frc971/imu_fdcan/dual_imu.fbs

namespace frc971.imu;

attribute "static_length";

table ChipState {
  // Counter indicating how many samples have been taken on this IMU.
  // Note that because averaging occurs on the microcontroller, this
  // number may increment by numbers greater than 1.
  // The counter will wrap at max_counter, such that
  // counter = "true" count % max_counter
  counter:uint64 (id: 0);
  max_counter:uint64 (id: 1);
  // Currently reported temperature, in degrees Celsius.
  temperature:float (id: 2);
  // If true, the self test has succeeded.
  self_test:bool (id: 3);
}

// IMU axes will be pre-aligned to be consistent with the board
// axes for any chips that are rotated.
table SingleImu {
  // Gyro readings in radians/second.
  gyro_x:double (id: 0);
  gyro_y:double (id: 1);
  gyro_z:double (id: 2);

  // Accelerometer readings in Gs.
  accelerometer_x:double (id: 3);
  accelerometer_y:double (id: 4);
  accelerometer_z:double (id: 5);

  // State for the individual ASIC(s) for this IMU.
  chip_states:[ChipState] (id: 6, static_length: 2);
}

table DualImu {
  // Timestamp from the board corresponding to these samples in nanoseconds.
  // Future changes may lead us to add per-chip timestamps, but for now
  // we treat them as being sampled at the same time.
  kernel_timestamp:int64 (id: 0);
  // Packet counter that should increment by 1 for every incoming packet.
  packet_counter:uint64 (id: 1);
  // Value at which the packet counter wraps, such that
  // packet_counter = "true" count % max_packet_counter.
  max_packet_counter:uint64 (id: 2);
  // Readings associated with the Murata IMU. Should have two chips.
  murata:SingleImu (id: 3);
  // Readings associated with the TDK IMU.
  tdk:SingleImu (id: 4);
  // Timestamp from the IMU in microseconds
  board_timestamp_us:uint32 (id: 5);
}

root_type DualImu;