Imar.cpp File Reference

#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <math.h>
#include <stdint.h>
#include "Imar.hpp"

Classes
union	imu_imar::IntFloat

Namespaces
	imu_imar

Macros
#define	D2R   M_PI/180.00 /** Convert degree to radian **/
#define	R2D   180.00/M_PI /** Convert radian to degree **/

Functions
speed_t	imu_imar::getBaudsRate (const int bauds)
	This method gives the baud rate in speed_t termios struct. More...

Detailed Description

This class has the primitive methods for the IMAR IMU driver model iVRU-BB. Methods provide the basic for managing the serial port connection and acquiring inertia value in the binary float coding of the values coming from the IMU.

The version 1.0 only allows to acquired data in the default mode whatever this model is in the baud range and specified samplind rate for a package size defined by PKG_SIZE (bynary float data format). It is desired to extend the driver for allowing configuration using the debug serial port communication which allows to change and configure several parameters by writing to this serial port.

Author

Javier Hidalgo Carrio | DFKI RIC Bremen | javie.nosp@m.r.hi.nosp@m.dalgo.nosp@m._car.nosp@m.rio@d.nosp@m.fki..nosp@m.de

Date

August 2012.

Version

1.0.

Macro Definition Documentation

D2R

#define D2R   M_PI/180.00 /** Convert degree to radian **/

< Standard input/output definitions < String function definitions < UNIX standard function definitions < File control definitions < Error number definitions < POSIX terminal control definitions Math includes

R2D

#define R2D   180.00/M_PI /** Convert radian to degree **/