Classes
class	bosch_hardware_interface
	Abstract base class for interfaces between sensors and computers. More...
class	Parameters
	An abstract class for sensor and hardware interface parameters. More...
class	sensor_driver
	An abstract class for all Bosch sensor drivers. More...
Enumerations
enum	encoder_control { CREATE, DESTROY, SET_POSITION }
	encoder Constants More...
enum	gpio_input_mode { FLOATING, PULLUP, PULLDOWN }
	GPIO Constants. More...
enum	Hardware_Interface { Sub20, Arduino, ArduinoROSSerial, Gumstix }
	the name of the compatible hardware devices that the sensors can implement as a generic hardware interface. More...
enum	interface_protocol { I2C, SPI, GPIO, RS232, RS485, ETHERNET, ETHERCAT, CAN, JTAG, PROFIBUS, MODBUS, USB, PWM, ENCODER, ADCONVERTER }
	the name of the protocol that both the hardware interface and the sensor are using to transmit data. More...
enum	motor_drive_mode { DRIVE, FREE_RUNNING, BRAKE }
	Motor Constants. More...
Variables
static const uint8_t	LSB_FIRST = 0
static const uint8_t	MSB_FIRST = 1
static const uint8_t	NULL_DEVICE = 0xFF
static const uint8_t	SPI_CLOCK_DIV_128 = 0x03
static const uint8_t	SPI_CLOCK_DIV_16 = 0x01
static const uint8_t	SPI_CLOCK_DIV_2 = 0x04
static const uint8_t	SPI_CLOCK_DIV_32 = 0x06
static const uint8_t	SPI_CLOCK_DIV_4 = 0x00
static const uint8_t	SPI_CLOCK_DIV_64 = 0x02
static const uint8_t	SPI_CLOCK_DIV_8 = 0x05
static const uint8_t	SPI_MODE_0 = 0x00
	SPI Constants.
static const uint8_t	SPI_MODE_1 = 0x01
static const uint8_t	SPI_MODE_2 = 0x02
static const uint8_t	SPI_MODE_3 = 0x03
static const uint8_t	SPI_READ_FLAG = 7
	The following members are the relevant bitflag offsets necessary for prompting the sensor for an SPI read or write.
static const uint8_t	SPI_WRITE_FLAG = 7

Detailed Description

Namespace common to all Bosch drivers

These values are used repeatedly by multiple files, so I've encapsulated them into their own namespace. The sensor_driver class, parameters class, and bosch_hardware_interface class are in this namespace.

Enumeration Type Documentation

enum bosch_drivers_common::encoder_control

encoder Constants

Enumerator:

CREATE
DESTROY
SET_POSITION

Definition at line 132 of file bosch_drivers_common.hpp.

enum bosch_drivers_common::gpio_input_mode

GPIO Constants.

Enumerator:

FLOATING
PULLUP
PULLDOWN

Definition at line 120 of file bosch_drivers_common.hpp.

enum bosch_drivers_common::Hardware_Interface

the name of the compatible hardware devices that the sensors can implement as a generic hardware interface.

Enumerator:

Sub20
Arduino
ArduinoROSSerial
Gumstix

Definition at line 58 of file bosch_drivers_common.hpp.

enum bosch_drivers_common::interface_protocol

the name of the protocol that both the hardware interface and the sensor are using to transmit data.

This enumeration is used on the Arduino and on the host PC. To optimize the arduino code, compile with the -fshort-enums flag.

Enumerator:

I2C
SPI
GPIO
RS232
RS485
ETHERNET
ETHERCAT
CAN
JTAG
PROFIBUS
MODBUS
USB
PWM
ENCODER
ADCONVERTER

Definition at line 67 of file bosch_drivers_common.hpp.

enum bosch_drivers_common::motor_drive_mode

Motor Constants.

Enumerator:

DRIVE
FREE_RUNNING
BRAKE

Definition at line 126 of file bosch_drivers_common.hpp.

Variable Documentation

const uint8_t bosch_drivers_common::LSB_FIRST = 0 [static]

Definition at line 86 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::MSB_FIRST = 1 [static]

Definition at line 85 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::NULL_DEVICE = 0xFF [static]

Definition at line 114 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_CLOCK_DIV_128 = 0x03 [static]

Definition at line 94 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_CLOCK_DIV_16 = 0x01 [static]

Definition at line 91 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_CLOCK_DIV_2 = 0x04 [static]

Definition at line 88 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_CLOCK_DIV_32 = 0x06 [static]

Definition at line 92 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_CLOCK_DIV_4 = 0x00 [static]

Definition at line 89 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_CLOCK_DIV_64 = 0x02 [static]

Definition at line 93 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_CLOCK_DIV_8 = 0x05 [static]

Definition at line 90 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_MODE_0 = 0x00 [static]

SPI Constants.

These values are used to set the SPI mode and frequency. Information on SPI modes can be found on the wikipedia page for SPI. The SPI frequency is determined by the clock frequency of the hardware interface and the clock divider value. See the datasheet for the specific hardware interface for additional details. The values here are optimized for use with Arduinos.

Definition at line 80 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_MODE_1 = 0x01 [static]

Definition at line 81 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_MODE_2 = 0x02 [static]

Definition at line 82 of file bosch_drivers_common.hpp.

const uint8_t bosch_drivers_common::SPI_MODE_3 = 0x03 [static]

Definition at line 83 of file bosch_drivers_common.hpp.

static const uint8_t bosch_drivers_common::SPI_READ_FLAG = 7 [static]

The following members are the relevant bitflag offsets necessary for prompting the sensor for an SPI read or write.

SPI Read/Write Flags