imu_imar::iVRU_BB Class Reference

#include <Imar.hpp>

Public Member Functions
	iVRU_BB ()
	~iVRU_BB ()
void	welcome ()
	Dummy Welcome method. More...
bool	open_port (const char *name)
	This method opens a serial port. More...
bool	init_serial (const char *name, const int bauds)
	This method opens and configures a serial port. More...
bool	write_serial (char *command, int nbytes)
	This method write values in the serial port. More...
bool	read_serial (unsigned char *bufferpr, int nbytes)
	Function to read values from a serial port connection. More...
bool	close_port ()
	Function to close an open serial port connection. More...
int	getDescriptor ()
	Returns file decriptor. More...
int	cbIsFull ()
	Returns if the circular buffer is full. More...
int	cbIsEmpty ()
	Returns if the circular buffer is Empty. More...
bool	cbIsSynchronized ()
	Returns if the driver is Synchronized. More...
void	cbWritePckg (int nbytes, unsigned char *values)
	It writes information in the Cicular Buffer. More...
bool	cbSynchronize ()
	It synchronizes the circular buffer. More...
bool	cbCopyPckg (unsigned char *pckg, int len)
	It reads a information from the circular buffer. More...
bool	cbReadValues ()
	It reads a IMU packages. More...
void	cbPrintValues ()
	It prints the values stored in ImuData. More...
int	cbNumberElements ()
	It gives the number of elements stored in the Circular Buffer. More...
int	getPacketCounter ()
	It gives the package counter. More...
Eigen::Matrix< double, imu_imar::NUMAXIS, 1 >	getAccelerometers ()
	It gets the Accelerometers values. More...
Eigen::Matrix< double, imu_imar::NUMAXIS, 1 >	getGyroscopes ()
	It gets the Gyroscopes values. More...
Eigen::Quaternion< double >	getAttitude ()
	It gets the attitude or orientation. More...
void	cbCalculateAccIntegration (const float omega)
Eigen::Matrix< double, imu_imar::NUMAXIS, 1 >	getVelocity ()
Eigen::Matrix< double, imu_imar::NUMAXIS, 1 >	getPosition ()
unsigned short	crc16 (unsigned char *data_p, int length)
unsigned int	Crc16_0 (unsigned char const *pByte, unsigned Size)
void	cbReset ()

Constructor & Destructor Documentation

iVRU_BB()

imu_imar::iVRU_BB::iVRU_BB

(

)

Print a welcome to stdout

Returns

nothing

Init the circular Buffer

~iVRU_BB()

imu_imar::iVRU_BB::~iVRU_BB

(

)

Member Function Documentation

cbCalculateAccIntegration()

void imu_imar::iVRU_BB::cbCalculateAccIntegration

(

const float

omega

)

Get the Acceleration

Remove the first elements from the buffer

Compute the FFT

Convert Acc to Displacement

Convert Acc to Velocity

Calculate the Inverse FFT

Fill the Vel and Displacement

cbCopyPckg()

bool imu_imar::iVRU_BB::cbCopyPckg	(	unsigned char *	pckg,
		int	len
	)

It reads a information from the circular buffer.

The method reads raw information from the circular buffer.

Author

Javier Hidalgo Carrio.

Parameters

[out]	*pckg	pointer to buffer.
[in]	len	size of the buffer

Returns

OK if everything is good, ERROR in other cases.

cbIsEmpty()

int imu_imar::iVRU_BB::cbIsEmpty

(

)

Returns if the circular buffer is Empty.

Author

Javier Hidalgo Carrio.

Returns

true if buffer is Empty false in other cases.

cbIsFull()

int imu_imar::iVRU_BB::cbIsFull

(

)

Returns if the circular buffer is full.

Author

Javier Hidalgo Carrio.

Returns

true if buffer is full false in other cases.

cbIsSynchronized()

bool imu_imar::iVRU_BB::cbIsSynchronized

(

)

Returns if the driver is Synchronized.

When the read pointer of the cicular buffer is synchronized with the SyncWord of the stream the driver is synchronized.

Author

Javier Hidalgo Carrio.

Returns

true if it is Synchronized false in other cases.

cbNumberElements()

int imu_imar::iVRU_BB::cbNumberElements

(

)

It gives the number of elements stored in the Circular Buffer.

Author

Javier Hidalgo Carrio.

Returns

Return the number of elements.

From read till the end

cbPrintValues()

void imu_imar::iVRU_BB::cbPrintValues

(

)

It prints the values stored in ImuData.

Author

Javier Hidalgo Carrio.

Returns

OK if everything is good, ERROR in other cases.

Inertial Values

cbReadValues()

bool imu_imar::iVRU_BB::cbReadValues

(

)

It reads a IMU packages.

The method reads the information in the circular buffer and gives the inertial information. It needs to be previously synchronized otherwise the values would be wrong. The values are stored in the ImuData variable.

Author

Javier Hidalgo Carrio.

Returns

OK if everything is good, ERROR in other cases.

Pckg counter

Pckg length

Accelerometers X

Accelerometers Y

Accelerometers Z

Gyroscope X

Gyroscope Y

Gyroscope Z

Roll

Pitch

Yaw

Read the time field

Push the accelerometers readings to the FFT buffer

Check if the buffer is Synchronize

cbReset()

void imu_imar::iVRU_BB::cbReset

(

)

cbSynchronize()

bool imu_imar::iVRU_BB::cbSynchronize

(

)

It synchronizes the circular buffer.

The method synchronizes the cicular buffer seeking for the Synchronization Word defined by SYNC_WORD

Author

Javier Hidalgo Carrio.

Returns

OK if synchronization makes success. ERROR in other cases.

Jump one package ahead to be fully sync

The app must read new values again

cbWritePckg()

void imu_imar::iVRU_BB::cbWritePckg	(	int	nbytes,
		unsigned char *	values
	)

It writes information in the Cicular Buffer.

The values previously read in the serial port are writen in the Circular Buffer.

Author

Javier Hidalgo Carrio.

Parameters

[in]	nbytes	number of bytes to read.
[in]	values	pointer to char. Buffer to store the values read

Returns

void

close_port()

bool imu_imar::iVRU_BB::close_port

(

)

Function to close an open serial port connection.

This function closes the serial port connection.

Author

Javier Hidalgo Carrio.

Returns

OK if everything all right, ERROR on error.

Returns OK if no errors

crc16()

unsigned short imu_imar::iVRU_BB::crc16	(	unsigned char *	data_p,
		int	length
	)

Crc16_0()

unsigned int imu_imar::iVRU_BB::Crc16_0	(	unsigned char const *	pByte,
		unsigned	Size
	)

getAccelerometers()

Eigen::Matrix< double, imu_imar::NUMAXIS, 1 > imu_imar::iVRU_BB::getAccelerometers

(

)

It gets the Accelerometers values.

Author

Javier Hidalgo Carrio.

Returns

The Accelerometers.

getAttitude()

Eigen::Quaternion< double > imu_imar::iVRU_BB::getAttitude

(

)

It gets the attitude or orientation.

Author

Javier Hidalgo Carrio.

Returns

The attitude in a Quaternion form.

getDescriptor()

int imu_imar::iVRU_BB::getDescriptor

(

)

Returns file decriptor.

Author

Javier Hidalgo Carrio.

Returns

the fd value

getGyroscopes()

Eigen::Matrix< double, imu_imar::NUMAXIS, 1 > imu_imar::iVRU_BB::getGyroscopes

(

)

It gets the Gyroscopes values.

Author

Javier Hidalgo Carrio.

Returns

The Gyroscopes

getPacketCounter()

int imu_imar::iVRU_BB::getPacketCounter

(

)

It gives the package counter.

Author

Javier Hidalgo Carrio.

Returns

Return the incremental counter

getPosition()

Eigen::Matrix< double, 3, 1 > imu_imar::iVRU_BB::getPosition

(

)

getVelocity()

Eigen::Matrix< double, 3, 1 > imu_imar::iVRU_BB::getVelocity

(

)

init_serial()

bool imu_imar::iVRU_BB::init_serial	(	const char *	name,
		const int	bauds
	)

This method opens and configures a serial port.

The method opens a serial port with descriptor file name and the bauds rate specified. The serial port is open set to no parity cheking 8databits, 1 stopbit and no hardware protocol.

Author

Javier Hidalgo Carrio.

Parameters

[in]	*name	pointer to char (C type string) with the descriptor file name
[out]	bauds	integer value with the baud rate

Returns

OK is everything all right. ERROR on other cases.

Get the current options for the port

Set the baud rates to 57600

Input flags: Disable input processing: no parity checking or marking, no signals from break conditions, do not convert line feeds or carriage returns, and do not map upper case to lower case.

no output processing

don't convert line feeds

Select 8 data bits

open_port()

bool imu_imar::iVRU_BB::open_port

(

const char *

name

)

This method opens a serial port.

The method opens a serial port with descriptor file name specified in the paramaters.

Author

Javier Hidalgo Carrio.

Parameters

[in]

*name

pointer to char (C type string) with the descriptor file name

Returns

OK is everything all right. ERROR on other cases.

read_serial()

bool imu_imar::iVRU_BB::read_serial	(	unsigned char *	bufferpr,
		int	nbytes
	)

Function to read values from a serial port connection.

This function read nbytes from the open serial port

Author

Javier Hidalgo Carrio.

Parameters

[out]	bufferpr	pointer to char. Buffer to store the values read
[in]	nbytes	number of bytes to read.

Returns

OK if everything all right, ERROR on error.

welcome()

void imu_imar::iVRU_BB::welcome

(

)

Dummy Welcome method.

Dummy Welcome methods.

Author

Javier Hidalgo Carrio.

Returns

void

write_serial()

bool imu_imar::iVRU_BB::write_serial	(	char *	command,
		int	nbytes
	)

This method write values in the serial port.

Write values in the serial port

Author

Javier Hidalgo Carrio.

Parameters

[in]	*commad	pointer to array of values
[out]	nbytes	number of byte to write

Returns

OK is everything all right. ERROR on other cases.

---

The documentation for this class was generated from the following files:

• /build/rock-master-18.09-drivers-imu-imar-0.20140820/src/Imar.hpp
• /build/rock-master-18.09-drivers-imu-imar-0.20140820/src/Imar.cpp