Sensors::LIMU::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	consume (const IMC::MagneticField *msg)
void	setOutputFrequency (uint8_t frequency)
std::vector< double >	getHardIronFactors (void)
void	setHardIronFactors (const std::vector< double > &factors)
void	decodeOutputData (const UCTK::Frame &frame)
void	decodeOutputRaw (const UCTK::Frame &frame)
void	decode (const UCTK::Frame &frame)
void	readInput (void)
void	onMain (void)

Public Attributes
Arguments	m_args
IMC::AngularVelocity	m_ang_vel
IMC::Acceleration	m_accel
IMC::EulerAnglesDelta	m_delt_ang
IMC::VelocityDelta	m_delt_vel
IMC::EulerAngles	m_euler
IMC::MagneticField	m_magn
IMC::Temperature	m_temp
SerialPort *	m_uart
UCTK::Interface *	m_ctl
UCTK::Parser	m_parser
UCTK::Frame	m_frame
uint8_t	m_buffer [128]
unsigned	m_calib_eid
Counter< double >	m_wdog
ErrorCounts	m_err_counts

Constructor & Destructor Documentation

Sensors::LIMU::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::LIMU::Arguments::hard_iron, m_args, Sensors::LIMU::Arguments::output_frq, Sensors::LIMU::Arguments::pwr_name, Sensors::LIMU::Arguments::raw_data, and Sensors::LIMU::Arguments::uart_dev.

Member Function Documentation

void Sensors::LIMU::Task::consume ( const IMC::MagneticField *  msg )

inline

References Sensors::LIMU::Arguments::hard_iron, and m_args.

void Sensors::LIMU::Task::decode ( const UCTK::Frame &  frame )

inline

Decode data frame.

Parameters

[in]

frame

data frame.

References decodeOutputData(), decodeOutputRaw(), Sensors::LIMU::PKT_ID_OUTPUT_DATA, and Sensors::LIMU::PKT_ID_OUTPUT_RAW.

Referenced by readInput().

void Sensors::LIMU::Task::decodeOutputData ( const UCTK::Frame &  frame )

inline

Decode output data frame.

Parameters

[in]

frame

data frame.

References Sensors::LIMU::ERR_FLAG_PROC_OVR, Sensors::LIMU::ERR_FLAG_SENS_OVR, Sensors::LIMU::ERR_FLAG_SPI_ERR, Sensors::LIMU::ERR_FLAG_WDOG_TOUT, Sensors::LIMU::ErrorCounts::increment(), m_accel, m_ang_vel, m_delt_ang, m_delt_vel, m_err_counts, m_euler, m_magn, m_temp, m_wdog, and DUNE::Time::Counter< T >::reset().

Referenced by decode().

void Sensors::LIMU::Task::decodeOutputRaw ( const UCTK::Frame &  frame )

inline

Decode output raw data.

Parameters

[in]

frame

raw data.

Referenced by decode().

std::vector<double> Sensors::LIMU::Task::getHardIronFactors ( void  )

inline

Get current Hard-Iron calibration parameters.

Returns

hard-iron calibration parameters.

References m_ctl, and Sensors::LIMU::PKT_ID_HARD_IRON.

Referenced by setHardIronFactors().

void Sensors::LIMU::Task::onMain ( void  )

inline

References m_uart, m_wdog, DUNE::Time::Counter< T >::overflow(), and readInput().

void Sensors::LIMU::Task::onResourceAcquisition ( void  )

inline

Acquire resources.

References m_args, m_ctl, m_uart, Sensors::LIMU::Arguments::pwr_name, and Sensors::LIMU::Arguments::uart_dev.

void Sensors::LIMU::Task::onResourceInitialization ( void  )

inline

Initialize resources.

References Sensors::LIMU::Arguments::hard_iron, m_args, m_wdog, Sensors::LIMU::Arguments::output_frq, setHardIronFactors(), setOutputFrequency(), and DUNE::Time::Counter< T >::setTop().

void Sensors::LIMU::Task::onResourceRelease ( void  )

inline

Release resources.

References m_ctl, and m_uart.

void Sensors::LIMU::Task::onUpdateParameters ( void  )

inline

References Sensors::LIMU::Arguments::hard_iron, m_args, m_ctl, Sensors::LIMU::Arguments::output_frq, Sensors::LIMU::Arguments::raw_data, setHardIronFactors(), and setOutputFrequency().

void Sensors::LIMU::Task::readInput ( void  )

inline

Read input from sensor.

References decode(), m_buffer, m_frame, m_parser, and m_uart.

Referenced by onMain().

void Sensors::LIMU::Task::setHardIronFactors ( const std::vector< double > &  factors )

inline

Set Hard-Iron calibration parameters.

Parameters

[in]

factors

new calibration values.

References getHardIronFactors(), m_ctl, and Sensors::LIMU::PKT_ID_HARD_IRON.

Referenced by onResourceInitialization(), and onUpdateParameters().

void Sensors::LIMU::Task::setOutputFrequency ( uint8_t  frequency )

inline

Define sensor output frequency.

Parameters

[in]

frequency

desired frequency.

Returns

true if successful, false otherwise.

References m_args, m_ctl, Sensors::LIMU::PKT_ID_OUTPUT_CONF, and Sensors::LIMU::Arguments::raw_data.

Referenced by onResourceInitialization(), and onUpdateParameters().

Member Data Documentation

IMC::Acceleration Sensors::LIMU::Task::m_accel

Acceleration.

Referenced by decodeOutputData().

IMC::AngularVelocity Sensors::LIMU::Task::m_ang_vel

Angular velocity.

Referenced by decodeOutputData().

Arguments Sensors::LIMU::Task::m_args

Task arguments.

Referenced by consume(), onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), setOutputFrequency(), and Task().

uint8_t Sensors::LIMU::Task::m_buffer[128]

Scratch buffer.

Referenced by readInput().

unsigned Sensors::LIMU::Task::m_calib_eid

Compass Calibration maneuver entity id.

UCTK::Interface* Sensors::LIMU::Task::m_ctl

Control Interface.

Referenced by getHardIronFactors(), onResourceAcquisition(), onResourceRelease(), onUpdateParameters(), setHardIronFactors(), and setOutputFrequency().

IMC::EulerAnglesDelta Sensors::LIMU::Task::m_delt_ang

Delta angles.

Referenced by decodeOutputData().

IMC::VelocityDelta Sensors::LIMU::Task::m_delt_vel

Delta velocity.

Referenced by decodeOutputData().

ErrorCounts Sensors::LIMU::Task::m_err_counts

Error counts.

Referenced by decodeOutputData().

IMC::EulerAngles Sensors::LIMU::Task::m_euler

Euler Angles.

Referenced by decodeOutputData().

UCTK::Frame Sensors::LIMU::Task::m_frame

Scratch frame.

Referenced by readInput().

IMC::MagneticField Sensors::LIMU::Task::m_magn

Magnetic Field.

Referenced by decodeOutputData().

UCTK::Parser Sensors::LIMU::Task::m_parser

UCTK parser.

Referenced by readInput().

IMC::Temperature Sensors::LIMU::Task::m_temp

Temperature.

Referenced by decodeOutputData().

SerialPort* Sensors::LIMU::Task::m_uart

Serial port device.

Referenced by onMain(), onResourceAcquisition(), onResourceRelease(), and readInput().

Counter<double> Sensors::LIMU::Task::m_wdog

Watchdog.

Referenced by decodeOutputData(), onMain(), and onResourceInitialization().

Collaboration diagram for Sensors::LIMU::Task: