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