Sensors::Microstrain3DMGX3::Task Struct Reference

Detailed Description

Microstrain3DMGX3 software driver.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
bool	onConnect () override
void	onDisconnect () override
bool	onSynchronize () override
void	onInitializeDevice () override
bool	resetUart ()
void	consume (const IMC::MagneticField *msg)
bool	poll (Commands cmd, Sizes cmd_size, uint16_t addr, uint16_t value)
bool	listen (Commands cmd, Sizes cmd_size)
bool	validateChecksum (const uint8_t *bfr, unsigned bfr_len)
void	runCalibration (void)
bool	isCalibrated (void)
void	resetDevice (void)
void	requestCalibration (uint16_t addr)
bool	setHardIron (void)
void	calibrate (uint16_t addr, uint16_t value)
void	rotateData (void)
void	reportEntityState (void)
bool	onReadData () override

Public Attributes
unsigned	m_min_read
Math::Matrix	m_rotation
float	m_hard_iron [3]
SerialPort *	m_uart
IMC::EulerAngles	m_euler
IMC::Acceleration	m_accel
IMC::AngularVelocity	m_agvel
IMC::MagneticField	m_magfield
Time::Counter< float >	m_timer
uint8_t	m_bfr [c_bfr_size]
uint16_t	m_addr [c_num_addr]
double	m_tstamp
Counter< double >	m_wdog
Counter< double >	m_state_timer
size_t	m_sample_count
size_t	m_faults_count
size_t	m_timeout_count
Arguments	m_args

Static Public Attributes
static const unsigned	c_bfr_size
static const unsigned	c_num_addr
static const uint16_t	c_mag_addr

Constructor & Destructor Documentation

Task()

Sensors::Microstrain3DMGX3::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::Microstrain3DMGX3::Arguments::calib_threshold, Sensors::Microstrain3DMGX3::Arguments::calib_time, Sensors::Microstrain3DMGX3::Arguments::hard_iron, Sensors::Microstrain3DMGX3::Arguments::io_dev, Sensors::Microstrain3DMGX3::Arguments::min_read_flag, Sensors::Microstrain3DMGX3::Arguments::read_frequency, Sensors::Microstrain3DMGX3::Arguments::rotation_mx, Sensors::Microstrain3DMGX3::Arguments::timeout_error, and Sensors::Microstrain3DMGX3::Arguments::timeout_failure.

Member Function Documentation

calibrate()

void Sensors::Microstrain3DMGX3::Task::calibrate ( uint16_t  addr, uint16_t  value  )

inline

Send calibration frame to the device.

Parameters

[in]	addr	EEPROM address.
[in]	value	new calibration value.

References Sensors::Microstrain3DMGX3::CMD_WRITE_EEPROM.

consume()

void Sensors::Microstrain3DMGX3::Task::consume ( const IMC::MagneticField *  msg )

inline

References Sensors::Microstrain3DMGX3::Arguments::calib_threshold, and Sensors::Microstrain3DMGX3::Arguments::hard_iron.

isCalibrated()

bool Sensors::Microstrain3DMGX3::Task::isCalibrated ( void  )

inline

Check if sensor has the same hard iron calibration parameters.

Returns

true if the parameters are the same, false otherwise.

References Sensors::Microstrain3DMGX3::CMD_READ_EEPROM, Sensors::Microstrain3DMGX3::CMD_READ_EEPROM_SIZE, and Sensors::Microstrain3DMGX3::Arguments::hard_iron.

listen()

bool Sensors::Microstrain3DMGX3::Task::listen ( Commands  cmd, Sizes  cmd_size  )

inline

Listen for responses.

Parameters

[in]	cmd	command char.
[in]	cmd_size	expected frame response size.

Returns

true if communication successful, false otherwise.

onConnect()

bool Sensors::Microstrain3DMGX3::Task::onConnect ( void  )

inlineoverride

Try to connect to the device.

Returns

true if connection was established, false otherwise.

References Sensors::Microstrain3DMGX3::Arguments::io_dev.

onDisconnect()

void Sensors::Microstrain3DMGX3::Task::onDisconnect ( void  )

inlineoverride

Disconnect from device.

onInitializeDevice()

void Sensors::Microstrain3DMGX3::Task::onInitializeDevice ( void  )

inlineoverride

Device may be initialized.

References Sensors::Microstrain3DMGX3::CMD_DATA_SIZE, and Sensors::Microstrain3DMGX3::Arguments::min_read_flag.

onReadData()

bool Sensors::Microstrain3DMGX3::Task::onReadData ( void  )

inlineoverride

Get data from device.

Returns

true if data was received, false otherwise.

References Sensors::Microstrain3DMGX3::CMD_DATA, Sensors::Microstrain3DMGX3::CMD_DATA_SIZE, and DUNE::Math::transpose().

onSynchronize()

bool Sensors::Microstrain3DMGX3::Task::onSynchronize ( void  )

inlineoverride

Synchronize with device.

References Sensors::Microstrain3DMGX3::CMD_FWARE_VERSION, and Sensors::Microstrain3DMGX3::CMD_FWARE_VERSION_SIZE.

onUpdateParameters()

void Sensors::Microstrain3DMGX3::Task::onUpdateParameters ( void  )

inline

Update parameters.

References Sensors::Microstrain3DMGX3::Arguments::hard_iron, Sensors::Microstrain3DMGX3::Arguments::read_frequency, Sensors::Microstrain3DMGX3::Arguments::rotation_mx, Sensors::Microstrain3DMGX3::Arguments::timeout_error, and DUNE::Math::transpose().

poll()

bool Sensors::Microstrain3DMGX3::Task::poll ( Commands  cmd, Sizes  cmd_size, uint16_t  addr, uint16_t  value  )

inline

Send commands to the device.

Parameters

[in]	cmd	command char.
[in]	cmd_size	expected frame response size.
[in]	addr	address.
[in]	value	value to be assigned.

Returns

true if communication successful, false otherwise.

References Sensors::Microstrain3DMGX3::CMD_DATA, Sensors::Microstrain3DMGX3::CMD_DEVICE_RESET, Sensors::Microstrain3DMGX3::CMD_FWARE_VERSION, Sensors::Microstrain3DMGX3::CMD_READ_EEPROM, and Sensors::Microstrain3DMGX3::CMD_WRITE_EEPROM.

reportEntityState()

void Sensors::Microstrain3DMGX3::Task::reportEntityState ( void  )

inline

References Sensors::Microstrain3DMGX3::Arguments::timeout_failure.

requestCalibration()

void Sensors::Microstrain3DMGX3::Task::requestCalibration ( uint16_t  addr )

inline

Request calibration parameters from device.

Parameters

[in]

addr

address.

References Sensors::Microstrain3DMGX3::CMD_READ_EEPROM.

resetDevice()

void Sensors::Microstrain3DMGX3::Task::resetDevice ( void  )

inline

Soft-reset device.

References Sensors::Microstrain3DMGX3::CMD_DEVICE_RESET.

resetUart()

bool Sensors::Microstrain3DMGX3::Task::resetUart ( )

inline

rotateData()

void Sensors::Microstrain3DMGX3::Task::rotateData ( void  )

inline

Correct data according with mounting position.

runCalibration()

void Sensors::Microstrain3DMGX3::Task::runCalibration ( void  )

inline

Routine to run calibration proceedings.

References Sensors::Microstrain3DMGX3::CMD_DEVICE_RESET, and Sensors::Microstrain3DMGX3::CMD_DEVICE_RESET_SIZE.

setHardIron()

bool Sensors::Microstrain3DMGX3::Task::setHardIron ( void  )

inline

Set new hard iron calibration parameters.

Returns

true if successful, false otherwise.

References Sensors::Microstrain3DMGX3::CMD_WRITE_EEPROM, Sensors::Microstrain3DMGX3::CMD_WRITE_EEPROM_SIZE, and Sensors::Microstrain3DMGX3::Arguments::hard_iron.

validateChecksum()

bool Sensors::Microstrain3DMGX3::Task::validateChecksum ( const uint8_t *  bfr, unsigned  bfr_len  )

inline

Validate response checksum.

Parameters

[in]	bfr	buffer to be validated.
[in]	bfr_len	length of the buffer.

Returns

true if checksum validated, false otherwise.

Member Data Documentation

c_bfr_size

const unsigned Sensors::Microstrain3DMGX3::Task::c_bfr_size

static

Internal read buffer.

c_mag_addr

const uint16_t Sensors::Microstrain3DMGX3::Task::c_mag_addr

static

Magnetic calibration initial address.

c_num_addr

const unsigned Sensors::Microstrain3DMGX3::Task::c_num_addr

static

Number of addresses for magnetic calibration.

m_accel

IMC::Acceleration Sensors::Microstrain3DMGX3::Task::m_accel

Acceleration message.

m_addr

uint16_t Sensors::Microstrain3DMGX3::Task::m_addr[c_num_addr]

Magnetic Calibration addresses.

m_agvel

IMC::AngularVelocity Sensors::Microstrain3DMGX3::Task::m_agvel

Angular velocity message.

m_args

Arguments Sensors::Microstrain3DMGX3::Task::m_args

Task arguments.

m_bfr

uint8_t Sensors::Microstrain3DMGX3::Task::m_bfr[c_bfr_size]

Internal read buffer.

m_euler

IMC::EulerAngles Sensors::Microstrain3DMGX3::Task::m_euler

Euler angles message.

m_faults_count

size_t Sensors::Microstrain3DMGX3::Task::m_faults_count

Faults count.

m_hard_iron

float Sensors::Microstrain3DMGX3::Task::m_hard_iron[3]

Rotated calibration parameters.

m_magfield

IMC::MagneticField Sensors::Microstrain3DMGX3::Task::m_magfield

Magnetometer Vector message.

m_min_read

unsigned Sensors::Microstrain3DMGX3::Task::m_min_read

Minimum Read Bytes.

m_rotation

Math::Matrix Sensors::Microstrain3DMGX3::Task::m_rotation

Rotation Matrix to correct mounting position.

m_sample_count

size_t Sensors::Microstrain3DMGX3::Task::m_sample_count

Sample count.

m_state_timer

Counter<double> Sensors::Microstrain3DMGX3::Task::m_state_timer

Entity state timer.

m_timeout_count

size_t Sensors::Microstrain3DMGX3::Task::m_timeout_count

Timeout count.

m_timer

Time::Counter<float> Sensors::Microstrain3DMGX3::Task::m_timer

Timer to wait for soft-reset without issuing error.

m_tstamp

double Sensors::Microstrain3DMGX3::Task::m_tstamp

Read timestamp.

m_uart

SerialPort* Sensors::Microstrain3DMGX3::Task::m_uart

Serial port.

m_wdog

Counter<double> Sensors::Microstrain3DMGX3::Task::m_wdog

Watchdog.

Collaboration diagram for Sensors::Microstrain3DMGX3::Task: