ST ISM330DLC IMU driver

msg/CMakeLists.txt

@@ -45,8 +45,8 @@ set(msg_files
 	camera_capture.msg
 	camera_trigger.msg
 	cellular_status.msg
-	collision_report.msg
 	collision_constraints.msg
+	collision_report.msg
 	commander_state.msg
 	cpuload.msg
 	debug_array.msg
@@ -104,12 +104,16 @@ set(msg_files
 	safety.msg
 	satellite_info.msg
 	sensor_accel.msg
+	sensor_accel_fifo.msg
+	sensor_accel_status.msg
 	sensor_baro.msg
 	sensor_bias.msg
 	sensor_combined.msg
 	sensor_correction.msg
 	sensor_gyro.msg
 	sensor_gyro_control.msg
+	sensor_gyro_fifo.msg
+	sensor_gyro_status.msg
 	sensor_mag.msg
 	sensor_preflight.msg
 	sensor_selection.msg

msg/sensor_accel.msg

@@ -7,14 +7,16 @@ float32 x		# acceleration in the NED X board axis in m/s^2
 float32 y		# acceleration in the NED Y board axis in m/s^2
 float32 z		# acceleration in the NED Z board axis in m/s^2
 
-uint32 integral_dt	# integration time  (microseconds)
+uint32 integral_dt	# integration time (microseconds)
+uint8 integral_samples	# number of samples integrated
 float32 x_integral	# delta velocity in the NED X board axis in m/s over the integration time frame (integral_dt)
 float32 y_integral	# delta velocity in the NED Y board axis in m/s over the integration time frame (integral_dt)
 float32 z_integral	# delta velocity in the NED Z board axis in m/s over the integration time frame (integral_dt)
+uint8 integral_clip_count	# total clip count per integration period on any axis
 
 float32 temperature	# temperature in degrees celsius
 
-float32 scaling		# scaling from raw to m/s^s
+float32 scaling		# scaling from raw to m/s^2
 int16 x_raw
 int16 y_raw
 int16 z_raw

msg/sensor_accel_fifo.msg

@@ -0,0 +1,13 @@
+uint64 timestamp	# time since system start (microseconds)
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
+
+uint64 timestamp_sample	# time since system start (microseconds)
+
+float32 dt		# delta time between samples (microseconds)
+float32 scale
+
+uint8 samples		# number of valid samples
+
+int16[8] x		# acceleration in the NED X board axis in m/s/s
+int16[8] y		# acceleration in the NED Y board axis in m/s/s
+int16[8] z		# acceleration in the NED Z board axis in m/s/s

msg/sensor_accel_status.msg

@@ -0,0 +1,18 @@
+uint64 timestamp	# time since system start (microseconds)
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
+
+uint64 error_count
+
+float32 temperature
+
+uint8 rotation
+
+# clipping per axis?
+uint64[3] clipping
+
+uint16 measure_rate
+uint16 sample_rate
+
+float32 full_scale_range
+
+float32 high_frequency_vibration # high frequency vibration level in the IMU delta angle data (rad)

msg/sensor_gyro.msg

@@ -1,6 +1,5 @@
-uint32 device_id	# unique device ID for the sensor that does not change between power cycles
-
 uint64 timestamp	# time since system start (microseconds)
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
 
 uint64 error_count
 
@@ -9,9 +8,11 @@ float32 y		# angular velocity in the NED Y board axis in rad/s
 float32 z		# angular velocity in the NED Z board axis in rad/s
 
 uint32 integral_dt	# integration time (microseconds)
+uint8 integral_samples	# number of samples integrated
 float32 x_integral	# delta angle in the NED X board axis in rad/s over the integration time frame (integral_dt)
 float32 y_integral	# delta angle in the NED Y board axis in rad/s over the integration time frame (integral_dt)
 float32 z_integral	# delta angle in the NED Z board axis in rad/s over the integration time frame (integral_dt)
+uint8 integral_clip_count	# total clip count per integration period on any axis
 
 float32 temperature	# temperature in degrees celsius
 

msg/sensor_gyro_fifo.msg

@@ -0,0 +1,13 @@
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
+
+uint64 timestamp	# time since system start (microseconds)
+uint64 timestamp_sample	# time since system start (microseconds)
+
+float32 dt		# delta time between samples (microseconds)
+float32 scale
+
+uint8 samples		# number of valid samples
+
+int16[8] x		# angular velocity in the NED X board axis in rad/s
+int16[8] y		# angular velocity in the NED Y board axis in rad/s
+int16[8] z		# angular velocity in the NED Z board axis in rad/s

msg/sensor_gyro_status.msg

@@ -0,0 +1,20 @@
+uint64 timestamp	# time since system start (microseconds)
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
+
+uint64 error_count
+
+float32 temperature
+
+uint8 rotation
+
+# clipping per axis?
+uint64[3] clipping
+
+uint16 measure_rate
+uint16 sample_rate
+
+float32 full_scale_range
+
+float32 coning_vibration	# Level of coning vibration in the IMU delta angles (rad^2)
+
+float32 high_frequency_vibration # high frequency vibration level in the IMU delta angle data (rad)

msg/tools/uorb_rtps_message_ids.yaml

@@ -265,6 +265,14 @@ rtps:
     id: 116
   - msg: cellular_status
     id: 117
+  - msg: sensor_accel_fifo
+    id: 118
+  - msg: sensor_accel_status
+    id: 119
+  - msg: sensor_gyro_fifo
+    id: 120
+  - msg: sensor_gyro_status
+    id: 121
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150