source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/Gx3_25_imu_impl.h@ 10

Last change on this file since 10 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 2.0 KB
RevLine 
[3]1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file Gx3_25_imu_impl.h
7 * \brief Classe intégrant la centrale 3dmgx3-25
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/08/19
10 * \version 4.0
11 */
12
13#ifndef GX3_25_IMU_IMPL_H
14#define GX3_25_IMU_IMPL_H
15
16#include "Gx3_25_imu.h"
17#include <unistd.h> //ssize_t
18
19namespace flair {
20 namespace core {
21 class FrameworkManager;
22 class SerialPort;
23 class AhrsData;
24 }
25 namespace gui {
26 class SpinBox;
27 class CheckBox;
28 class PushButton;
29 class Label;
30 }
31}
32
33/*! \class Gx3_25_imu_impl
34*
35* \brief Classe intégrant la centrale 3dmgx3-25
36*/
37
38class Gx3_25_imu_impl {
39
40 public:
41 Gx3_25_imu_impl(flair::sensor::Gx3_25_imu* self,std::string name,flair::core::SerialPort *serialport,flair::sensor::Gx3_25_imu::Command_t command,flair::gui::GroupBox* setupgroupbox);
42 ~Gx3_25_imu_impl();
43 void Run(void);
44
45 private:
46 void DeviceReset(void);
47 void GetData(uint8_t* buf,ssize_t buf_size,flair::core::Time *time);
48 float Dequeue(uint8_t** buf);
49 void GyrosBias(void);
50 void SamplingSettings(void);
51 void SetBaudrate(int value);
52 bool CalcChecksum(uint8_t *buf,int size);
53 int FirmwareNumber(void);
54 void PrintModelInfo(void);
55 void RealignUpNorth(bool realign_up,bool realign_north);
56
57 void SetContinuousMode(uint8_t continuous_command);
58
59 flair::gui::GroupBox *setupgroupbox;
60 flair::gui::SpinBox *data_rate,*gyro_acc_size,*mag_size,*up_comp,*north_comp;
61 flair::gui::CheckBox *coning,*disable_magn,*disable_north_comp,*disable_grav_comp;
62 flair::gui::PushButton *button_bias;
63 flair::gui::Label *data_rate_label;
64
65 flair::core::SerialPort *serialport;
66 uint8_t command;
67 flair::sensor::Gx3_25_imu *self;
68 flair::core::AhrsData *ahrsData;
69};
70
71#endif // GX3_25_IMU_IMPL_H
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