MYUM7 Library for Arduino IDE
Revision 2: June 8, 2020
- Allows for configurable communication with x UM7 units on a given x UART bus
- Contains all configuration and command registers
- Can read from all data registers
- Can send firmware and error code
CONFIGURATION REGISTERS
CREG_COM_SETTINGS CREG_COM_RATES1 CREG_COM_RATES2 CREG_COM_RATES3 CREG_COM_RATES4 CREG_COM_RATES5 CREG_COM_RATES6 CREG_COM_RATES7 CREG_MISC_SETTING
CREG_HOME_NORTH CREG_HOME_EAST CREG_HOME_UP
CREG_GYRO_TRIM_X CREG_GYRO_TRIM_Y CREG_GYRO_TRIM_Z
CREG_MAG_CAL1_1 CREG_MAG_CAL1_2 CREG_MAG_CAL1_3 CREG_MAG_CAL2_1 CREG_MAG_CAL2_2 CREG_MAG_CAL2_3 CREG_MAG_CAL3_1 CREG_MAG_CAL3_2 CREG_MAG_CAL3_3
CREG_MAG_BIAS_X CREG_MAG_BIAS_Y CREG_MAG_BIAS_Z
CREG_ACCEL_CAL1_1 CREG_ACCEL_CAL1_2 CREG_ACCEL_CAL1_3 CREG_ACCEL_CAL2_1 CREG_ACCEL_CAL2_2 CREG_ACCEL_CAL2_3 CREG_ACCEL_CAL3_1 CREG_ACCEL_CAL3_2 CREG_ACCEL_CAL3_3
CREG_ACCEL_BIAS_X CREG_ACCEL_BIAS_Y CREG_ACCEL_BIAS_Z
DATA REGISTERS
DREG_HEALTH DREG_GYRO_RAW_XY DREG_GYRO_RAW_Z DREG_GYRO_RAW_TIME DREG_ACCEL_RAW_XY DREG_ACCEL_RAW_Z DREG_ACCEL_RAW_TIME DREG_MAG_RAW_XY DREG_MAG_RAW_Z DREG_MAG_RAW_TIME DREG_TEMPERATURE DREG_TEMPERATURE_TIME
DREG_GYRO_PROC_X DREG_GYRO_PROC_Y DREG_GYRO_PROC_Z DREG_GYRO_PROC_TIME DREG_ACCEL_PROC_X DREG_ACCEL_PROC_Y DREG_ACCEL_PROC_Z DREG_ACCEL_PROC_TIME DREG_MAG_PROC_X DREG_MAG_PROC_Y DREG_MAG_PROC_Z DREG_MAG_PROC_TIME
DREG_QUAT_AB DREG_QUAT_CD DREG_QUAT_TIME DREG_EULER_PHI_THETA DREG_EULER_PSI DREG_EULER_PHI_THETA_DOT DREG_EULER_PSI_DOT DREG_EULER_TIME DREG_POSITION_N DREG_POSITION_E DREG_POSITION_UP DREG_POSITION_TIME DREG_VELOCITY_N DREG_VELOCITY_E DREG_VELOCITY_UP DREG_VELOCITY_TIME
DREG_GPS_LATITUDE DREG_GPS_LONGITUDE DREG_GPS_ALTITUDE DREG_GPS_COURSE DREG_GPS_SPEED DREG_GPS_TIME DREG_GPS_SAT_1_2 DREG_GPS_SAT_3_4 DREG_GPS_SAT_5_6 DREG_GPS_SAT_7_8 DREG_GPS_SAT_9_10 DREG_GPS_SAT_11_12
DREG_GYRO_BIAS_X DREG_GYRO_BIAS_Y DREG_GYRO_BIAS_Z
COMMAND REGISTERS
GET_FW_REVISION FLASH_COMMIT RESET_TO_FACTORY ZERO_GYROS SET_HOME_POSITION SET_MAG_REFERENCE CALIBRATE_ACCELEROMETERS RESET_EKF
ACCESIBLE VARIABLES
*** FUNCTIONAL VARIABLES *** HardwareSerial& serial_port; uint32_t error;
*** RAW VARIABLES *** int16_t gyro_raw_x, gyro_raw_y, gyro_raw_z; int16_t accel_raw_x, accel_raw_y, accel_raw_z; int16_t mag_raw_x, mag_raw_y, mag_raw_z; float temp, temp_time; float gyro_raw_time, accel_raw_time, mag_raw_time;
*** PROCESSED VARIABLES *** float gyro_x, gyro_y, gyro_z, gyro_time; float accel_x, accel_y, accel_z, accel_time; float mag_x, mag_y, mag_z, mag_time;
*** ORIENTATION VARIABLES *** int16_t quat_a, quat_b, quat_c, quat_d, quat_time; int16_t roll, pitch, yaw, roll_rate, pitch_rate, yaw_rate; float euler_time;
*** POSITION/VELOCITY VARIABLES *** float north_pos, east_pos, up_pos, pos_time; float north_vel, east_vel, up_vel, vel_time;
*** GPS/SAT VARIABLES *** float lattitude, longitude, altitude, course, speed, gps_time; float satellite_id[12], satellite_SNR[12];
*** GYRO BIAS VARIABLES *** float gyro_bias_x, gyro_bias_y, gyro_bias_z;
ACCESIBLE FUNCTIONS
decode(byte current_byte) /* The function that decodes and parses incoming data from the UM7. The function will determine which register is being read, the batch length, and call checksum once finished. current_byte is current byte being read by serial. decode() returns true if a packet was read succesfully (if checksum returns true).
Have the argument for "decode" SerialX.read() where X is the initialized Serial associated with the UM7
*/
error_status() /* Parses error into string outputs */
set_sensor_baud_rate(float baud) /* Sets the UM7 baud rate. If not called, default is 115200bps. */
set_sensor_baud_rate(float baud, float gps_baud, bool gps, bool sat) /* Overloaded function for set_sensor_baud_rate. Parameters are the UM7 baud rate as well as the gps baud rate. Combines into one register (1B) for command. GPS bit = Causes GPS data to be transmitted automatically once received externally, stored as a batch from DREG_GPS_LATITUDE SAT bit = Causes SAT data to be transmitted automatically once received externally, stored as batch DREG_GPS_SAT_1_2 */
set_raw_rate(uint8_t accel_rate, uint8_t gyro_rate, uint8_t mag_rate) /* Sets the individual rates for the raw datasets. From 0 to 255 Hz, sent through their respective in their signed bytes. */
set_all_raw_rate(uint8_t rate) /* Sets the rate for all raw datasets to the same desired rate */
set_all_raw_rate(uint8_t temp_rate, uint8_t rate) /* Overloaded function for set_all_raw_rate. Allows for the temperature rate to be altered without defaulting the raw datarate Sets the rate for the temperature datasets as well as raw datasets. Leave "rate" as zero if you'd like to keep the raw data rate at a default (or preset individual) speed(s) */
set_processed_rate(uint8_t accel_rate, uint8_t gyro_rate, uint8_t mag_rate) /* Sets the individual rates for the processed datasets. From 0 to 255 Hz, sent through their respective in their signed bytes. */
set_all_processed_rate(uint8_t rate) /* Sets the rate for all processed datasets to the same desired rate */
set_quaternion_rate(uint8_t rate) /* Sets the rate for all quaternion datasets */
set_euler_rate(uint8_t rate) /* Sets the rate for all euler angle datasets */
set_position_rate(uint8_t rate) /* Sets the rate for all position datasets */
set_velocity_rate(uint8_t rate) /* Sets the rate for all velocity datasets */
set_pose_rate(uint8_t rate) /* Sets the rate for all position and euler angle datasets to the same desired rate */
set_health_rate(float baud) /* Sets the rate for the health packet. Default is 1 Hz. */
set_gyro_bias_rate(uint8_t rate) /* Sets the rate for all gyro bias datasets */
set_NMEA_health_rate(int8_t baud) /* Sets the rate for the NMEA health packet */
set_NMEA_pose_rate(int8_t baud) /* Sets the rate for the NMEA position and euler angle datasets */
set_NMEA_attitude_rate(int8_t baud) /* Sets the rate for the NMEA attitude datasets */
set_NMEA_rates_rate(int8_t baud) /* Sets the rate for the NMEA rates datasets */
set_NMEA_GPS_pose_rate(int8_t baud) /* Sets the rate for the NMEA GPS pose datasets */
set_NMEA_quaternion_rate(int8_t baud) /* Sets the rate for the NMEA quaternion datasets */
set_misc_ssettings(bool pps, bool zg, bool q, bool mag) /* Miscellaneous settings for filter and sensor control options. Send a 0 if you don't wish to configure a specific setting Ex. set_misc_settings(0, 1, 1, 0)
PPS bit = Causes the TX2/RX2 pin to be used with an external GPS
ZG bit = Causes UM7 to measure gyro bias at setup
Q bit = Sensor will run in Quternion mode instead of Euler mode. Fixes pitch error in the Gimbal lock position
MAG bit = Magnetometer will be used in state updates
*/
set_home_north(float north) /* Configuration for hard setting the north orientation vector */
set_home_east(float east) /* Configuration for hard setting the east orientation vector */
set_home_up(float up) /* Configuration for hard setting the up orientation vector */
set_gyro_trim(float trim_x, float trim_y, float trim_z) /* Configuration for the gyro trim in XYZ. It's calculated additioanly to the initial bias compensation (done in the ZERO_GYRO_BIAS command). */
soft_iron_magnetometer_calibration(float (array)[3][3]) / Uses 9 entries to perform a soft-iron calibration of the magnetometer. These terms are computed from the RedShiftLabs Serial Interface */
hard_iron_magnetometer_calibration(float bias_x, float bias_y, float bias_z) /* Performs a hard-iron calibration of the magnetometer. These terms are computed from the RedShiftLabs Serial Interface */
accelerometer_misalignment_compensation(float (array)[3][3]) / Uses 9 entries to the cross axis misalignment of the accelerometer. */
accelerometer_calibration(float bias_x, float bias_y, float bias_z) /* Performs a calibration for the accelerometer bias in XYZ directions. These terms are computed from the RedShiftLabs Serial Interface */
get_firmware_revision() /* Causes UM7 to transmit a packet containing the firmware revision string (a 4B char sequence) */
save_configs_to_flash() /* Causes the UM7 to write all configuration settings to FLASH so that they will remain when the power is cycled. */
factory_reset() /* Causes the UM7 to load default factory settings. */
zero_gyros() /* Causes the UM7 to measure the gyro outputs and set the output trim registers to compensate for any non-zero bias. The UM7 should be kept stationary while the zero operation is underway. */
set_home_position() /* Sets the current GPS latitude, longitude, and altitude as the home position. All future positions will be referenced to the current GPS position. */
set_mag_reference() /* Sets the current yaw heading position as north. */
calibrate_accelerometers() /* Reboots the UM7 and performs a crude calibration on the accelerometers. Best performed on a flat surface. */
reset_kalman_filter() /* Resets the EKF. Extended Kalman Filter (EKF) */