3dmgx2.cc File Reference

#include <assert.h>
#include <errno.h>
#include <fcntl.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <sys/stat.h>
#include <termios.h>
#include <unistd.h>
#include <netinet/in.h>
#include <stdlib.h>
#include <sys/time.h>
#include "microstrain_3dmgx2_imu/3dmgx2.h"
#include "poll.h"

Include dependency graph for 3dmgx2.cc:

Go to the source code of this file.

Macros
#define	CMD_ACCEL_ANGRATE_MAG_ORIENT_REP_LEN   79
#define	CMD_RAW_ACCEL_ANGRATE_LEN   31
#define	IMU_EXCEPT(except, msg, ...)
	Macro for throwing an exception with a message. More...

Functions
static unsigned short	bswap_16 (unsigned short x)
	Code to swap bytes since IMU is big endian. More...
static unsigned int	bswap_32 (unsigned int x)
	Code to swap bytes since IMU is big endian. More...
static float	extract_float (uint8_t *addr)
	Code to extract a floating point number from the IMU. More...
static int	read_with_timeout (int fd, void *buff, size_t count, int timeout)
static unsigned long long	time_helper ()
	Helper function to get system time in nanoseconds. More...

Macro Definition Documentation

#define CMD_ACCEL_ANGRATE_MAG_ORIENT_REP_LEN   79

Definition at line 500 of file 3dmgx2.cc.

#define CMD_RAW_ACCEL_ANGRATE_LEN   31

Definition at line 501 of file 3dmgx2.cc.

#define IMU_EXCEPT	(		except,
			msg,
			...
	)

Value:

{ \
    char buf[1000]; \
    snprintf(buf, 1000, msg" (in microstrain_3dmgx2_imu::IMU:%s)", ##__VA_ARGS__, __FUNCTION__); \
    throw except(buf); \
  }

Macro for throwing an exception with a message.

Definition at line 43 of file 3dmgx2.cc.

Function Documentation

static unsigned short bswap_16 ( unsigned short  x )

inlinestatic

Code to swap bytes since IMU is big endian.

Definition at line 57 of file 3dmgx2.cc.

static unsigned int bswap_32 ( unsigned int  x )

inlinestatic

Code to swap bytes since IMU is big endian.

Definition at line 62 of file 3dmgx2.cc.

static float extract_float ( uint8_t *  addr )

static

Code to extract a floating point number from the IMU.

Definition at line 68 of file 3dmgx2.cc.

static int read_with_timeout ( int  fd, void *  buff, size_t  count, int  timeout  )

static

Definition at line 641 of file 3dmgx2.cc.

static unsigned long long time_helper ( )

static

Helper function to get system time in nanoseconds.

Definition at line 82 of file 3dmgx2.cc.