roll;
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double yaw;
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} euler_s_t;
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#ifdef PROS_USE_SIMPLE_NAMES
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#ifdef __cplusplus
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#define IMU_STATUS_CALIBRATING pros::E_IMU_STATUS_CALIBRATING
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#define IMU_STATUS_ERROR pros::E_IMU_STATUS_ERROR
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#else
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#define IMU_STATUS_CALIBRATING E_IMU_STATUS_CALIBRATING
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#define IMU_STATUS_ERROR E_IMU_STATUS_ERROR
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#endif
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#endif
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#define IMU_MINIMUM_DATA_RATE 5
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/**
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* Calibrate IMU
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*
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* Calibration takes approximately 2 seconds, but this function only blocks
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* until the IMU status flag is set properly to E_IMU_STATUS_CALIBRATING,
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* with a minimum blocking time of 5ms.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is already calibrating, or time out setting the status flag.
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed setting errno.
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*/
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int32_t imu_reset(uint8_t port);
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/**
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* Calibrate IMU and Blocks while Calibrating
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*
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* Calibration takes approximately 2 seconds and blocks during this period,
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* with a timeout for this operation being set a 3 seconds as a safety margin.
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* Like the other reset function, this function also blocks until the IMU
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* status flag is set properly to E_IMU_STATUS_CALIBRATING, with a minimum
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* blocking time of 5ms and a timeout of 1 second if it's never set.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is already calibrating, or time out setting the status flag.
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed (timing out or port claim failure), setting errno.
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*/
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int32_t imu_reset_blocking(uint8_t port);
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/**
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* Set the Inertial Sensor's refresh interval in milliseconds.
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*
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* The rate may be specified in increments of 5ms, and will be rounded down to
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* the nearest increment. The minimum allowable refresh rate is 5ms. The default
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* rate is 10ms.
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*
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* As values are copied into the shared memory buffer only at 10ms intervals,
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* setting this value to less than 10ms does not mean that you can poll the
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* sensor's values any faster. However, it will guarantee that the data is as
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* recent as possible.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \param rate The data refresh interval in milliseconds
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_set_data_rate(uint8_t port, uint32_t rate);
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/**
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* Get the total number of degrees the Inertial Sensor has spun about the z-axis
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*
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* This value is theoretically unbounded. Clockwise rotations are represented
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* with positive degree values, while counterclockwise rotations are represented
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* with negative ones.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The degree value or PROS_ERR_F if the operation failed, setting
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* errno.
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*/
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double imu_get_rotation(uint8_t port);
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/**
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* Get the Inertial Sensor's heading relative to the initial direction of its
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* x-axis
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*
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* This value is bounded by [0,360). Clockwise rotations are represented with
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* positive degree values, while counterclockwise rotations are represented with
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* negative ones.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The degree value or PROS_ERR_F if the operation failed, setting
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* errno.
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*/
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double imu_get_heading(uint8_t port);
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/**
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* Get a quaternion representing the Inertial Sensor's orientation
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The quaternion representing the sensor's orientation. If the
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* operation failed, all the quaternion's members are filled with PROS_ERR_F and
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* errno is set.
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*/
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quaternion_s_t imu_get_quaternion(uint8_t port);
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/**
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* Get the Euler angles representing the Inertial Sensor's orientation
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The Euler angles representing the sensor's orientation. If the
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* operation failed, all the structure's members are filled with PROS_ERR_F and
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* errno is set.
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*/
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euler_s_t imu_get_euler(uint8_t port);
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/**
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* Get the Inertial Sensor's pitch angle bounded by (-180,180)
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The pitch angle, or PROS_ERR_F if the operation failed, setting
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* errno.
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*/
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double imu_get_pitch(uint8_t port);
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/**
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* Get the Inertial Sensor's roll angle bounded by (-180,180)
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The roll angle, or PROS_ERR_F if the operation failed, setting errno.
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*/
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double imu_get_roll(uint8_t port);
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/**
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* Get the Inertial Sensor's yaw angle bounded by (-180,180)
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The yaw angle, or PROS_ERR_F if the operation failed, setting errno.
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*/
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double imu_get_yaw(uint8_t port);
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/**
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* Get the Inertial Sensor's raw gyroscope values
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The raw gyroscope values. If the operation failed, all the
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* structure's members are filled with PROS_ERR_F and errno is set.
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*/
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imu_gyro_s_t imu_get_gyro_rate(uint8_t port);
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/**
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* Get the Inertial Sensor's raw acceleroneter values
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The raw accelerometer values. If the operation failed, all the
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* structure's members are filled with PROS_ERR_F and errno is set.
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*/
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imu_accel_s_t imu_get_accel(uint8_t port);
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/**
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* Get the Inertial Sensor's status
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The Inertial Sensor's status code, or PROS_ERR if the operation
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* failed, setting errno.
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*/
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imu_status_e_t imu_get_status(uint8_t port);
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// NOTE: not used
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// void imu_set_mode(uint8_t port, uint32_t mode);
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// uint32_t imu_get_mode(uint8_t port);
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// Value reset functions:
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/**
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* Resets the current reading of the Inertial Sensor's heading to zero
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_tare_heading(uint8_t port);
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/**
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* Resets the current reading of the Inertial Sensor's rotation to zero
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_tare_rotation(uint8_t port);
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/**
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* Resets the current reading of the Inertial Sensor's pitch to zero
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_tare_pitch(uint8_t port);
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/**
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* Resets the current reading of the Inertial Sensor's roll to zero
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_tare_roll(uint8_t port);
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/**
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* Resets the current reading of the Inertial Sensor's yaw to zero
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_tare_yaw(uint8_t port);
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/**
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* Reset all 3 euler values of the Inertial Sensor to 0.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_tare_euler(uint8_t port);
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/**
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* Resets all 5 values of the Inertial Sensor to 0.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_tare(uint8_t port);
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// Value set functions:
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/**
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* Sets the current reading of the Inertial Sensor's euler values to
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* target euler values. Will default to +/- 180 if target exceeds +/- 180.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \param target
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* Target euler values for the euler values to be set to
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_set_euler(uint8_t port, euler_s_t target);
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|
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/**
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* Sets the current reading of the Inertial Sensor's rotation to target value
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \param target
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* Target value for the rotation value to be set to
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t imu_set_rotation(uint8_t port, double target);
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|
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/**
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* Sets the current reading of the Inertial Sensor's heading to target value
|
|
* Target will default to 360 if above 360 and default to 0 if below 0.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target value for the heading value to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t imu_set_heading(uint8_t port, double target);
|
|
|
|
/**
|
|
* Sets the current reading of the Inertial Sensor's pitch to target value
|
|
* Will default to +/- 180 if target exceeds +/- 180.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target value for the pitch value to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t imu_set_pitch(uint8_t port, double target);
|
|
|
|
/**
|
|
* Sets the current reading of the Inertial Sensor's roll to target value
|
|
* Will default to +/- 180 if target exceeds +/- 180.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target value for the roll value to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t imu_set_roll(uint8_t port, double target);
|
|
|
|
/**
|
|
* Sets the current reading of the Inertial Sensor's yaw to target value
|
|
* Will default to +/- 180 if target exceeds +/- 180.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target value for the yaw value to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*/
|
|
int32_t imu_set_yaw(uint8_t port, double target);
|
|
|
|
/**
|
|
* Returns the physical orientation of the IMU
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \returns The orientation of the Inertial Sensor or PROS_ERR if an error occured.
|
|
*
|
|
*/
|
|
imu_orientation_e_t imu_get_physical_orientation(uint8_t port);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#endif
|