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pub use msg_imu_aux::MsgImuAux;
pub use msg_imu_raw::MsgImuRaw;
pub mod msg_imu_aux {
#![allow(unused_imports)]
use super::*;
use crate::messages::lib::*;
#[cfg_attr(feature = "serde", derive(serde::Serialize))]
#[derive(Debug, Clone)]
pub struct MsgImuAux {
#[cfg_attr(feature = "serde", serde(skip_serializing))]
pub sender_id: Option<u16>,
#[cfg_attr(feature = "serde", serde(rename(serialize = "imu_type")))]
pub imu_type: u8,
#[cfg_attr(feature = "serde", serde(rename(serialize = "temp")))]
pub temp: i16,
#[cfg_attr(feature = "serde", serde(rename(serialize = "imu_conf")))]
pub imu_conf: u8,
}
impl MsgImuAux {
pub fn imu_type(&self) -> Result<ImuType, u8> {
get_bit_range!(self.imu_type, u8, u8, 7, 0).try_into()
}
pub fn set_imu_type(&mut self, imu_type: ImuType) {
set_bit_range!(&mut self.imu_type, imu_type, u8, u8, 7, 0);
}
pub fn gyroscope_range(&self) -> Result<GyroscopeRange, u8> {
get_bit_range!(self.imu_conf, u8, u8, 7, 4).try_into()
}
pub fn set_gyroscope_range(&mut self, gyroscope_range: GyroscopeRange) {
set_bit_range!(&mut self.imu_conf, gyroscope_range, u8, u8, 7, 4);
}
pub fn accelerometer_range(&self) -> Result<AccelerometerRange, u8> {
get_bit_range!(self.imu_conf, u8, u8, 3, 0).try_into()
}
pub fn set_accelerometer_range(&mut self, accelerometer_range: AccelerometerRange) {
set_bit_range!(&mut self.imu_conf, accelerometer_range, u8, u8, 3, 0);
}
}
impl ConcreteMessage for MsgImuAux {
const MESSAGE_TYPE: u16 = 2305;
const MESSAGE_NAME: &'static str = "MSG_IMU_AUX";
}
impl SbpMessage for MsgImuAux {
fn message_name(&self) -> &'static str {
<Self as ConcreteMessage>::MESSAGE_NAME
}
fn message_type(&self) -> u16 {
<Self as ConcreteMessage>::MESSAGE_TYPE
}
fn sender_id(&self) -> Option<u16> {
self.sender_id
}
fn set_sender_id(&mut self, new_id: u16) {
self.sender_id = Some(new_id);
}
fn encoded_len(&self) -> usize {
WireFormat::len(self) + crate::HEADER_LEN + crate::CRC_LEN
}
}
impl TryFrom<Sbp> for MsgImuAux {
type Error = TryFromSbpError;
fn try_from(msg: Sbp) -> Result<Self, Self::Error> {
match msg {
Sbp::MsgImuAux(m) => Ok(m),
_ => Err(TryFromSbpError),
}
}
}
impl WireFormat for MsgImuAux {
const MIN_LEN: usize = <u8 as WireFormat>::MIN_LEN
+ <i16 as WireFormat>::MIN_LEN
+ <u8 as WireFormat>::MIN_LEN;
fn len(&self) -> usize {
WireFormat::len(&self.imu_type)
+ WireFormat::len(&self.temp)
+ WireFormat::len(&self.imu_conf)
}
fn write<B: BufMut>(&self, buf: &mut B) {
WireFormat::write(&self.imu_type, buf);
WireFormat::write(&self.temp, buf);
WireFormat::write(&self.imu_conf, buf);
}
fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
MsgImuAux {
sender_id: None,
imu_type: WireFormat::parse_unchecked(buf),
temp: WireFormat::parse_unchecked(buf),
imu_conf: WireFormat::parse_unchecked(buf),
}
}
}
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
pub enum ImuType {
BoschBmi160 = 0,
StMicroelectronicsAsm330Llh = 1,
}
impl std::fmt::Display for ImuType {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
match self {
ImuType::BoschBmi160 => f.write_str("Bosch BMI160"),
ImuType::StMicroelectronicsAsm330Llh => {
f.write_str("ST Microelectronics ASM330LLH")
}
}
}
}
impl TryFrom<u8> for ImuType {
type Error = u8;
fn try_from(i: u8) -> Result<Self, Self::Error> {
match i {
0 => Ok(ImuType::BoschBmi160),
1 => Ok(ImuType::StMicroelectronicsAsm330Llh),
i => Err(i),
}
}
}
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
pub enum GyroscopeRange {
_2000DegS = 0,
_1000DegS = 1,
_500DegS = 2,
_250DegS = 3,
_125DegS = 4,
}
impl std::fmt::Display for GyroscopeRange {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
match self {
GyroscopeRange::_2000DegS => f.write_str("+/- 2000 deg / s"),
GyroscopeRange::_1000DegS => f.write_str("+/- 1000 deg / s"),
GyroscopeRange::_500DegS => f.write_str("+/- 500 deg / s"),
GyroscopeRange::_250DegS => f.write_str("+/- 250 deg / s"),
GyroscopeRange::_125DegS => f.write_str("+/- 125 deg / s"),
}
}
}
impl TryFrom<u8> for GyroscopeRange {
type Error = u8;
fn try_from(i: u8) -> Result<Self, Self::Error> {
match i {
0 => Ok(GyroscopeRange::_2000DegS),
1 => Ok(GyroscopeRange::_1000DegS),
2 => Ok(GyroscopeRange::_500DegS),
3 => Ok(GyroscopeRange::_250DegS),
4 => Ok(GyroscopeRange::_125DegS),
i => Err(i),
}
}
}
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
pub enum AccelerometerRange {
_2G = 0,
_4G = 1,
_8G = 2,
_16G = 3,
}
impl std::fmt::Display for AccelerometerRange {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
match self {
AccelerometerRange::_2G => f.write_str("+/- 2g"),
AccelerometerRange::_4G => f.write_str("+/- 4g"),
AccelerometerRange::_8G => f.write_str("+/- 8g"),
AccelerometerRange::_16G => f.write_str("+/- 16g"),
}
}
}
impl TryFrom<u8> for AccelerometerRange {
type Error = u8;
fn try_from(i: u8) -> Result<Self, Self::Error> {
match i {
0 => Ok(AccelerometerRange::_2G),
1 => Ok(AccelerometerRange::_4G),
2 => Ok(AccelerometerRange::_8G),
3 => Ok(AccelerometerRange::_16G),
i => Err(i),
}
}
}
}
pub mod msg_imu_raw {
#![allow(unused_imports)]
use super::*;
use crate::messages::lib::*;
#[cfg_attr(feature = "serde", derive(serde::Serialize))]
#[derive(Debug, Clone)]
pub struct MsgImuRaw {
#[cfg_attr(feature = "serde", serde(skip_serializing))]
pub sender_id: Option<u16>,
#[cfg_attr(feature = "serde", serde(rename(serialize = "tow")))]
pub tow: u32,
#[cfg_attr(feature = "serde", serde(rename(serialize = "tow_f")))]
pub tow_f: u8,
#[cfg_attr(feature = "serde", serde(rename(serialize = "acc_x")))]
pub acc_x: i16,
#[cfg_attr(feature = "serde", serde(rename(serialize = "acc_y")))]
pub acc_y: i16,
#[cfg_attr(feature = "serde", serde(rename(serialize = "acc_z")))]
pub acc_z: i16,
#[cfg_attr(feature = "serde", serde(rename(serialize = "gyr_x")))]
pub gyr_x: i16,
#[cfg_attr(feature = "serde", serde(rename(serialize = "gyr_y")))]
pub gyr_y: i16,
#[cfg_attr(feature = "serde", serde(rename(serialize = "gyr_z")))]
pub gyr_z: i16,
}
impl MsgImuRaw {
pub fn time_status(&self) -> Result<TimeStatus, u8> {
get_bit_range!(self.tow, u32, u8, 31, 30).try_into()
}
pub fn set_time_status(&mut self, time_status: TimeStatus) {
set_bit_range!(&mut self.tow, time_status, u32, u8, 31, 30);
}
pub fn time_since_reference_epoch_in_milliseconds(&self) -> u32 {
get_bit_range!(self.tow, u32, u32, 29, 0)
}
pub fn set_time_since_reference_epoch_in_milliseconds(
&mut self,
time_since_reference_epoch_in_milliseconds: u32,
) {
set_bit_range!(
&mut self.tow,
time_since_reference_epoch_in_milliseconds,
u32,
u32,
29,
0
);
}
}
impl ConcreteMessage for MsgImuRaw {
const MESSAGE_TYPE: u16 = 2304;
const MESSAGE_NAME: &'static str = "MSG_IMU_RAW";
}
impl SbpMessage for MsgImuRaw {
fn message_name(&self) -> &'static str {
<Self as ConcreteMessage>::MESSAGE_NAME
}
fn message_type(&self) -> u16 {
<Self as ConcreteMessage>::MESSAGE_TYPE
}
fn sender_id(&self) -> Option<u16> {
self.sender_id
}
fn set_sender_id(&mut self, new_id: u16) {
self.sender_id = Some(new_id);
}
fn encoded_len(&self) -> usize {
WireFormat::len(self) + crate::HEADER_LEN + crate::CRC_LEN
}
#[cfg(feature = "swiftnav")]
fn gps_time(&self) -> Option<std::result::Result<time::MessageTime, time::GpsTimeError>> {
const IMU_RAW_TIME_STATUS_MASK: u32 = (1 << 30) | (1 << 31);
if self.tow & IMU_RAW_TIME_STATUS_MASK != 0 {
return None;
}
let tow_s = (self.tow as f64) / 1000.0;
let gps_time = match time::GpsTime::new(0, tow_s) {
Ok(gps_time) => gps_time.tow(),
Err(e) => return Some(Err(e.into())),
};
Some(Ok(time::MessageTime::Rover(gps_time.into())))
}
}
impl TryFrom<Sbp> for MsgImuRaw {
type Error = TryFromSbpError;
fn try_from(msg: Sbp) -> Result<Self, Self::Error> {
match msg {
Sbp::MsgImuRaw(m) => Ok(m),
_ => Err(TryFromSbpError),
}
}
}
impl WireFormat for MsgImuRaw {
const MIN_LEN: usize = <u32 as WireFormat>::MIN_LEN
+ <u8 as WireFormat>::MIN_LEN
+ <i16 as WireFormat>::MIN_LEN
+ <i16 as WireFormat>::MIN_LEN
+ <i16 as WireFormat>::MIN_LEN
+ <i16 as WireFormat>::MIN_LEN
+ <i16 as WireFormat>::MIN_LEN
+ <i16 as WireFormat>::MIN_LEN;
fn len(&self) -> usize {
WireFormat::len(&self.tow)
+ WireFormat::len(&self.tow_f)
+ WireFormat::len(&self.acc_x)
+ WireFormat::len(&self.acc_y)
+ WireFormat::len(&self.acc_z)
+ WireFormat::len(&self.gyr_x)
+ WireFormat::len(&self.gyr_y)
+ WireFormat::len(&self.gyr_z)
}
fn write<B: BufMut>(&self, buf: &mut B) {
WireFormat::write(&self.tow, buf);
WireFormat::write(&self.tow_f, buf);
WireFormat::write(&self.acc_x, buf);
WireFormat::write(&self.acc_y, buf);
WireFormat::write(&self.acc_z, buf);
WireFormat::write(&self.gyr_x, buf);
WireFormat::write(&self.gyr_y, buf);
WireFormat::write(&self.gyr_z, buf);
}
fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
MsgImuRaw {
sender_id: None,
tow: WireFormat::parse_unchecked(buf),
tow_f: WireFormat::parse_unchecked(buf),
acc_x: WireFormat::parse_unchecked(buf),
acc_y: WireFormat::parse_unchecked(buf),
acc_z: WireFormat::parse_unchecked(buf),
gyr_x: WireFormat::parse_unchecked(buf),
gyr_y: WireFormat::parse_unchecked(buf),
gyr_z: WireFormat::parse_unchecked(buf),
}
}
}
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
pub enum TimeStatus {
ReferenceEpochIsStartOfCurrentGpsWeek = 0,
ReferenceEpochIsTimeOfSystemStartup = 1,
ReferenceEpochIsUnknown = 2,
ReferenceEpochIsLastPps = 3,
}
impl std::fmt::Display for TimeStatus {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
match self {
TimeStatus::ReferenceEpochIsStartOfCurrentGpsWeek => {
f.write_str("Reference epoch is start of current GPS week")
}
TimeStatus::ReferenceEpochIsTimeOfSystemStartup => {
f.write_str("Reference epoch is time of system startup")
}
TimeStatus::ReferenceEpochIsUnknown => f.write_str("Reference epoch is unknown"),
TimeStatus::ReferenceEpochIsLastPps => f.write_str("Reference epoch is last PPS"),
}
}
}
impl TryFrom<u8> for TimeStatus {
type Error = u8;
fn try_from(i: u8) -> Result<Self, Self::Error> {
match i {
0 => Ok(TimeStatus::ReferenceEpochIsStartOfCurrentGpsWeek),
1 => Ok(TimeStatus::ReferenceEpochIsTimeOfSystemStartup),
2 => Ok(TimeStatus::ReferenceEpochIsUnknown),
3 => Ok(TimeStatus::ReferenceEpochIsLastPps),
i => Err(i),
}
}
}
}