#include <Stim300RevD.hpp>

Inheritance diagram for imu_stim300::Stim300RevD:

Public Member Functions
	Stim300RevD ()

int	extractPacket (uint8_t const *buffer, size_t buffer_size) const

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

void	printInfo ()
	Get sensors information. More...

Public Member Functions inherited from imu_stim300::Stim300Base
	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...

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...

Protected Member Functions
double	convertAcc2Acceleration (uint8_t const *buffer)

bool	verifyChecksum (boost::uint32_t &expintCRC, boost::uint32_t &calintCRC)

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

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

double	convertGyro2AngularRate (uint8_t const *buffer)

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
uint8_t	buffer [MAX_PACKET_SIZE]

packet *	currentP

Protected Attributes inherited from imu_stim300::Stim300Base
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

Static Protected Attributes
static const unsigned int	NUMBER_PADDING_BYTES = 1

static const unsigned int	MAX_PACKET_SIZE = 2 * sizeof(struct packet)

Constructor & Destructor Documentation

Stim300RevD::Stim300RevD ( )

Pointer to the current packet (to buffer) Constructor

Revision D has 9 temperature sensors

Member Function Documentation

double Stim300RevD::convertAcc2Acceleration ( uint8_t const * buffer )

protectedvirtual

Implements imu_stim300::Stim300Base.

int Stim300RevD::extractPacket	(	uint8_t const *	buffer,
		size_t	buffer_size
	)		const

virtual

Find a packet into the currently accumulated data.

Found start of the packet

Verify there is another start of the packet afterwards

Implements imu_stim300::Stim300Base.

void Stim300RevD::printInfo ( )

virtual

Get sensors information.

Implements imu_stim300::Stim300Base.

int Stim300RevD::processPacket ( )

virtual

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

Verify the Checksum

If everything is alright convert the values

Convert gyros raw to calibrated values

Convert accelerometers raw to calibrated values

Convert inclinometers raw to calibrated values

Convert gyros temperature raw to calibrated values

Convert accelerometers temperature raw to calibrated values

Convert inclinometers temperature raw to calibrated values

Implements imu_stim300::Stim300Base.

bool Stim300RevD::verifyChecksum	(	boost::uint32_t &	expintCRC,
		boost::uint32_t &	calintCRC
	)

protected

Here the variable buffer is the global variable

Fill the Dummy bytes with 0x00. There are at the end of the buffer

Calculated CRC

Expected CRC endianness is corrected

Member Data Documentation

uint8_t imu_stim300::Stim300RevD::buffer[MAX_PACKET_SIZE]

protected

packet* imu_stim300::Stim300RevD::currentP

protected

Buffer with the current package

const unsigned int imu_stim300::Stim300RevD::MAX_PACKET_SIZE = 2 * sizeof(struct packet)

staticprotected

const unsigned int imu_stim300::Stim300RevD::NUMBER_PADDING_BYTES = 1

staticprotected

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

/build/rock-master-18.09-drivers-imu-stim300-0.20150320/src/Stim300RevD.hpp
/build/rock-master-18.09-drivers-imu-stim300-0.20150320/src/Stim300RevD.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation