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/* SPDX-License-Identifier: MPL-2.0
Component Name: SensorsService
Compliance Level: Abstract Component
Copyright (C) 2018, BMW Car IT GmbH, Continental Automotive GmbH, Groupe PSA, XS Embedded GmbH
License:
This Source Code Form is subject to the terms of the
Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
this file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
package org.genivi.SensorsService
import org.genivi.SensorsService.SensorsServiceTypes.* from "SensorsServiceTypes.fidl"
<** @description : GyroscopeConfiguration = This interface offers functionalities to retrieve the configuration of the Gyroscope interface of the vehicle **>
interface GyroscopeConfiguration {
version {
major 5
minor 0
}
<** @description:
TGyroscopeConfiguration::validityBits provides information about the
currently valid signals of the gyroscope configuration data.
It is a or'ed bitmask of the EGyroscopeConfigValidityBits values.
**>
enumeration EGyroscopeConfigValidityBits{
<** @description: Validity bit for field TGyroscopeConfiguration::angleYaw.
**>
GYROSCOPE_CONFIG_ANGLEYAW_VALID = 1 //0x00000001
<** @description: Validity bit for field TGyroscopeConfiguration::anglePitch.
**>
GYROSCOPE_CONFIG_ANGLEPITCH_VALID = 2 //0x00000002
<** @description: Validity bit for field TGyroscopeConfiguration::angleRoll.
**>
GYROSCOPE_CONFIG_ANGLEROLL_VALID = 4 //0x00000004
<** @description: Validity bit for field TGyroscopeConfiguration::momentOfYawInertia.
**>
GYROSCOPE_CONFIG_MOMENTYAW_VALID = 8 //0x00000008
<** @description: Validity bit for field TGyroscopeConfiguration::sigmaGyroscope.
**>
GYROSCOPE_CONFIG_SIGMAGYROSCOPE_VALID = 16 //0x00000010
<** @description: Validity bit for field TGyroscopeConfiguration::typeBits.
**>
GYROSCOPE_CONFIG_TYPE_VALID = 32 //0x00000020
}
<** @description:
Gyroscope type
TGyroscopeConfiguration::typeBits provides information about the
type of the gyroscope and the interpretation of the signals.
It is a or'ed bitmask of the EGyroscopeTypeBits values.
**>
enumeration EGyroscopeTypeBits {
<** @description: Temperature bias compensation already applied to gyroscope signals.
**>
GYROSCOPE_TEMPERATURE_COMPENSATED = 1 //0x00000001
<** @description: A measurement for the z/yaw-axis is provided.
**>
GYROSCOPE_YAWRATE_PROVIDED = 2 //0x00000002
<** @description: A measurement for the y/pitch-axis is provided.
**>
GYROSCOPE_PITCHRATE_PROVIDED = 4 //0x00000004
<** @description: A measurement for the x/roll-axis is provided.
**>
GYROSCOPE_ROLLRATE_PROVIDED = 8 //0x00000008
<** @description: A measurement for the temperature is provided.
**>
GYROSCOPE_TEMPERATURE_PROVIDED = 16 //0x00000010
}
<** @description:
Static configuration data for the gyroscope sensor service.
BEGIN Explanation of the angleYaw anglePitch angleRoll parameters
The orientation of the gyroscope hardware (Xg Yg Zg)
with respect to the vehicle axis system (Xv Yv Zv)
can be described using the angles (angleYaw anglePitch angleRoll)
following the approach defined in ISO 8855:2011 section 5.2 table 1
Apply 3 rotations on the vehicle axis system until it matches the gyroscope axis system
The rotation sequence is as follows
- first rotate by angleYaw about the Zv axis
- second rotate by anglePitch about the new (intermediate) Y axis
- third rotate by angleRoll about the new X axis
Notes
- the angles are frequently called "Euler angles" and the rotations "Euler rotations"
- a different order of the rotations would lead to a different orientation
- as the vehicle axis system is right-handed also the gyroscope axis system must be right-handed
The vehicle axis system as defined in ISO 8855:2011(E).
In this system the axes (Xv Yv Zv) are oriented as follows
- Xv is in the horizontal plane pointing forwards
- Yv is in the horizontal plane pointing to the left
- Zv is perpendicular to the horizontal plane pointing upwards
For an illustration see https://collab.genivi.org/wiki/display/genivi/LBSSensorServiceRequirementsBorg#LBSSensorServiceRequirementsBorg-ReferenceSystem
When the gyroscope axes are not aligned with the vehicle axes i.e.
if any of the angles (angleYaw anglePitch angleRoll) is not zero
then the raw measurement values of the gyroscope Z Y X axes may have to be be transformed
to the vehicle axis system by the client of this interface depending on the type of application.
Raw measurements are provided in TGyroscopeData instead of already transformed values because
- for gyroscopes with less than 3 axes the transformation is mathematically not well-defined
- some types of calibration operations are better performed on raw data
Implementors hint: The mathematics of this kind of transformation
like the derivation of the rotation matrixes is described in literature on strapdown navigation
E.g. "Strapdown Inertial Navigation Technology" 2nd Edition by David Titterton and John Weston section 3.6
END Explanation of the angleYaw anglePitch angleRoll parameters
**>
struct TGyroscopeConfiguration {
<** @description: Euler angle of first rotation around yaw axis
to describe gyroscope orientation [degree].
For details see above.
**>
Float angleYaw
<** @description: Euler angle of second rotation around pitch axis
to describe gyroscope orientation [degree].
For details see above.
**>
Float anglePitch
<** @description: Euler angle of third rotation around roll axis
to describe gyroscope orientation [degree].
For details see above.
**>
Float angleRoll
<** @description: Moment of yaw inertia [kg x m^2].
The pitch and roll inertia moments are not provided
as they are not relevant for positioning.
**>
Float momentOfYawInertia
<** @description: Standard error estimate of the gyroscope for all directions [degree/s].
**>
Float sigmaGyroscope
<** @description: Bit mask indicating the type of the used gyroscope.
[bitwise or'ed EGyroscopeTypeBits values].
**>
UInt32 typeBits
<** @description: Bit mask indicating the validity of each corresponding value.
[bitwise or'ed EGyroscopeConfigValidityBits values].
Must be checked before usage.
**>
UInt32 validityBits
}
<** @description: getGyroscopeConfiguration = get the static configuration information about the gyroscope sensor.
**>
method getGyroscopeConfiguration {
out {
TGyroscopeConfiguration config
<** @description: available = Is true if data can be provided and false otherwise, e.g. missing initialization **>
Boolean available
}
}
}
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