Imu Interface to the Microstrain 3DM-GX4-25 IMU. More...

#include <imu.hpp>

Classes
struct	command_error
	command_error Generated when device replies with NACK. More...

struct	DiagnosticFields
	DiagnosticFields struct (See 3DM documentation for these fields) More...

struct	FilterData
	FilterData Estimator readings produced by the sensor. More...

struct	IMUData
	IMUData IMU readings produced by the sensor. More...

struct	Info
	Info Structure generated by the getDeviceInfo command. More...

struct	io_error
	io_error Generated when a low-level IO command fails. More...

struct	Packet

struct	timeout_error
	timeout_error Generated when read or write times out, usually indicates device hang up. More...

Public Member Functions
struct imu_3dm_gx4::Imu::Packet	__attribute__ ((packed))

struct imu_3dm_gx4::Imu::DiagnosticFields	__attribute__ ((packed))

void	connect ()
	connect Open a file descriptor to the serial device. More...

void	disconnect ()
	disconnect Close the file descriptor, sending the IDLE command first. More...

void	enableBiasEstimation (bool enabled)
	enableBiasEstimation Enable gyroscope bias estimation More...

void	enableFilterStream (bool enabled)
	enableFilterStream Enable/disable streaming of estimation filter data. More...

void	enableIMUStream (bool enabled)
	enableIMUStream Enable/disable streaming of IMU data More...

void	enableMeasurements (bool accel, bool magnetometer)
	enableMeasurements Set which measurements to enable in the filter More...

void	getDeviceInfo (Imu::Info &info)
	getDeviceInfo Get hardware information about the device. More...

void	getDiagnosticInfo (Imu::DiagnosticFields &fields)
	getDiagnosticInfo Get diagnostic information from the IMU. More...

void	getFilterDataBaseRate (uint16_t &baseRate)
	getFilterDataBaseRate Get the filter data base rate (should be 500) More...

void	getIMUDataBaseRate (uint16_t &baseRate)
	getIMUDataBaseRate Get the imu data base rate (should be 1000) More...

void	idle (bool needReply=true)
	idle Switch the device to idle mode. More...

	Imu (const std::string &device, bool verbose)
	Imu Constructor. More...

void	ping ()
	ping Ping the device. More...

void	resume ()
	resume Resume the device. More...

void	runOnce ()
	runOnce Poll for input and read packets if available. More...

void	selectBaudRate (unsigned int baud)
	selectBaudRate Select baud rate. More...

void	setFilterDataCallback (const std::function< void(const Imu::FilterData &)> &)
	Set the onboard filter data callback. More...

void	setFilterDataRate (uint16_t decimation, const std::bitset< 4 > &sources)
	setFilterDataRate Set estimator data rate for different sources. More...

void	setHardIronOffset (float offset[3])
	setHardIronOffset Set the hard-iron bias vector for the magnetometer. More...

void	setIMUDataCallback (const std::function< void(const Imu::IMUData &)> &)
	Set the IMU data callback. More...

void	setIMUDataRate (uint16_t decimation, const std::bitset< 4 > &sources)
	setIMUDataRate Set imu data rate for different sources. More...

void	setSoftIronMatrix (float matrix[9])
	setSoftIronMatrix Set the soft-iron matrix for the magnetometer. More...

virtual	~Imu ()
	~Imu Destructor More...

Public Attributes
struct imu_3dm_gx4::Imu::Info	__attribute__

struct imu_3dm_gx4::Imu::IMUData	__attribute__

Private Types
enum	{ Idle = 0, Reading }
	Called when filter data is ready. More...

Private Member Functions
std::size_t	handleByte (const uint8_t &byte, bool &found)

int	handleRead (size_t)

	Imu (const Imu &)=delete

Imu &	operator= (const Imu &)=delete

int	pollInput (unsigned int to)

void	processPacket ()

void	receiveResponse (const Packet &command, unsigned int to)

void	sendCommand (const Packet &p, bool readReply=true)

void	sendPacket (const Packet &p, unsigned int to)

bool	termiosBaudRate (unsigned int baud)

int	writePacket (const Packet &p, unsigned int to)

Private Attributes
std::vector< uint8_t >	buffer_

const std::string	device_

size_t	dstIndex_

int	fd_

std::function< void(const Imu::FilterData &)>	filterDataCallback_
	Called with IMU data is ready. More...

std::function< void(const Imu::IMUData &)>	imuDataCallback_

Packet	packet_

std::deque< uint8_t >	queue_

unsigned int	rwTimeout_

size_t	srcIndex_

enum imu_3dm_gx4::Imu:: { ... }	state_
	Called when filter data is ready. More...

const bool	verbose_

Detailed Description

Imu Interface to the Microstrain 3DM-GX4-25 IMU.

See also: http://www.microstrain.com/inertial/3dm-gx4-25

Author: Gareth Cross

Note: Error handling: All methods which communicate with the device can throw the exceptions below: io_error, timeout_error, command_error and std::runtime_error. Additional exceptions are indicated on specific functions.

Definition at line 43 of file imu.hpp.

Member Enumeration Documentation

anonymous enum

private

Called when filter data is ready.

Enumerator
Idle
Reading

Definition at line 431 of file imu.hpp.

Constructor & Destructor Documentation

Imu::Imu	(	const std::string &	device,
		bool	verbose
	)

Imu Constructor.

Parameters

device	Path to the device in /dev, eg. /dev/ttyACM0
verbose	If true, packet reads are logged to console.

Definition at line 396 of file imu.cpp.

Imu::~Imu ( )

virtual

~Imu Destructor

Note: Calls disconnect() automatically.

Definition at line 405 of file imu.cpp.

imu_3dm_gx4::Imu::Imu ( const Imu & )

privatedelete

Member Function Documentation

struct imu_3dm_gx4::Imu::Packet imu_3dm_gx4::Imu::__attribute__ ( (packed) )

struct imu_3dm_gx4::Imu::DiagnosticFields imu_3dm_gx4::Imu::__attribute__ ( (packed) )

void Imu::connect ( )

connect Open a file descriptor to the serial device.

Exceptions

runtime_error if already open or path is invalid. io_error for termios failures.

Definition at line 407 of file imu.cpp.

void Imu::disconnect ( )

disconnect Close the file descriptor, sending the IDLE command first.

Definition at line 468 of file imu.cpp.

void Imu::enableBiasEstimation ( bool enabled )

enableBiasEstimation Enable gyroscope bias estimation

Parameters

enabled If true, bias estimation is enabled

Definition at line 816 of file imu.cpp.

void Imu::enableFilterStream ( bool enabled )

enableFilterStream Enable/disable streaming of estimation filter data.

Parameters

enabled If true, streaming is enabled.

Definition at line 869 of file imu.cpp.

void Imu::enableIMUStream ( bool enabled )

enableIMUStream Enable/disable streaming of IMU data

Parameters

enabled If true, streaming is enabled.

Definition at line 855 of file imu.cpp.

void Imu::enableMeasurements	(	bool	accel,
		bool	magnetometer
	)

enableMeasurements Set which measurements to enable in the filter

Parameters

accel	If true, acceleration measurements are enabled
magnetometer	If true, magnetometer measurements are enabled.

Definition at line 799 of file imu.cpp.

void Imu::getDeviceInfo ( Imu::Info & info )

getDeviceInfo Get hardware information about the device.

Parameters

info	Struct into which information is placed.

Definition at line 664 of file imu.cpp.

void Imu::getDiagnosticInfo ( Imu::DiagnosticFields & fields )

getDiagnosticInfo Get diagnostic information from the IMU.

Parameters

fields On success, a filled out DiagnosticFields.

Definition at line 719 of file imu.cpp.

void Imu::getFilterDataBaseRate ( uint16_t & baseRate )

getFilterDataBaseRate Get the filter data base rate (should be 500)

Parameters

baseRate On success, the base rate in Hz

Definition at line 708 of file imu.cpp.

void Imu::getIMUDataBaseRate ( uint16_t & baseRate )

getIMUDataBaseRate Get the imu data base rate (should be 1000)

Parameters

baseRate On success, the base rate in Hz

Definition at line 693 of file imu.cpp.

std::size_t Imu::handleByte	(	const uint8_t &	byte,
		bool &	found
	)

private

Note: handleByte will interpret a single byte. It will return the number of bytes which can be cleared from the queue. On early failure, this will always be 1 - ie. kSyncMSB should be cleared from the queue. On success, the total length of the valid packet should be cleared.

Definition at line 927 of file imu.cpp.

int Imu::handleRead ( size_t bytes_transferred )

private

Definition at line 1004 of file imu.cpp.

void Imu::idle ( bool needReply = true )

idle Switch the device to idle mode.

Parameters

needReply,if true we wait for reply.

Definition at line 644 of file imu.cpp.

Imu& imu_3dm_gx4::Imu::operator= ( const Imu & )

privatedelete

void Imu::ping ( )

ping Ping the device.

Definition at line 634 of file imu.cpp.

int Imu::pollInput ( unsigned int to )

private

Definition at line 893 of file imu.cpp.

void Imu::processPacket ( )

private

Definition at line 1038 of file imu.cpp.

void Imu::receiveResponse	(	const Packet &	command,
		unsigned int	to
	)

private

Definition at line 1176 of file imu.cpp.

void Imu::resume ( )

resume Resume the device.

Definition at line 654 of file imu.cpp.

void Imu::runOnce ( )

runOnce Poll for input and read packets if available.

Definition at line 520 of file imu.cpp.

void Imu::selectBaudRate ( unsigned int baud )

selectBaudRate Select baud rate.

Parameters

baud	The desired baud rate. Supported values are: 9600,19200,115200,230400,460800,921600.

Note: This command will attempt to communicate w/ the device using all possible baud rates. Once the current baud rate is determined, it will switch to 'baud' and send the UART command.

Exceptions

std::runtime_error for invalid baud rates.

Definition at line 528 of file imu.cpp.

void Imu::sendCommand	(	const Packet &	p,
		bool	readReply = `true`
	)

private

Definition at line 1212 of file imu.cpp.

void Imu::sendPacket	(	const Packet &	p,
		unsigned int	to
	)

private

Definition at line 1167 of file imu.cpp.

void Imu::setFilterDataCallback ( const std::function< void(const Imu::FilterData &)> & cb )

Set the onboard filter data callback.

Note: The filter data is called every time new orientation data is read.

Definition at line 888 of file imu.cpp.

void Imu::setFilterDataRate	(	uint16_t	decimation,
		const std::bitset< 4 > &	sources
	)

setFilterDataRate Set estimator data rate for different sources.

Parameters

decimation	Denominator in the update rate value: 500/x
sources	Sources to apply this rate to. May be a bitwise combination of the values: Quaternion, GyroBias, AngleUncertainty, BiasUncertainty

Exceptions

invalid_argument if an invalid source is requested.

Definition at line 771 of file imu.cpp.

void Imu::setHardIronOffset ( float offset[3] )

setHardIronOffset Set the hard-iron bias vector for the magnetometer.

Parameters

offset 3x1 vector, units of gauss.

Definition at line 830 of file imu.cpp.

void Imu::setIMUDataCallback ( const std::function< void(const Imu::IMUData &)> & cb )

Set the IMU data callback.

Note: The IMU data callback is called every time new IMU data is read.

Definition at line 884 of file imu.cpp.

void Imu::setIMUDataRate	(	uint16_t	decimation,
		const std::bitset< 4 > &	sources
	)

setIMUDataRate Set imu data rate for different sources.

Parameters

decimation	Denominator in the update rate value: 1000/x
sources	Sources to apply this rate to. May be a bitwise combination of the values: Accelerometer, Gyroscope, Magnetometer, Barometer

Exceptions

invalid_argument if an invalid source is requested.

Definition at line 741 of file imu.cpp.

void Imu::setSoftIronMatrix ( float matrix[9] )

setSoftIronMatrix Set the soft-iron matrix for the magnetometer.

Parameters

matrix 3x3 row-major matrix, default should be identity.

Definition at line 841 of file imu.cpp.

bool Imu::termiosBaudRate ( unsigned int baud )

private

Definition at line 477 of file imu.cpp.

int Imu::writePacket	(	const Packet &	p,
		unsigned int	to
	)

private

Definition at line 1126 of file imu.cpp.

Member Data Documentation

struct imu_3dm_gx4::Imu::Info imu_3dm_gx4::Imu::__attribute__

struct imu_3dm_gx4::Imu::IMUData imu_3dm_gx4::Imu::__attribute__

std::vector<uint8_t> imu_3dm_gx4::Imu::buffer_

private

Definition at line 422 of file imu.hpp.

const std::string imu_3dm_gx4::Imu::device_

private

Definition at line 417 of file imu.hpp.

size_t imu_3dm_gx4::Imu::dstIndex_

private

Definition at line 424 of file imu.hpp.

int imu_3dm_gx4::Imu::fd_

private

Definition at line 419 of file imu.hpp.

std::function<void(const Imu::FilterData &)> imu_3dm_gx4::Imu::filterDataCallback_

private

Called with IMU data is ready.

Definition at line 429 of file imu.hpp.

std::function<void(const Imu::IMUData &)> imu_3dm_gx4::Imu::imuDataCallback_

private

Definition at line 427 of file imu.hpp.

Packet imu_3dm_gx4::Imu::packet_

private

Definition at line 432 of file imu.hpp.

std::deque<uint8_t> imu_3dm_gx4::Imu::queue_

private

Definition at line 423 of file imu.hpp.

unsigned int imu_3dm_gx4::Imu::rwTimeout_

private

Definition at line 420 of file imu.hpp.

size_t imu_3dm_gx4::Imu::srcIndex_

private

Definition at line 424 of file imu.hpp.

enum { ... } imu_3dm_gx4::Imu::state_

Called when filter data is ready.

const bool imu_3dm_gx4::Imu::verbose_

private

Definition at line 418 of file imu.hpp.

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

Classes

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation