Hi,

please check your GPS baud rate, in source code and in u-center.

Dear Dong,

may I control GPS data input to your INS algorithm by changing gAlgorithm.Behavior.bit.useGPS in source code? I need to toggle between using GPS data input to the INS algorithm and not using GPS data input, when GPS data input in not using by INS algorithm must estimate position without any input data from GPS.

is it possible to control GPS input by changing gAlgorithm.Behavior.bit.useGPS?

Dear Cek,

could you please send me the factory calibration bin file for openIMU300ZA with 1908400114 serial number?

Best regards,
Amin.

Dear Dong,

thanks for your reply, I need more guidance to be able to change your source code, at least please tell me how can I send altitude to the module as commands and what is the maximum possible receive rate by the module and what is the frequency ( sampling rate ) of altitude input in your algorithm? and the GPS update rate?

Best regards,
Amin.

Hi,

Is it possible to use barometric Altitude instead of gps Altitude as input to your INS algorithm? May I send Altitude in meters to openIMU300za from a pressure sensor to improve accuracy of position estimation of your INS algorithm?

Best regards,
Amin.

Hi,

is there any way to find out GPS signal lost in INS app? I didn't seen anything related to GPS signal status in e2 packet, and is it possible to control using GPS signal in INS algorithm? I want to send a command to my openIMU300ZA running INS app to start using GPS input data or stop using GPS input data, is it possible at all?

Best regards,
Amin.

Dear Dong,

Thanks for your reply, I was thought about both porting entire firmware and just using the algorithm, it seems that I only can use your algorithm in my board, so I need to write all drivers such as uart and spi for my new board myself, its okay, please tell me how can I use your algorithm in my new board, I'm using ARM Keil IDE and HAL libraries, please let me know about your algorithm dependencies.

Best regards,
Amin.

Hi,
Thanks for your answer, could you please give me a starting point? What if I use the same mcu you are using on openIMU300za?

Hi,

is it possible to port openIMU library to another hardware? I have my own design board using ADIS16445 ( 6DOF IMU ) and HMC5883, my MCU is STM32F407VET6, is it possible to port your library to my board? is it possible to port your VG-AHRS application to my new hardware?

Best regards,
Amin.

from crc16.c :

uint16_t CalculateCRC (uint8_t *buf, uint16_t length)
{
uint16_t crc = 0x1D0F; //non-augmented inital value equivalent to the augmented initial value 0xFFFF

for (int i=0; i < length; i++) {
	crc ^= buf[i] << 8;
	
	for (int j=0; j<8; j++) {
		if (crc & 0x8000) {
            crc = (crc << 1) ^ 0x1021;
        }
		else {
            crc = crc << 1;
        }
	}
}

return ((crc << 8 ) & 0xFF00) | ((crc >> 8) & 0xFF);

}

may I use this code to compare received bytes count and CRC bytes?

Best regards,
Amin.