The sub20 hardware interface. More...

#include <sub20_interface.hpp>

Inheritance diagram for Sub20Interface:

Public Member Functions
std::string	getID ()
bool	initialize ()
	finds the sub20 specified by the 4-digit serial in the constructor (or the first sub20, if no serial is specified) and establishes a connection with it.
int	numDevices ()
ssize_t	read (int device_address, interface_protocol protocol, int frequency, int flags, uint8_t reg_address, uint8_t data, size_t num_bytes)
	reads num_bytes from the requested device on the specified protocol at the specified protocol frequency
	Sub20Interface (std::string sub20_serial_number="null")
	constructor, which takes in an optional argument, which is the sub20's 4-digit serial number.
bool	supportedProtocol (interface_protocol protocol)
	returns true if the input protocol is supported by the hardware interface.
ssize_t	write (int device_address, interface_protocol protocol, int frequency, int flags, uint8_t reg_address, uint8_t data, size_t num_bytes)
	reads num_bytes from the requested device on the specified protocol at the specified protocol frequency
	~Sub20Interface ()
	destructor
Private Member Functions
bool	spiConfigRoutine (int frequency, int flags)
Private Attributes
int	error_code
sub_handle	handle_
bool	is_initialized_
int	num_devices_
interface_protocol	protocol_
std::string	serialNumber_
int	spi_configuration_
sub_device	subdev_
	sub20 device handle

Detailed Description

The sub20 hardware interface.

Each sub20 connected to your computer needs its own instance of this class! The Serial number is the manner by which we differentiate between sub20 devices.

An instance of this class will relay information from the program to the sub20 and vice versa. Specifically: inputs: communication protocol (only when first initializing a sub20_interface.) address, read or write command to the sensor outputs: raw data (in bytes) from the sensor. NOTE: You can initialize multiple sensors on the same sub20 by calling this method for each sensor's device_address. There are some constraints: devices can't have the same address.

Definition at line 74 of file sub20_interface.hpp.

Constructor & Destructor Documentation

Sub20Interface::Sub20Interface ( std::string sub20_serial_number = "null" )

constructor, which takes in an optional argument, which is the sub20's 4-digit serial number.

Parameters:

std::string sub20_serial_number

Note:: if no argument is passed to the constructor, the constructor will simply get a handle on the first sub20 it finds that is plugged in. Furthermore, this method prints the serial number to the screen. This is an excellent way of finding out the 4-digit serial number of your sub20 if you do not already know it.; Knowing the sub20 serial number is only relevant for a sensor configuration that involves multiple sub20s connected to the same computer.

Warning:: the string "null" is a magic value also used in the cpp file because static const std::strings cannot be created in headers.

Definition at line 43 of file sub20_interface.cpp.

Sub20Interface::~Sub20Interface ( )

destructor

Definition at line 55 of file sub20_interface.cpp.

Member Function Documentation

std::string Sub20Interface::getID ( ) [virtual]

Returns:: the way the sensor identifies itself.

Implements bosch_drivers_common::bosch_hardware_interface.

Definition at line 306 of file sub20_interface.cpp.

bool Sub20Interface::initialize ( ) [virtual]

finds the sub20 specified by the 4-digit serial in the constructor (or the first sub20, if no serial is specified) and establishes a connection with it.

Implements bosch_drivers_common::bosch_hardware_interface.

Definition at line 62 of file sub20_interface.cpp.

int Sub20Interface::numDevices ( )

Returns:: the number of devices connected via this particular sub20 instance.

Definition at line 314 of file sub20_interface.cpp.

ssize_t Sub20Interface::read	(	int	device_address,
		interface_protocol	protocol,
		int	frequency,
		int *	flags,
		uint8_t	reg_address,
		uint8_t *	data,
		size_t	num_bytes
	)

reads num_bytes from the requested device on the specified protocol at the specified protocol frequency

Parameters:

int	device_address the way that the sensor identifies itself
interface_protocol	protocol the defined protocol
int	frequency the frequency of the interface protocol
int*	flags additional information necessary to read from that particular interface protocol.
uint8_t	reg_address the starting address of the data in the sensor.
uint8_t*	data the name of the array where the data will be stored.
uint8_t	num_bytes the number of bytes to be read from the sensor.

Returns:: num_bytes or a value less than zero, if the read failed.

Definition at line 137 of file sub20_interface.cpp.

bool Sub20Interface::spiConfigRoutine	(	int	frequency,
		int	flags
	)		`[private]`

Definition at line 322 of file sub20_interface.cpp.

bool Sub20Interface::supportedProtocol ( interface_protocol protocol )

returns true if the input protocol is supported by the hardware interface.

Parameters:

interface_protocol protocol the input protocol.

Returns:: true, if the hardware interface supports reading and writing on that particular protocol.

Definition at line 287 of file sub20_interface.cpp.

ssize_t Sub20Interface::write	(	int	device_address,
		interface_protocol	protocol,
		int	frequency,
		int *	flags,
		uint8_t	reg_address,
		uint8_t *	data,
		size_t	num_bytes
	)

reads num_bytes from the requested device on the specified protocol at the specified protocol frequency

Parameters:

int	device_address the way that the sensor itentifies itself
interface_protocol	protocol the defined protocol
int	frequency the frequency of the interface protocol
int*	flags additional information necessary to read from that particular interface protocol.
uint8_t	reg_address the starting address in the sensor's registers where the data will be written to.
uint8_t*	data the name of the array where the data will be output from.
uint8_t	num_bytes the number of bytes to be written to the sensor.