Add support for murata scha634 to imu aux message (#1286)

* Add support for murata scha634 to imu aux message

* Change Murata IMU type from 2 to 4

---------

Co-authored-by: Antriksh Srivastava <antriksh.srivastava@swift-nav.com>

Author: antrikshsrivastava

c/include/libsbp/imu_macros.h

@@ -76,6 +76,7 @@
 
 #define SBP_IMU_AUX_IMU_TYPE_BOSCH_BMI160 (0)
 #define SBP_IMU_AUX_IMU_TYPE_ST_MICROELECTRONICS_ASM330LLH (1)
+#define SBP_IMU_AUX_IMU_TYPE_MURATA_SCHA634_D03 (4)
 #define SBP_IMU_AUX_GYROSCOPE_RANGE_MASK (0xfu)
 #define SBP_IMU_AUX_GYROSCOPE_RANGE_SHIFT (4u)
 #define SBP_IMU_AUX_GYROSCOPE_RANGE_GET(flags)               \
@@ -99,6 +100,8 @@
 #define SBP_IMU_AUX_GYROSCOPE_RANGE_250_DEG_S (3)
 #define SBP_IMU_AUX_GYROSCOPE_RANGE__125_DEG__S (4)
 #define SBP_IMU_AUX_GYROSCOPE_RANGE_125_DEG_S (4)
+#define SBP_IMU_AUX_GYROSCOPE_RANGE__300_DEG__S (5)
+#define SBP_IMU_AUX_GYROSCOPE_RANGE_300_DEG_S (5)
 #define SBP_IMU_AUX_ACCELEROMETER_RANGE_MASK (0xfu)
 #define SBP_IMU_AUX_ACCELEROMETER_RANGE_SHIFT (0u)
 #define SBP_IMU_AUX_ACCELEROMETER_RANGE_GET(flags)               \
@@ -120,6 +123,8 @@
 #define SBP_IMU_AUX_ACCELEROMETER_RANGE_8G (2)
 #define SBP_IMU_AUX_ACCELEROMETER_RANGE__16G (3)
 #define SBP_IMU_AUX_ACCELEROMETER_RANGE_16G (3)
+#define SBP_IMU_AUX_ACCELEROMETER_RANGE__6G (4)
+#define SBP_IMU_AUX_ACCELEROMETER_RANGE_6G (4)
 /**
  * Encoded length of sbp_msg_imu_aux_t (V4 API) and
  * msg_imu_aux_t (legacy API)

rust/sbp/src/messages/imu.rs

@@ -161,6 +161,9 @@ pub mod msg_imu_aux {
 
         /// ST Microelectronics ASM330LLH
         StMicroelectronicsAsm330Llh = 1,
+
+        /// Murata SCHA634-D03
+        MurataScha634D03 = 4,
     }
 
     impl std::fmt::Display for ImuType {
@@ -170,6 +173,7 @@ pub mod msg_imu_aux {
                 ImuType::StMicroelectronicsAsm330Llh => {
                     f.write_str("ST Microelectronics ASM330LLH")
                 }
+                ImuType::MurataScha634D03 => f.write_str("Murata SCHA634-D03"),
             }
         }
     }
@@ -180,6 +184,7 @@ pub mod msg_imu_aux {
             match i {
                 0 => Ok(ImuType::BoschBmi160),
                 1 => Ok(ImuType::StMicroelectronicsAsm330Llh),
+                4 => Ok(ImuType::MurataScha634D03),
                 i => Err(i),
             }
         }
@@ -202,6 +207,9 @@ pub mod msg_imu_aux {
 
         /// +/- 125 deg / s
         _125DegS = 4,
+
+        /// +/- 300 deg / s
+        _300DegS = 5,
     }
 
     impl std::fmt::Display for GyroscopeRange {
@@ -212,6 +220,7 @@ pub mod msg_imu_aux {
                 GyroscopeRange::_500DegS => f.write_str("+/- 500 deg / s"),
                 GyroscopeRange::_250DegS => f.write_str("+/- 250 deg / s"),
                 GyroscopeRange::_125DegS => f.write_str("+/- 125 deg / s"),
+                GyroscopeRange::_300DegS => f.write_str("+/- 300 deg / s"),
             }
         }
     }
@@ -225,6 +234,7 @@ pub mod msg_imu_aux {
                 2 => Ok(GyroscopeRange::_500DegS),
                 3 => Ok(GyroscopeRange::_250DegS),
                 4 => Ok(GyroscopeRange::_125DegS),
+                5 => Ok(GyroscopeRange::_300DegS),
                 i => Err(i),
             }
         }
@@ -244,6 +254,9 @@ pub mod msg_imu_aux {
 
         /// +/- 16g
         _16G = 3,
+
+        /// +/- 6g
+        _6G = 4,
     }
 
     impl std::fmt::Display for AccelerometerRange {
@@ -253,6 +266,7 @@ pub mod msg_imu_aux {
                 AccelerometerRange::_4G => f.write_str("+/- 4g"),
                 AccelerometerRange::_8G => f.write_str("+/- 8g"),
                 AccelerometerRange::_16G => f.write_str("+/- 16g"),
+                AccelerometerRange::_6G => f.write_str("+/- 6g"),
             }
         }
     }
@@ -265,6 +279,7 @@ pub mod msg_imu_aux {
                 1 => Ok(AccelerometerRange::_4G),
                 2 => Ok(AccelerometerRange::_8G),
                 3 => Ok(AccelerometerRange::_16G),
+                4 => Ok(AccelerometerRange::_6G),
                 i => Err(i),
             }
         }

spec/yaml/swiftnav/sbp/imu.yaml

@@ -86,6 +86,7 @@ definitions:
                   values:
                       - 0: Bosch BMI160
                       - 1: ST Microelectronics ASM330LLH
+                      - 4: Murata SCHA634-D03
         - temp:
             type: s16
             desc: Raw IMU temperature
@@ -101,10 +102,12 @@ definitions:
                       - 2: +/- 500 deg / s
                       - 3: +/- 250 deg / s
                       - 4: +/- 125 deg / s
+                      - 5: +/- 300 deg / s
               - 0-3:
                   desc: Accelerometer Range
                   values:
                       - 0: +/- 2g
                       - 1: +/- 4g
                       - 2: +/- 8g
                       - 3: +/- 16g
+                      - 4: +/- 6g