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, m_args, 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, 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, extractRotatedVector(), Sensors::LIMU::ErrorCounts::increment(), m_accel, m_ang_vel, m_delt_ang, m_delt_vel, m_err_counts, m_euler, m_magn, m_rotation, m_sample_count, m_temp, m_wdog, DUNE::Time::Counter< T >::reset(), DUNE::Math::Matrix::toDCM(), and DUNE::Math::transpose().

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().

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

inline

References m_rotation.

Referenced by decodeOutputData().

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

inline

Get current Hard-Iron calibration parameters.

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

Referenced by setHardIronFactors().

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

inline

References m_timeout_count, m_uart, readInput(), and reportEntityState().

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 m_args, Sensors::LIMU::Arguments::output_frq, setHardIronFactors(), and setOutputFrequency().

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_hard_iron, m_rotation, m_wdog, Sensors::LIMU::Arguments::output_frq, Sensors::LIMU::Arguments::raw_data, Sensors::LIMU::Arguments::rotation_mx, setHardIronFactors(), setOutputFrequency(), DUNE::Time::Counter< T >::setTop(), Sensors::LIMU::Arguments::timeout_error, and DUNE::Math::transpose().

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::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(), and Sensors::LIMU::Arguments::timeout_failure.

Referenced by onMain().

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

inline

Set Hard-Iron calibration parameters.

References getHardIronFactors(), Sensors::LIMU::Arguments::hard_iron, m_args, m_ctl, m_hard_iron, 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(), reportEntityState(), setHardIronFactors(), 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(), 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().

size_t Sensors::LIMU::Task::m_faults_count

Faults count.

Referenced by reportEntityState().

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

Scratch frame.

Referenced by readInput().

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

Rotated hard-iron calibration parameters.

Referenced by getHardIronFactors(), onUpdateParameters(), and setHardIronFactors().

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

Magnetic Field.

Referenced by decodeOutputData().

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

UCTK parser.

Referenced by readInput().

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

Rotation Matrix to correct mounting position.

Referenced by decodeOutputData(), extractRotatedVector(), and onUpdateParameters().

size_t Sensors::LIMU::Task::m_sample_count

Sample count.

Referenced by decodeOutputData(), and reportEntityState().

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

Entity state timer.

Referenced by reportEntityState().

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

Temperature.

Referenced by decodeOutputData().

size_t Sensors::LIMU::Task::m_timeout_count

Timeout count.

Referenced by onMain(), and reportEntityState().

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(), onUpdateParameters(), and reportEntityState().

Collaboration diagram for Sensors::LIMU::Task:

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation