A Simple Interface to the CHR-6dm AHRS

[Invicta]

Hi all

I am building a robot around an Axon2(ATmega2560) MCU; see Society of Robots website... http://www.societyofrobots.com/

I would like to implement the CHR-6dm AHRS for Yaw, Roll and Pitch. Having looked at the datasheet, AHRS firmware and AHRS Interface PC Software I assume that I will be able to carry out all configurations needed and then set the AHRS to run in silent mode. When mounted on my robot the AHRS would only send a SENSOR_DATA packet containing Yaw, Roll and Pitch (all other data set as inactive) on receipt of a GET_DATA packet.

Has anyone written a cut down interface such as this, preferably in 'c' code that I could look at for inspiration? I am not a strong programmer and would appreciate a helping hand.

Many thanks

[voiceafx]

Hey Invicta,

That sounds like an interesting project. The CHR-6dm can be configured to behave in the way you described using the PC configuration software and writing the new settings to flash - the user interface makes it pretty simple. The data will still be packaged using the packet structure described in the datasheet, though (ie. with a packet type identifier, data length byte, checksum, etc.)