Detailed Description

Microstrain3DMGX3 software driver.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onUpdateParameters (void)

void	onResourceRelease (void)

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

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)

void	task (void)

Public Member Functions inherited from DUNE::Tasks::Periodic
	Periodic (const std::string &name, Context &ctx)

virtual	~Periodic (void)

void	setFrequency (double freq)

double	getFrequency (void) const

double	getRunTime (void) const

unsigned	getRunCount (void) const

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

virtual	~Task (void)

const char *	getName (void) const

const char *	getSystemName (void) const

unsigned int	getSystemId (void) const

unsigned int	getEntityId (void) const

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) const

DebugLevel	getDebugLevel (void) const

uint16_t	getActivationTime (void) const

uint16_t	getDeactivationTime (void) const

unsigned int	resolveSystemName (const std::string &name) const

const char *	resolveSystemId (unsigned int id) const

void	loadConfig (void)

void	setPriority (unsigned int value)

unsigned int	getPriority (void) const

void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2

void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2

void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)

void	dispatch (IMC::Message &msg, unsigned int flags=0)

void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)

void	receive (const IMC::Message *msg)

void	reserveEntities (void)

void	resolveEntities (void)

void	acquireResources (void)

void	releaseResources (void)

void	initializeResources (void)

void	updateParameters (bool act_deact=true)

void	writeParamsXML (std::ostream &os) const

const char *	getEntityLabel (void) const

void	setEntityLabel (const std::string &label)

Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)

virtual	~AbstractTask (void)

Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)

virtual	~Thread (void)

int	getProcessorUsage (void)

Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)

virtual	~Runnable (void)

void	start (void)

void	stop (void)

void	join (void)

void	stopAndJoin (void)

void	setPriority (Scheduler::Policy policy, unsigned priority)

unsigned	getPriority (void)

State	getState (void)

bool	isCreated (void)

bool	isStopping (void)

bool	isRunning (void)

bool	isStarting (void)

bool	isDead (void)

Public Attributes
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

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)

void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)

IMC::EntityState::StateEnum	getEntityState (void) const

unsigned int	reserveEntity (const std::string &label)

template<typename E >
E *	reserveEntity (const std::string &label)

bool	stopping (void)

bool	isActive (void) const

bool	isActivating (void) const

bool	isDeactivating (void) const

void	waitForMessages (double timeout)

void	consumeMessages (void)

template<typename T >
Parameter &	param (const std::string &name, T &var)

template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)

template<typename T >
bool	paramChanged (T &var)

void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)

void	setParamSectionEditor (const std::string &name)

template<typename M , typename T >
void	bind (T task_obj, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)

template<typename T , typename M >
void	bind (T task_obj, const std::vector< uint32_t > &list, void(T::consumer)(const M *)=&T::consume)

template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)

void	requestActivation (void)

void	requestDeactivation (void)

void	activate (void)

void	activationFailed (const std::string &reason)

void	deactivate (void)

void	deactivationFailed (const std::string &reason)

virtual bool	onWriteParamsXML (std::ostream &os) const

virtual void	onEntityReservation (void)

virtual void	onEntityResolution (void)

virtual void	onReportEntityState (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onActivation (void)

virtual void	onDeactivation (void)

virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)

virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)

virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)

virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)

Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)

void	stopImpl (void)

void	joinImpl (void)

void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)

unsigned	getPriorityImpl (void)

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

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

inline

References c_mag_addr, c_num_addr, Sensors::Microstrain3DMGX3::Arguments::calib_threshold, DUNE::Tasks::Parameter::defaultValue(), Sensors::Microstrain3DMGX3::Arguments::hard_iron, m_addr, m_args, m_timer, DUNE::Tasks::Task::param(), Sensors::Microstrain3DMGX3::Arguments::rotation_mx, Sensors::Microstrain3DMGX3::Arguments::timeout_error, Sensors::Microstrain3DMGX3::Arguments::timeout_failure, Sensors::Microstrain3DMGX3::Arguments::uart_baud, Sensors::Microstrain3DMGX3::Arguments::uart_dev, and DUNE::Tasks::Parameter::units().

Member Function Documentation

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, and m_uart.

Referenced by poll().

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

inline

References Sensors::Microstrain3DMGX3::Arguments::calib_threshold, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getEntityLabel(), Sensors::Microstrain3DMGX3::Arguments::hard_iron, and m_args.

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 c_num_addr, Sensors::Microstrain3DMGX3::CMD_READ_EEPROM, Sensors::Microstrain3DMGX3::CMD_READ_EEPROM_SIZE, m_addr, m_bfr, m_hard_iron, m_uart, poll(), and DUNE::Tasks::Task::war().

Referenced by runCalibration().

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.

References c_bfr_size, m_bfr, m_faults_count, m_timeout_count, m_tstamp, m_uart, and validateChecksum().

Referenced by poll().

void Sensors::Microstrain3DMGX3::Task::onResourceAcquisition ( void )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_uart, DUNE::Tasks::Task::setEntityState(), Sensors::Microstrain3DMGX3::Arguments::uart_baud, and Sensors::Microstrain3DMGX3::Arguments::uart_dev.

void Sensors::Microstrain3DMGX3::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::Microstrain3DMGX3::CMD_DATA_SIZE, Sensors::Microstrain3DMGX3::CMD_FWARE_VERSION, Sensors::Microstrain3DMGX3::CMD_FWARE_VERSION_SIZE, m_uart, poll(), runCalibration(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

void Sensors::Microstrain3DMGX3::Task::onResourceRelease ( void )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_uart.

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

inlinevirtual

Update parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::Microstrain3DMGX3::Arguments::hard_iron, m_args, m_hard_iron, m_rotation, m_uart, m_wdog, DUNE::Tasks::Task::paramChanged(), Sensors::Microstrain3DMGX3::Arguments::rotation_mx, runCalibration(), DUNE::Time::Counter< T >::setTop(), Sensors::Microstrain3DMGX3::Arguments::timeout_error, and DUNE::Math::transpose().

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 calibrate(), Sensors::Microstrain3DMGX3::CMD_DATA, Sensors::Microstrain3DMGX3::CMD_DEVICE_RESET, Sensors::Microstrain3DMGX3::CMD_FWARE_VERSION, Sensors::Microstrain3DMGX3::CMD_READ_EEPROM, Sensors::Microstrain3DMGX3::CMD_WRITE_EEPROM, listen(), m_uart, requestCalibration(), and resetDevice().

Referenced by isCalibrated(), onResourceInitialization(), runCalibration(), setHardIron(), and task().

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

inline

References DUNE::Time::Counter< T >::getElapsed(), m_args, m_faults_count, m_sample_count, m_state_timer, m_timeout_count, m_wdog, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), and Sensors::Microstrain3DMGX3::Arguments::timeout_failure.

Referenced by task().

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

inline

Request calibration parameters from device.

Parameters

[in] addr address.

References Sensors::Microstrain3DMGX3::CMD_READ_EEPROM, and m_uart.

Referenced by poll().

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

inline

Soft-reset device.

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

Referenced by poll().

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

inline

Correct data according with mounting position.

References m_accel, m_agvel, m_magfield, and m_rotation.

Referenced by task().

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

inline

Routine to run calibration proceedings.

References Sensors::Microstrain3DMGX3::CMD_DEVICE_RESET, Sensors::Microstrain3DMGX3::CMD_DEVICE_RESET_SIZE, DUNE::Tasks::Task::inf(), isCalibrated(), m_timer, m_uart, poll(), DUNE::Tasks::Task::setEntityState(), and setHardIron().

Referenced by onResourceInitialization(), and onUpdateParameters().

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

inline

Set new hard iron calibration parameters.

Returns: true if successful, false otherwise.

References c_num_addr, Sensors::Microstrain3DMGX3::CMD_WRITE_EEPROM, Sensors::Microstrain3DMGX3::CMD_WRITE_EEPROM_SIZE, Sensors::Microstrain3DMGX3::Arguments::hard_iron, DUNE::Tasks::Task::inf(), m_addr, m_args, m_hard_iron, m_uart, and poll().

Referenced by runCalibration().

void Sensors::Microstrain3DMGX3::Task::task ( void )

inlinevirtual

Main task.

Implements DUNE::Tasks::Periodic.

References Sensors::Microstrain3DMGX3::CMD_DATA, Sensors::Microstrain3DMGX3::CMD_DATA_SIZE, DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::dispatch(), m_accel, m_agvel, m_bfr, m_euler, m_magfield, m_rotation, m_sample_count, m_tstamp, m_wdog, poll(), reportEntityState(), DUNE::Time::Counter< T >::reset(), rotateData(), and DUNE::Math::transpose().

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.

Referenced by listen().

Member Data Documentation

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

static

Internal read buffer.

Referenced by listen().

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

static

Magnetic calibration initial address.

Referenced by Task().

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

static

Number of addresses for magnetic calibration.

Referenced by isCalibrated(), setHardIron(), and Task().

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

Acceleration message.

Referenced by rotateData(), and task().

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

Magnetic Calibration addresses.

Referenced by isCalibrated(), setHardIron(), and Task().

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

Angular velocity message.

Referenced by rotateData(), and task().

Arguments Sensors::Microstrain3DMGX3::Task::m_args

Task arguments.

Referenced by consume(), onResourceAcquisition(), onUpdateParameters(), reportEntityState(), setHardIron(), and Task().

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

Internal read buffer.

Referenced by isCalibrated(), listen(), and task().

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

Euler angles message.

Referenced by task().

size_t Sensors::Microstrain3DMGX3::Task::m_faults_count

Faults count.

Referenced by listen(), and reportEntityState().

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

Rotated calibration parameters.

Referenced by isCalibrated(), onUpdateParameters(), and setHardIron().

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

Magnetometer Vector message.

Referenced by rotateData(), and task().

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

Rotation Matrix to correct mounting position.

Referenced by onUpdateParameters(), rotateData(), and task().

size_t Sensors::Microstrain3DMGX3::Task::m_sample_count

Sample count.

Referenced by reportEntityState(), and task().

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

Entity state timer.

Referenced by reportEntityState().

size_t Sensors::Microstrain3DMGX3::Task::m_timeout_count

Timeout count.

Referenced by listen(), and reportEntityState().

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

Timer to wait for soft-reset without issuing error.

Referenced by runCalibration(), and Task().

double Sensors::Microstrain3DMGX3::Task::m_tstamp

Read timestamp.

Referenced by listen(), and task().

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

Serial port.

Referenced by calibrate(), isCalibrated(), listen(), onResourceAcquisition(), onResourceInitialization(), onResourceRelease(), onUpdateParameters(), poll(), requestCalibration(), resetDevice(), runCalibration(), and setHardIron().

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

Watchdog.

Referenced by onUpdateParameters(), reportEntityState(), and task().

Collaboration diagram for Sensors::Microstrain3DMGX3::Task:

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation