MYUM7SPI Library for Arduino IDE
Revision 2: Sep 15, 2020
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Allows for configurable communication with x UM7 units on x cs pin (SPI bus)
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Contains the useful configuration and command registers
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Can read from all useful data registers
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Working on sending firmware
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Can configure the SPI r/w rate
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
*** 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;
INTERNAL VARIABLES
int cs;
ACCESIBLE FUNCTIONS
// Default constructor. Initializes cs pin and sets it as an output. Also inits the SPI rate for r/w transfer MYUM7SPI(uint16_t cs_, uint32_t rate_)
// Sets the rate for all raw datasets to the same desired rate set_all_raw_rate(uint8_t rate)
// Sets the rate for all processed datasets to the same desired rate set_all_processed_rate(uint8_t rate)
// Sets the rate for all quaternion, euler, position, and velocity datasets. This is an overloaded function. set_orientation_rate(byte quat_rate, byte euler_rate, byte pos_rate, byte vel_rate)
// Sets the rate for all quaternion, euler, and position datasets. This is an overloaded function. set_orientation_rate(byte quat_rate, byte euler_rate, byte pos_rate)
// Sets the rate for all quaternion and euler datasets. This is an overloaded function. set_orientation_rate(byte quat_rate, byte euler_rate)
// Sets the rate for quaternion datasets. This is an overloaded function. set_orientation_rate(byte quat_rate)
// 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_misc_settings(bool pps, bool zg, bool q, bool mag)
// Causes UM7 to transmit a packet containing the firmware revision string (a 4B char sequence) get_firmware()
// Causes the UM7 to write all configuration settings to FLASH so that they will remain when the power is cycled. save_configs_to_flash()
// Causes the UM7 to load default factory settings. factory_reset()
// 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. zero_gyros()
// Sets the current GPS latitude, longitude, and altitude as the home position. // All future positions will be referenced to the current GPS position. set_home_position()
// Sets the current yaw heading position as north. set_mag_reference()
// Reboots the UM7 and performs a crude calibration on the accelerometers. Best performed on a flat surface. calibrate_accelerometers()
// Resets the EKF. Extended Kalman Filter (EKF) reset_kalman_filter()
INTERNAL FUNCTIONS
// Read a register that 500F carries 2 datasets (euler data). Uses a user defined bool to determine which dataset to return. read_register(uint16_t address, bool first_half)
// Read from a register. Assume register takes an entire 4 Bytes and is a float point type. read_register(uint16_t address)
// Writes to a configuration register, sends the contents of "contents_" to the proper bytes. write_register(byte address, uint32_t contents_)
// Writes to a command register. Since no contents are required, the SPI bus passes 0x00 over the MOSI line. write_register(byte address)