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)
void	getHardIronFactors (void)
void	setHardIronFactors (void)
void	decodeOutputData (const UCTK::Frame &frame)
void	decodeOutputRaw (const UCTK::Frame &frame)
void	decode (const UCTK::Frame &frame)
void	readInput (void)
uint8_t	extractRotatedVector (const uint8_t *ptr, Matrix &vector)
void	reportEntityState (void)
void	onMain (void)

Public Attributes
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
Math::Matrix	m_rotation
Counter< double >	m_wdog
Counter< double >	m_state_timer
ErrorCounts	m_err_counts
double	m_hard_iron [c_axes_count]
size_t	m_sample_count
size_t	m_faults_count
size_t	m_timeout_count
Arguments	m_args

Constructor & Destructor Documentation

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

inline

References Sensors::LIMU::Arguments::calib_time, Sensors::LIMU::Arguments::hard_iron, Sensors::LIMU::Arguments::output_frq, Sensors::LIMU::Arguments::pwr_name, Sensors::LIMU::Arguments::raw_data, Sensors::LIMU::Arguments::rotation_mx, Sensors::LIMU::Arguments::timeout_error, Sensors::LIMU::Arguments::timeout_failure, 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.

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

inline

Decode data frame.

Parameters

[in]

frame

data frame.

References Sensors::LIMU::PKT_ID_OUTPUT_DATA, and Sensors::LIMU::PKT_ID_OUTPUT_RAW.

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(), DUNE::Math::Matrix::toDCM(), and DUNE::Math::transpose().

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

inline

Decode output raw data.

Parameters

[in]

frame

raw data.

uint8_t Sensors::LIMU::Task::extractRotatedVector ( const uint8_t *  ptr, Matrix &  vector  )

inline

void Sensors::LIMU::Task::getHardIronFactors ( void  )

inline

Get current Hard-Iron calibration parameters.

References Sensors::LIMU::PKT_ID_HARD_IRON.

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

inline

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

inline

Acquire resources.

References Sensors::LIMU::Arguments::pwr_name, and Sensors::LIMU::Arguments::uart_dev.

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

inline

Initialize resources.

References Sensors::LIMU::Arguments::output_frq.

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

inline

Release resources.

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

inline

References Sensors::LIMU::Arguments::hard_iron, Sensors::LIMU::Arguments::output_frq, Sensors::LIMU::Arguments::raw_data, Sensors::LIMU::Arguments::rotation_mx, Sensors::LIMU::Arguments::timeout_error, and DUNE::Math::transpose().

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

inline

Read input from sensor.

void Sensors::LIMU::Task::reportEntityState ( void  )

inline

References Sensors::LIMU::Arguments::timeout_failure.

void Sensors::LIMU::Task::setHardIronFactors ( void  )

inline

Set Hard-Iron calibration parameters.

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

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 Sensors::LIMU::PKT_ID_OUTPUT_CONF, and Sensors::LIMU::Arguments::raw_data.

Member Data Documentation

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

Acceleration.

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

Angular velocity.

Arguments Sensors::LIMU::Task::m_args

Task arguments.

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

Scratch buffer.

unsigned Sensors::LIMU::Task::m_calib_eid

Compass Calibration maneuver entity id.

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

Control Interface.

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

Delta angles.

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

Delta velocity.

ErrorCounts Sensors::LIMU::Task::m_err_counts

Error counts.

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

Euler Angles.

size_t Sensors::LIMU::Task::m_faults_count

Faults count.

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

Scratch frame.

double Sensors::LIMU::Task::m_hard_iron[c_axes_count]

Rotated hard-iron calibration parameters.

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

Magnetic Field.

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

UCTK parser.

Math::Matrix Sensors::LIMU::Task::m_rotation

Rotation Matrix to correct mounting position.

size_t Sensors::LIMU::Task::m_sample_count

Sample count.

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

Entity state timer.

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

Temperature.

size_t Sensors::LIMU::Task::m_timeout_count

Timeout count.

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

Serial port device.

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

Watchdog.

Collaboration diagram for Sensors::LIMU::Task: