ess_imu_driver2
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    • Rosindex
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    • Repository
  • C++ API
    • Class Hierarchy
    • File Hierarchy
    • Full C++ API
      • Classes and Structs
        • Struct EpsonData
        • Struct EpsonOptions
        • Struct EpsonProperties
      • Enums
        • Enum EpsonFeatureFlags
        • Enum EpsonModels
        • Enum SPIMode
      • Functions
        • Function gpioClr
        • Function gpioGetPinLevel
        • Function gpioInit
        • Function gpioRelease
        • Function gpioSet
        • Function numBytesReadComPort
        • Function printHeaderRow
        • Function printSensorRow
        • Function purgeComPort
        • Function read16
        • Function readComPort
        • Function registerRead16
        • Function registerWriteByte
        • Function seDelayMicroSecs
        • Function seDelayMS
        • Function seInit
        • Function sensorDataByteLength
        • Function sensorDataReadBurstNOptions
        • Function sensorDummyWrite
        • Function sensorDumpRegisters
        • Function sensorFlashBackup
        • Function sensorFlashTest
        • Function sensorGetDeviceModel
        • Function sensorGetProductId
        • Function sensorGetSerialId
        • Function sensorHWReset
        • Function sensorInitialBackup
        • Function sensorInitOptions
        • Function sensorPowerOn
        • Function sensorReset
        • Function sensorSelfTest
        • Function sensorStart
        • Function sensorStop
        • Function seRelease
        • Function spiInit
        • Function spiRelease
        • Function spiTransfer
        • Function uartInit
        • Function uartRelease
        • Function writeByte
        • Function writeComPort
      • Variables
        • Variable epson_sensors
      • Defines
        • Define ADDR_ANG1_HIGH
        • Define ADDR_ANG1_LOW
        • Define ADDR_ANG2_HIGH
        • Define ADDR_ANG2_LOW
        • Define ADDR_ANG3_HIGH
        • Define ADDR_ANG3_LOW
        • Define ADDR_ATTI_CTRL_HI
        • Define ADDR_ATTI_CTRL_LO
        • Define ADDR_BURST_CTRL1_HI
        • Define ADDR_BURST_CTRL1_LO
        • Define ADDR_BURST_CTRL2_HI
        • Define ADDR_BURST_CTRL2_LO
        • Define ADDR_COUNT
        • Define ADDR_DIAG_STAT
        • Define ADDR_DLT_CTRL_HI
        • Define ADDR_DLT_CTRL_LO
        • Define ADDR_FILTER_CTRL_HI
        • Define ADDR_FILTER_CTRL_LO
        • Define ADDR_FLAG
        • Define ADDR_GLOB_CMD2_HI
        • Define ADDR_GLOB_CMD2_LO
        • Define ADDR_GLOB_CMD3_HI
        • Define ADDR_GLOB_CMD3_LO
        • Define ADDR_GLOB_CMD_HI
        • Define ADDR_GLOB_CMD_LO
        • Define ADDR_GPIO
        • Define ADDR_ID
        • Define ADDR_MODE_CTRL_HI
        • Define ADDR_MODE_CTRL_LO
        • Define ADDR_MSC_CTRL_HI
        • Define ADDR_MSC_CTRL_LO
        • Define ADDR_POL_CTRL_HI
        • Define ADDR_POL_CTRL_LO
        • Define ADDR_PROD_ID1
        • Define ADDR_PROD_ID2
        • Define ADDR_PROD_ID3
        • Define ADDR_PROD_ID4
        • Define ADDR_QTN0_HIGH
        • Define ADDR_QTN0_LOW
        • Define ADDR_QTN1_HIGH
        • Define ADDR_QTN1_LOW
        • Define ADDR_QTN2_HIGH
        • Define ADDR_QTN2_LOW
        • Define ADDR_QTN3_HIGH
        • Define ADDR_QTN3_LOW
        • Define ADDR_R_MATRIX_M11_HI
        • Define ADDR_R_MATRIX_M11_LO
        • Define ADDR_R_MATRIX_M12_HI
        • Define ADDR_R_MATRIX_M12_LO
        • Define ADDR_R_MATRIX_M13_HI
        • Define ADDR_R_MATRIX_M13_LO
        • Define ADDR_R_MATRIX_M21_HI
        • Define ADDR_R_MATRIX_M21_LO
        • Define ADDR_R_MATRIX_M22_HI
        • Define ADDR_R_MATRIX_M22_LO
        • Define ADDR_R_MATRIX_M23_HI
        • Define ADDR_R_MATRIX_M23_LO
        • Define ADDR_R_MATRIX_M31_HI
        • Define ADDR_R_MATRIX_M31_LO
        • Define ADDR_R_MATRIX_M32_HI
        • Define ADDR_R_MATRIX_M32_LO
        • Define ADDR_R_MATRIX_M33_HI
        • Define ADDR_R_MATRIX_M33_LO
        • Define ADDR_RANGE_OVER
        • Define ADDR_RT_DIAG
        • Define ADDR_SERIAL_NUM1
        • Define ADDR_SERIAL_NUM2
        • Define ADDR_SERIAL_NUM3
        • Define ADDR_SERIAL_NUM4
        • Define ADDR_SIG_CTRL_HI
        • Define ADDR_SIG_CTRL_LO
        • Define ADDR_SMPL_CTRL_HI
        • Define ADDR_SMPL_CTRL_LO
        • Define ADDR_TEMP_HIGH
        • Define ADDR_TEMP_LOW
        • Define ADDR_UART_CTRL_HI
        • Define ADDR_UART_CTRL_LO
        • Define ADDR_VERSION
        • Define ADDR_WIN_CTRL
        • Define ADDR_XACCL_HIGH
        • Define ADDR_XACCL_LOW
        • Define ADDR_XDLTA_HIGH
        • Define ADDR_XDLTA_LOW
        • Define ADDR_XDLTV_HIGH
        • Define ADDR_XDLTV_LOW
        • Define ADDR_XGYRO_HIGH
        • Define ADDR_XGYRO_LOW
        • Define ADDR_YACCL_HIGH
        • Define ADDR_YACCL_LOW
        • Define ADDR_YDLTA_HIGH
        • Define ADDR_YDLTA_LOW
        • Define ADDR_YDLTV_HIGH
        • Define ADDR_YDLTV_LOW
        • Define ADDR_YGYRO_HIGH
        • Define ADDR_YGYRO_LOW
        • Define ADDR_ZACCL_HIGH
        • Define ADDR_ZACCL_LOW
        • Define ADDR_ZDLTA_HIGH
        • Define ADDR_ZDLTA_LOW
        • Define ADDR_ZDLTV_HIGH
        • Define ADDR_ZDLTV_LOW
        • Define ADDR_ZGYRO_HIGH
        • Define ADDR_ZGYRO_LOW
        • Define BAUD_1000000
        • Define BAUD_1500000
        • Define BAUD_2000000
        • Define BAUD_230400
        • Define BAUD_460800
        • Define BAUD_921600
        • Define BIT0
        • Define BIT1
        • Define BIT10
        • Define BIT11
        • Define BIT12
        • Define BIT13
        • Define BIT14
        • Define BIT15
        • Define BIT2
        • Define BIT3
        • Define BIT4
        • Define BIT5
        • Define BIT6
        • Define BIT7
        • Define BIT8
        • Define BIT9
        • Define BURST_STALL1
        • Define BURST_STALL2
        • Define burstStall1
        • Define burstStall2
        • Define CMD_ATM_MODEA
        • Define CMD_ATM_MODEB
        • Define CMD_ATM_MODEC
        • Define CMD_BURST
        • Define CMD_CONFIG
        • Define CMD_FIRTAP128FC100
        • Define CMD_FIRTAP128FC200
        • Define CMD_FIRTAP128FC400
        • Define CMD_FIRTAP128FC50
        • Define CMD_FIRTAP32FC100
        • Define CMD_FIRTAP32FC200
        • Define CMD_FIRTAP32FC400
        • Define CMD_FIRTAP32FC50
        • Define CMD_FIRTAP64FC100
        • Define CMD_FIRTAP64FC200
        • Define CMD_FIRTAP64FC400
        • Define CMD_FIRTAP64FC50
        • Define CMD_FLTAP0
        • Define CMD_FLTAP128
        • Define CMD_FLTAP16
        • Define CMD_FLTAP2
        • Define CMD_FLTAP32
        • Define CMD_FLTAP4
        • Define CMD_FLTAP64
        • Define CMD_FLTAP8
        • Define CMD_RATE100
        • Define CMD_RATE1000
        • Define CMD_RATE125
        • Define CMD_RATE15_625
        • Define CMD_RATE20
        • Define CMD_RATE200
        • Define CMD_RATE2000
        • Define CMD_RATE25
        • Define CMD_RATE250
        • Define CMD_RATE31_25
        • Define CMD_RATE40
        • Define CMD_RATE400
        • Define CMD_RATE50
        • Define CMD_RATE500
        • Define CMD_RATE62_5
        • Define CMD_RATE80
        • Define CMD_SAMPLING
        • Define DEG2RAD
        • Define deselEpson
        • Define EPSON_CS
        • Define EPSON_DRDY
        • Define EPSON_RESET
        • Define EPSON_RESET_DELAY_MS
        • Define EPSON_RESET_LOW_WIDTH_MS
        • Define EPSON_STALL
        • Define EPSON_STALL
        • Define epsonStall
        • Define epsonStall
        • Define FATAL
        • Define MG2MPS2
        • Define MPS22MG
        • Define NG
        • Define OK
        • Define R_MATRIX_A_M11_HI
        • Define R_MATRIX_A_M11_LO
        • Define R_MATRIX_A_M12_HI
        • Define R_MATRIX_A_M12_LO
        • Define R_MATRIX_A_M13_HI
        • Define R_MATRIX_A_M13_LO
        • Define R_MATRIX_A_M21_HI
        • Define R_MATRIX_A_M21_LO
        • Define R_MATRIX_A_M22_HI
        • Define R_MATRIX_A_M22_LO
        • Define R_MATRIX_A_M23_HI
        • Define R_MATRIX_A_M23_LO
        • Define R_MATRIX_A_M31_HI
        • Define R_MATRIX_A_M31_LO
        • Define R_MATRIX_A_M32_HI
        • Define R_MATRIX_A_M32_LO
        • Define R_MATRIX_A_M33_HI
        • Define R_MATRIX_A_M33_LO
        • Define RAD2DEG
        • Define selEpson
        • Define SPI_CHAN
        • Define VAL_CONFIG_MODE
        • Define VAL_SAMPLING_MODE
        • Define WIN_ID0
        • Define WIN_ID1
      • Directories
        • Directory src
      • Files
        • File hcl.h
        • File hcl_gpio.h
        • File hcl_spi.h
        • File hcl_uart.h
        • File main_helper.h
        • File sensor_epsonCommon.h
        • File sensor_epsonSpi.h
        • File sensor_epsonUart.h
  • Standard Documents
    • LICENSE
    • PACKAGE
    • CHANGELOG
      • Changelog for package ess_imu_driver2
        • 2.0.3 (2024-11-29)
        • 2.0.2 (2024-10-25)
        • 2.0.1 (2024-10-01)
        • 2.0.0 (2024-10-01)
        • 1.0.0 (2023-11-29)
    • README
      • README for Epson IMU Driver for ROS2 Node
        • What is this repository for?
        • What kind of hardware or software will I likely need?
        • How do I use the driver?
        • How do I use the driver if usleep() is not supported for time delays?
        • How do I use the driver with GPIOs to control IMU RESET#, DRDY, EXT pins?
        • How do I build, install, run this package?
        • What does this ROS IMU Node publish as messages?
        • Why am I seeing inaccurate ROS timestamps, high latencies, or slower than expected IMU data rates?
        • Package Contents
        • References
  • Index
ess_imu_driver2
  • C++ API
  • File hcl_spi.h
  • View page source

File hcl_spi.h

↰ Parent directory (src)

Contents

  • Definition (src/hcl_spi.h)

  • Includes

  • Included By

  • Enums

  • Functions

  • Defines

Definition (src/hcl_spi.h)

  • Program Listing for File hcl_spi.h

Includes

  • stdint.h

Included By

  • File sensor_epsonSpi.h

Enums

  • Enum SPIMode

Functions

  • Function spiInit

  • Function spiRelease

  • Function spiTransfer

Defines

  • Define SPI_CHAN

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