#include <Stim300Base.hpp>

Inheritance diagram for imu_stim300::Stim300Base:

Classes
struct	sensor_value

struct	sensor_values

struct	temp_value

Public Member Functions
	Stim300Base (int max_packet_size)

	~Stim300Base ()

void	welcome ()

bool	open (std::string const &filename)

bool	setBaudrate (int brate)

bool	fullReset ()

bool	enterServiceMode ()
	Enter in Service mode (not transferring data, configuration only) More...

virtual int	extractPacket (uint8_t const *buffer, size_t buffer_size) const =0

virtual int	processPacket ()=0
	read the package and puts the data into the corresponding structures. * More...

bool	setAcctoIncrementalVelocity ()
	Set Accelerometers output to Incremental velocity Internally enters in SERVICEMODE and It always returns to a NORMAL mode after changing the Accelerometers output. More...

void	setPackageTimeout (double timeoutSeconds)
	Ste the package Timeout. More...

void	setFrequency (int sampling_frequency)
	Ste the driver sampling frequency. More...

bool	getStatus ()
	Return the STIM300 internal status Return the negation value of the internal_error variable. More...

int	getFileDescriptor ()
	It gets the file descriptor (fd) More...

imu_stim300::ACC_OUTPUT	getAccOutputType ()
	Get Accelerometer Output Mode. More...

int	getPacketCounter ()
	Return the Incremental counter Return the value of the value of the counter in inertial_values. More...

Eigen::Vector3d	getAccData ()
	Return the Accelerometers values. More...

Eigen::Vector3d	getGyroData ()
	Return the Gyroscopes values. More...

Eigen::Vector3d	getInclData ()
	Return the Inclinometers values. More...

std::vector< double >	getTempData ()
	Return the Temperature values from Gyros. More...

uint64_t	getPacketLatency ()
	Return the datagram latency in microseconds (us) Return the latency calculated by the device. Latency is the time between the moment at which the sample has been digitized + low pass-filtered and the transmitted time. More...

bool	getChecksumStatus ()
	Return Checksum verification from the last computation. More...

virtual void	printInfo ()=0
	Get sensors information. More...

Protected Member Functions
struct imu_stim300::Stim300Base::sensor_value	__attribute__ ((__packed__))

struct imu_stim300::Stim300Base::temp_value	__attribute__ ((__packed__))

double	convertGyro2AngularRate (uint8_t const *buffer)

virtual double	convertAcc2Acceleration (uint8_t const *buffer)=0

double	convertIncl2Acceleration (uint8_t const *buffer)

double	convertAcc2IncreVel (uint8_t const *buffer)

double	convertTemp2Celsius (uint8_t const *buffer)

double	convertLatency2Microseconds (uint8_t const *buffer)

Protected Attributes
typedef	__attribute__

int	baudrate

int	sampling_frequency

int	counter_ratio

base::Time	pckgTimeout

uint8_t	prev_counter

sensor_values	inertial_values

STIM300_MODES	modes

bool	internal_error

imu_stim300::DATAGRAM_CONTENT	content

ACC_OUTPUT	acc_output

boost::uint32_t	expectedCRC

boost::uint32_t	calculatedCRC

Constructor & Destructor Documentation

◆ Stim300Base()

Stim300Base::Stim300Base ( int max_packet_size )

Constructors

◆ ~Stim300Base()

Stim300Base::~Stim300Base ( )

Member Function Documentation

◆ attribute() [1/2]

struct imu_stim300::Stim300Base::sensor_value imu_stim300::Stim300Base::__attribute__ ( (__packed__) )

protected

◆ attribute() [2/2]

struct imu_stim300::Stim300Base::temp_value imu_stim300::Stim300Base::__attribute__ ( (__packed__) )

protected

◆ convertAcc2Acceleration()

virtual double imu_stim300::Stim300Base::convertAcc2Acceleration ( uint8_t const * buffer )

protectedpure virtual

Implemented in imu_stim300::Stim300RevD, and imu_stim300::Stim300RevB.

◆ convertAcc2IncreVel()

double Stim300Base::convertAcc2IncreVel ( uint8_t const * buffer )

protected

◆ convertGyro2AngularRate()

double Stim300Base::convertGyro2AngularRate ( uint8_t const * buffer )

protected

◆ convertIncl2Acceleration()

double Stim300Base::convertIncl2Acceleration ( uint8_t const * buffer )

protected

◆ convertLatency2Microseconds()

double Stim300Base::convertLatency2Microseconds ( uint8_t const * buffer )

protected

◆ convertTemp2Celsius()

double Stim300Base::convertTemp2Celsius ( uint8_t const * buffer )

protected

◆ enterServiceMode()

bool Stim300Base::enterServiceMode ( )

Enter in Service mode (not transferring data, configuration only)

◆ extractPacket()

virtual int imu_stim300::Stim300Base::extractPacket	(	uint8_t const *	buffer,
		size_t	buffer_size
	)		const

pure virtual

Find a packet into the currently accumulated data.

Implemented in imu_stim300::Stim300RevD, and imu_stim300::Stim300RevB.

◆ fullReset()

bool Stim300Base::fullReset ( )

Performs a full reset of the device. Sending a RESET command

◆ getAccData()

Eigen::Vector3d Stim300Base::getAccData ( )

Return the Accelerometers values.

◆ getAccOutputType()

ACC_OUTPUT Stim300Base::getAccOutputType ( )

Get Accelerometer Output Mode.

◆ getChecksumStatus()

bool Stim300Base::getChecksumStatus ( )

Return Checksum verification from the last computation.

◆ getFileDescriptor()

int Stim300Base::getFileDescriptor ( )

It gets the file descriptor (fd)

Returns: int fd

◆ getGyroData()

Eigen::Vector3d Stim300Base::getGyroData ( )

Return the Gyroscopes values.

◆ getInclData()

Eigen::Vector3d Stim300Base::getInclData ( )

Return the Inclinometers values.

◆ getPacketCounter()

int Stim300Base::getPacketCounter ( )

Return the Incremental counter Return the value of the value of the counter in inertial_values.

◆ getPacketLatency()

uint64_t Stim300Base::getPacketLatency ( )

Return the datagram latency in microseconds (us) Return the latency calculated by the device. Latency is the time between the moment at which the sample has been digitized + low pass-filtered and the transmitted time.

◆ getStatus()

bool Stim300Base::getStatus ( )

Return the STIM300 internal status Return the negation value of the internal_error variable.

◆ getTempData()

std::vector< double > Stim300Base::getTempData ( )

Return the Temperature values from Gyros.

◆ open()

bool Stim300Base::open ( std::string const & filename )

Open the device, reset it and read device information. the baud rate is 921600

◆ printInfo()

virtual void imu_stim300::Stim300Base::printInfo ( )

pure virtual

Get sensors information.

Implemented in imu_stim300::Stim300RevD, and imu_stim300::Stim300RevB.

◆ processPacket()

virtual int imu_stim300::Stim300Base::processPacket ( )

pure virtual

read the package and puts the data into the corresponding structures. *

Implemented in imu_stim300::Stim300RevD, and imu_stim300::Stim300RevB.

◆ setAcctoIncrementalVelocity()

bool Stim300Base::setAcctoIncrementalVelocity ( )

Set Accelerometers output to Incremental velocity Internally enters in SERVICEMODE and It always returns to a NORMAL mode after changing the Accelerometers output.

◆ setBaudrate()

bool Stim300Base::setBaudrate ( int brate )

Sets the device baudrate (only possible for serial devices). +brate+ is the baud rate in bps, can be one of 19200, 57600 and 115200

If the device is not open yet, this baud rate will be set on startup (i.e. in open())

◆ setFrequency()

void Stim300Base::setFrequency ( int sampling_frequency )

Ste the driver sampling frequency.

Expected frequency (normally connected to timeout)

◆ setPackageTimeout()

void Stim300Base::setPackageTimeout ( double timeoutSeconds )

Ste the package Timeout.

Expected time to have a whole package

◆ welcome()

void Stim300Base::welcome ( )

Print a welcome to stdout

Returns: nothing

Member Data Documentation

◆ attribute

typedef imu_stim300::Stim300Base::__attribute__

protected

◆ acc_output

ACC_OUTPUT imu_stim300::Stim300Base::acc_output

protected

Content of the datagram (package) configuration NOTE: So far only RATE_ACC_INCLI_TEMP is implemented

◆ baudrate

int imu_stim300::Stim300Base::baudrate

protected

◆ calculatedCRC

boost::uint32_t imu_stim300::Stim300Base::calculatedCRC

protected

◆ content

imu_stim300::DATAGRAM_CONTENT imu_stim300::Stim300Base::content

protected

If Acc, Gyros or Incl report error it would be true (false by default)

◆ counter_ratio

int imu_stim300::Stim300Base::counter_ratio

protected

Sampling Frequency

◆ expectedCRC

boost::uint32_t imu_stim300::Stim300Base::expectedCRC

protected

Type of values returned by the STIM300. By defaults it is Acceleration in m/s^2

◆ inertial_values

sensor_values imu_stim300::Stim300Base::inertial_values

protected

Counter is incremented by 9 units; Here the previous to the current packge is saved

◆ internal_error

bool imu_stim300::Stim300Base::internal_error

protected

The three states of the automata of the STIM300

◆ modes

STIM300_MODES imu_stim300::Stim300Base::modes

protected

Struct with the processes STIM300 values

◆ pckgTimeout

base::Time imu_stim300::Stim300Base::pckgTimeout

protected

Packet counter ratio

◆ prev_counter

uint8_t imu_stim300::Stim300Base::prev_counter

protected

Estimate time to have a whole package

◆ sampling_frequency

int imu_stim300::Stim300Base::sampling_frequency

protected

Package baud rate

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

/build/rock-master-18.09-drivers-imu-stim300-0.20150320/src/Stim300Base.hpp
/build/rock-master-18.09-drivers-imu-stim300-0.20150320/src/Stim300Base.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ Stim300Base()

◆ ~Stim300Base()

Member Function Documentation

◆ __attribute__() [1/2]

◆ __attribute__() [2/2]

◆ convertAcc2Acceleration()

◆ convertAcc2IncreVel()

◆ convertGyro2AngularRate()

◆ convertIncl2Acceleration()

◆ convertLatency2Microseconds()

◆ convertTemp2Celsius()

◆ enterServiceMode()

◆ extractPacket()

◆ fullReset()

◆ getAccData()

◆ getAccOutputType()

◆ getChecksumStatus()

◆ getFileDescriptor()

◆ getGyroData()

◆ getInclData()

◆ getPacketCounter()

◆ getPacketLatency()

◆ getStatus()

◆ getTempData()

◆ open()

◆ printInfo()

◆ processPacket()

◆ setAcctoIncrementalVelocity()

◆ setBaudrate()

◆ setFrequency()

◆ setPackageTimeout()

◆ welcome()

Member Data Documentation

◆ __attribute__

◆ acc_output

◆ baudrate

◆ calculatedCRC

◆ content

◆ counter_ratio

◆ expectedCRC

◆ inertial_values

◆ internal_error

◆ modes

◆ pckgTimeout

◆ prev_counter

◆ sampling_frequency

◆ attribute() [1/2]

◆ attribute() [2/2]

◆ attribute