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

void	onUpdateParameters (void)

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	consume (const IMC::MagneticField *msg)

void	onResourceRelease (void)

int8_t	getCommandDataSize (uint8_t id)

bool	setup (void)

bool	getMessage (CommandByte type, fp64_t maxwait=1.0)

void	clear (void)

fp64_t	updateTimerCount (uint8_t *data)

void	rotateAcceleration (void)

void	rotateAngularVelocity (void)

void	rotateMagneticField (void)

void	rotateEuler (void)

CommandByte	parse (uint8_t byte)

void	setContinuousMode (CommandByte msg=MSG_NULL)

void	queryEEPROM (uint16_t address)

void	writeEEPROM (uint16_t address, uint16_t w_data)

void	runCalibration (void)

bool	isCalibrated (void)

bool	setHardIron (void)

void	requestMessage (CommandByte command)

bool	validateCheckSum (const uint8_t *bfr, unsigned int size)

void	onMain (void)

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
SerialPort *	m_uart

IMC::EulerAngles	m_euler

IMC::AngularVelocity	m_agvel

IMC::Acceleration	m_accel

IMC::MagneticField	m_magfield

FSMStates	m_state

Math::Matrix	m_rotation

float	m_hard_iron [3]

int	m_togo

int	m_done

uint8_t	m_data [32]

fp64_t	m_accel_scale

fp64_t	m_gyro_scale

fp64_t	m_mag_scale

int16_t	m_eeprom

fp64_t	m_timer

uint16_t	m_last_tick

Arguments	m_args

Counter< double >	m_wdog

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
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)

Entities::BasicEntity *	getLocalEntity (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::Microstrain3DMGX1::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Sensors::Microstrain3DMGX1::Arguments::calib_threshold, Sensors::Microstrain3DMGX1::Arguments::calib_time, Sensors::Microstrain3DMGX1::Arguments::data_tout, Sensors::Microstrain3DMGX1::Arguments::hard_iron, Sensors::Microstrain3DMGX1::Arguments::raw_ivecs, Sensors::Microstrain3DMGX1::Arguments::rotation_mx, Sensors::Microstrain3DMGX1::Arguments::uart_baud, and Sensors::Microstrain3DMGX1::Arguments::uart_dev.

Member Function Documentation

void Sensors::Microstrain3DMGX1::Task::clear ( void )

inline

References Sensors::Microstrain3DMGX1::FSM_STATE_NONE.

void Sensors::Microstrain3DMGX1::Task::consume ( const IMC::MagneticField * msg )

inline

References Sensors::Microstrain3DMGX1::Arguments::calib_threshold, and Sensors::Microstrain3DMGX1::Arguments::hard_iron.

int8_t Sensors::Microstrain3DMGX1::Task::getCommandDataSize ( uint8_t id )

inline

References Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, Sensors::Microstrain3DMGX1::MSG_GS_EULER, Sensors::Microstrain3DMGX1::MSG_IVECS, Sensors::Microstrain3DMGX1::MSG_RAW_IVECS, and Sensors::Microstrain3DMGX1::MSG_W_EEPROM.

bool Sensors::Microstrain3DMGX1::Task::getMessage	(	CommandByte	type,
		fp64_t	maxwait = `1.0`
	)

inline

bool Sensors::Microstrain3DMGX1::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::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, and Sensors::Microstrain3DMGX1::MSG_GS_EULER.

void Sensors::Microstrain3DMGX1::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References Sensors::Microstrain3DMGX1::MSG_GS_EULER.

void Sensors::Microstrain3DMGX1::Task::onResourceAcquisition ( void )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::Microstrain3DMGX1::Arguments::uart_baud, and Sensors::Microstrain3DMGX1::Arguments::uart_dev.

void Sensors::Microstrain3DMGX1::Task::onResourceInitialization ( void )

inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::Microstrain3DMGX1::Arguments::data_tout.

void Sensors::Microstrain3DMGX1::Task::onResourceRelease ( void )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

void Sensors::Microstrain3DMGX1::Task::onUpdateParameters ( void )

inlinevirtual

Update parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::Microstrain3DMGX1::Arguments::hard_iron, Sensors::Microstrain3DMGX1::Arguments::rotation_mx, and DUNE::Math::transpose().

CommandByte Sensors::Microstrain3DMGX1::Task::parse ( uint8_t byte )

inline

References Sensors::Microstrain3DMGX1::FSM_STATE_MESSAGE, Sensors::Microstrain3DMGX1::FSM_STATE_NONE, Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, Sensors::Microstrain3DMGX1::MSG_GS_EULER, Sensors::Microstrain3DMGX1::MSG_IVECS, Sensors::Microstrain3DMGX1::MSG_NULL, Sensors::Microstrain3DMGX1::MSG_RAW_IVECS, Sensors::Microstrain3DMGX1::MSG_W_EEPROM, and Sensors::Microstrain3DMGX1::Arguments::raw_ivecs.

void Sensors::Microstrain3DMGX1::Task::queryEEPROM ( uint16_t address )

inline

References Sensors::Microstrain3DMGX1::MSG_EEPROM.

void Sensors::Microstrain3DMGX1::Task::requestMessage ( CommandByte command )

inline

void Sensors::Microstrain3DMGX1::Task::rotateAcceleration ( void )

inline

Correct data according with mounting position.

void Sensors::Microstrain3DMGX1::Task::rotateAngularVelocity ( void )

inline

void Sensors::Microstrain3DMGX1::Task::rotateEuler ( void )

inline

void Sensors::Microstrain3DMGX1::Task::rotateMagneticField ( void )

inline

void Sensors::Microstrain3DMGX1::Task::runCalibration ( void )

inline

Routine to run calibration proceedings.

References Sensors::Microstrain3DMGX1::MSG_GS_EULER.

void Sensors::Microstrain3DMGX1::Task::setContinuousMode ( CommandByte msg = MSG_NULL )

inline

References Sensors::Microstrain3DMGX1::MSG_CONTMODE.

bool Sensors::Microstrain3DMGX1::Task::setHardIron ( void )

inline

Set new hard iron calibration parameters.

Returns: true if successful, false otherwise.

References Sensors::Microstrain3DMGX1::Arguments::hard_iron, Sensors::Microstrain3DMGX1::MSG_CONTMODE, and Sensors::Microstrain3DMGX1::MSG_W_EEPROM.

bool Sensors::Microstrain3DMGX1::Task::setup ( void )

inline

References Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, and Sensors::Microstrain3DMGX1::MSG_GS_EULER.

fp64_t Sensors::Microstrain3DMGX1::Task::updateTimerCount ( uint8_t * data )

inline

bool Sensors::Microstrain3DMGX1::Task::validateCheckSum	(	const uint8_t *	bfr,
		unsigned int	size
	)

inline

References DUNE::Math::sum().

void Sensors::Microstrain3DMGX1::Task::writeEEPROM	(	uint16_t	address,
		uint16_t	w_data
	)

inline

References Sensors::Microstrain3DMGX1::MSG_W_EEPROM.

Member Data Documentation

IMC::Acceleration Sensors::Microstrain3DMGX1::Task::m_accel

fp64_t Sensors::Microstrain3DMGX1::Task::m_accel_scale

IMC::AngularVelocity Sensors::Microstrain3DMGX1::Task::m_agvel

Arguments Sensors::Microstrain3DMGX1::Task::m_args

uint8_t Sensors::Microstrain3DMGX1::Task::m_data[32]

int Sensors::Microstrain3DMGX1::Task::m_done

int16_t Sensors::Microstrain3DMGX1::Task::m_eeprom

IMC::EulerAngles Sensors::Microstrain3DMGX1::Task::m_euler

fp64_t Sensors::Microstrain3DMGX1::Task::m_gyro_scale

float Sensors::Microstrain3DMGX1::Task::m_hard_iron[3]

Rotated calibration parameters.

uint16_t Sensors::Microstrain3DMGX1::Task::m_last_tick

fp64_t Sensors::Microstrain3DMGX1::Task::m_mag_scale

IMC::MagneticField Sensors::Microstrain3DMGX1::Task::m_magfield

Magnetometer Vector message.

Math::Matrix Sensors::Microstrain3DMGX1::Task::m_rotation

Rotation Matrix to correct mounting position.

FSMStates Sensors::Microstrain3DMGX1::Task::m_state

fp64_t Sensors::Microstrain3DMGX1::Task::m_timer

int Sensors::Microstrain3DMGX1::Task::m_togo

SerialPort* Sensors::Microstrain3DMGX1::Task::m_uart

Counter<double> Sensors::Microstrain3DMGX1::Task::m_wdog

Collaboration diagram for Sensors::Microstrain3DMGX1::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation