#include <stdexcept>#include <memory>#include <string>#include <deque>#include <queue>#include <vector>#include <bitset>#include <map>#include <boost/bind.hpp>
Include dependency graph for imu.hpp:
This graph shows which files directly or indirectly include this file:
Go to the source code of this file.
Classes | |
| struct | imu_3dm_gx4::Imu::command_error |
| command_error Generated when device replies with NACK. More... | |
| struct | imu_3dm_gx4::Imu::DiagnosticFields |
| DiagnosticFields struct (See 3DM documentation for these fields) More... | |
| struct | imu_3dm_gx4::Imu::FilterData |
| FilterData Estimator readings produced by the sensor. More... | |
| class | imu_3dm_gx4::Imu |
| Imu Interface to the Microstrain 3DM-GX4-25 IMU. More... | |
| struct | imu_3dm_gx4::Imu::IMUData |
| IMUData IMU readings produced by the sensor. More... | |
| struct | imu_3dm_gx4::Imu::Info |
| Info Structure generated by the getDeviceInfo command. More... | |
| struct | imu_3dm_gx4::Imu::io_error |
| io_error Generated when a low-level IO command fails. More... | |
| struct | imu_3dm_gx4::Imu::Packet |
| struct | imu_3dm_gx4::Imu::timeout_error |
| timeout_error Generated when read or write times out, usually indicates device hang up. More... | |
Namespaces | |
| imu_3dm_gx4 | |
Macros | |
| #define | HOST_LITTLE_ENDIAN |
Functions | |
| int | ackErrorCodeFor (const Packet &command) const |
| Extract the ACK code from this packet. More... | |
| void | calcChecksum () |
| Calculate the packet checksum. Sets the checksum variable. More... | |
| bool | isFilterData () const |
| True if this packet corresponds to a filter data message. More... | |
| bool | isIMUData () const |
| True if this packet corresponds to an imu data message. More... | |
| Packet (uint8_t desc=0) | |
| Constructor. More... | |
| std::map< std::string, unsigned int > | toMap () const |
| Convert to map of human readable strings and integers. More... | |
| std::string | toString () const |
| Make a 'human-readable' version of the packet. More... | |
Variables | |
| union { | |
| struct { | |
| uint8_t syncLSB | |
| uint8_t syncMSB | |
| } | |
| uint16_t sync | |
| }; | |
| union { | |
| struct { | |
| uint8_t checkLSB | |
| uint8_t checkMSB | |
| } | |
| uint16_t checksum | |
| }; | |
| uint32_t | comBytesRead |
| uint32_t | comBytesWritten |
| uint32_t | comNumReadOverruns |
| uint32_t | comNumWriteOverruns |
| uint8_t | descriptor |
| uint32_t | filterPacketsDropped |
| uint8_t | filterStreamEnabled |
| uint32_t | imuPacketsDropped |
| uint8_t | imuStreamEnabled |
| static constexpr uint8_t | kHeaderLength = 4 |
| static constexpr uint8_t | kSyncLSB = 0x65 |
| static constexpr uint8_t | kSyncMSB = 0x75 |
| uint32_t | last1PPSPulse |
| uint32_t | lastIMUMessage |
| uint8_t | length |
| uint16_t | modelNumber |
| uint32_t | num1PPSPulses |
| uint32_t | numIMUParseErrors |
| uint8_t | payload [255] |
| uint8_t | selector |
| uint32_t | statusFlags |
| uint32_t | systemTimer |
| uint32_t | totalIMUMessages |
| uint32_t | usbBytesRead |
| uint32_t | usbBytesWritten |
| uint32_t | usbNumReadOverruns |
| uint32_t | usbNumWriteOverruns |
Macro Definition Documentation
Function Documentation
| int __attribute__::ackErrorCodeFor | ( | const Packet & | command | ) | const |
Extract the ACK code from this packet.
- Parameters
-
commmand Command packet to which this ACK should correspond.
- Returns
- -1 if the packets do not correspond or this is not an ACK. The error code is returned otherwise.
| void __attribute__::calcChecksum | ( | ) |
Calculate the packet checksum. Sets the checksum variable.
| bool __attribute__::isFilterData | ( | ) | const |
True if this packet corresponds to a filter data message.
| bool __attribute__::isIMUData | ( | ) | const |
True if this packet corresponds to an imu data message.
| __attribute__::Packet | ( | uint8_t | desc = 0 | ) |
Constructor.
- Parameters
-
desc Major descriptor of this command. len Length of the packet payload.
| std::map<std::string, unsigned int> __attribute__::toMap | ( | ) | const |
Convert to map of human readable strings and integers.
| std::string __attribute__::toString | ( | ) | const |
Make a 'human-readable' version of the packet.
- Returns
- std::string
Variable Documentation
| union { ... } |
| union { ... } |