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

Task()

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

consume()

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

inline

References Sensors::LIMU::Arguments::hard_iron.

decode()

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.

decodeOutputData()

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().

decodeOutputRaw()

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

inline

Decode output raw data.

Parameters

[in]

frame

raw data.

extractRotatedVector()

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

inline

getHardIronFactors()

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

inline

Get current Hard-Iron calibration parameters.

References Sensors::LIMU::PKT_ID_HARD_IRON.

onMain()

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

inline

onResourceAcquisition()

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

inline

Acquire resources.

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

onResourceInitialization()

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

inline

Initialize resources.

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

onResourceRelease()

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

inline

Release resources.

onUpdateParameters()

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().

readInput()

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

inline

Read input from sensor.

reportEntityState()

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

inline

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

setHardIronFactors()

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.

setOutputFrequency()

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

m_accel

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

Acceleration.

m_ang_vel

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

Angular velocity.

m_args

Arguments Sensors::LIMU::Task::m_args

Task arguments.

m_buffer

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

Scratch buffer.

m_calib_eid

unsigned Sensors::LIMU::Task::m_calib_eid

Compass Calibration maneuver entity id.

m_ctl

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

Control Interface.

m_delt_ang

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

Delta angles.

m_delt_vel

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

Delta velocity.

m_err_counts

ErrorCounts Sensors::LIMU::Task::m_err_counts

Error counts.

m_euler

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

Euler Angles.

m_faults_count

size_t Sensors::LIMU::Task::m_faults_count

Faults count.

m_frame

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

Scratch frame.

m_hard_iron

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

Rotated hard-iron calibration parameters.

m_magn

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

Magnetic Field.

m_parser

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

UCTK parser.

m_rotation

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

Rotation Matrix to correct mounting position.

m_sample_count

size_t Sensors::LIMU::Task::m_sample_count

Sample count.

m_state_timer

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

Entity state timer.

m_temp

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

Temperature.

m_timeout_count

size_t Sensors::LIMU::Task::m_timeout_count

Timeout count.

m_uart

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

Serial port device.

m_wdog

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

Watchdog.

Collaboration diagram for Sensors::LIMU::Task: