ess_imu_driver2
Links
Rosindex
Website
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
Function spiInit
View page source
Function spiInit
Defined in
File hcl_spi.h
Function Documentation
int
spiInit
(
uint8_t
mode
,
uint32_t
khzspeed
)