cyberatom::Device Class Reference

Implementation of logical CyberAtom device. More...

#include <cyberatom.hpp>

Inheritance diagram for cyberatom::Device:

Public Member Functions
	Device (IConnection &connection, IResponse &response)
	Constructs logical device object using given connection and forwards responses to given handler object. More...
virtual void	onMessage (uint8_t code, const uint8_t *payload, size_t payload_size) override
virtual void	checkForMessages () override
	Triggers communication with the device and checks whether there are any incoming messages from the device. More...
virtual void	getSysInfo ()
	Requests sending back information on the device type and firmware version.
virtual void	getQuatData ()
	Requests information about actual device spatial orientation expressed in form of quaternion.
virtual void	getEulerData ()
	Requests information about actual device spatial orientation expressed in form of Euler angles.
virtual void	getRotRateData ()
	Requests actual rotation rate information from the device.
virtual void	reboot ()
	Requests the device to reboot.
virtual void	factoryReset ()
	Requests loading factory settings into device RAM memory.
virtual void	setAccCalibMatrix (float *cal, float *bias)
	Changes accelerometer calibration settings the device is using at the moment. More...
virtual void	setMagCalibMatrix (float *cal, float *bias)
	Changes magnetometer calibration settings the device is using at the moment. More...
virtual void	setGyrCalibMatrix (float *cal, float *bias)
	Changes gyroscope calibration settings the device is using at the moment. More...
virtual void	setFilterMagMatrix (float *mat)
	Changes Kalman filter coeficiences for magnetometer sensor. More...
virtual void	setFilterAccMatrix (float *mat)
	Changes Kalman filter coeficiences for accelerometer sensor. More...
virtual void	setFilterGyrMatrix (float *mat)
	Changes Kalman filter coeficiences for gyroscope sensor. More...
virtual void	setFilterProcMatrix (float *mat)
virtual void	getFilterMagMatrix ()
	Requests Kalman filter coeficiences for magnetometer measurement noise.
virtual void	getFilterAccMatrix ()
	Requests Kalman filter coeficiences for accelerometer measurement noise.
virtual void	getFilterGyrMatrix ()
	Requests Kalman filter coeficiences for gyroscope measurement noise.
virtual void	getFilterProcMatrix ()
	Requests Kalman filter coeficiences for process noise.
virtual void	getTemperature ()
	Requests actual tempereature data.
virtual void	setBaudRate (uint8_t rate)
	Changes baud rate for UART interface. More...
virtual void	setI2cAddress (uint8_t address)
	Changes 7-bit address as an I2C slave device. More...
virtual void	getI2cAddress ()
	Requests sending actual I2C device address.
virtual void	getBaudRate ()
	Requests sending actual baud rate used for UART interface..
virtual void	resetGyr ()
	Resets gyroscope bias estimates.
virtual void	writeFlash ()
	Saves current settings in device RAM into internal non-volotile flash memory.
virtual void	getRawAccData ()
	Requests sending RAW type of accelerometer measurements.
virtual void	getRawMagData ()
	Requests sending RAW type of magnetometer measurements.
virtual void	getRawGyrData ()
	Requests sending RAW type of gyroscope measurements.
virtual void	getNormAccData ()
	Requests sending normalized values of accelerometer measurements.
virtual void	getNormMagData ()
	Requests sending normalized values of magnetometer measurements.
virtual void	getNormGyrData ()
	Requests sending normalized values of gyroscope measurements.
virtual void	getCalibAccData ()
	Requests sending post-calibration values of accelerometer measurements.
virtual void	getCalibMagData ()
	Requests sending post-calibration values of magnetometer measurements.
virtual void	getCalibGyrData ()
	Requests sending post-calibration values of gyroscope measurements.
virtual void	getAccCalibMatrix ()
	Requests calibration matrices used for accelerometer measurements.
virtual void	getMagCalibMatrix ()
	Requests calibration matrices used for magnetometer measurements.
virtual void	getGyrCalibMatrix ()
	Requests calibration matrices used for gyroscope measurements.
virtual void	getStats ()

Detailed Description

Implementation of logical CyberAtom device.

Constructor & Destructor Documentation

cyberatom::Device::Device	(	IConnection &	connection,
		IResponse &	response
	)

Constructs logical device object using given connection and forwards responses to given handler object.

Note

Make sure you maintain lifecycle of given connection and response interfaces accordingly with the lifecycle of the Device class instance itself.

Member Function Documentation

virtual void cyberatom::Device::checkForMessages ( )

overridevirtual

Triggers communication with the device and checks whether there are any incoming messages from the device.

Exceptions

UnsupportedMessageIdException
DataTransferException

Implements cyberatom::IDevice.

virtual void cyberatom::Device::onMessage ( uint8_t  code, const uint8_t *  payload, size_t  payload_size  )

overridevirtual

Parameters

code
payload
payload_size

Implements cyberatom::IDevice.

virtual void cyberatom::Device::setAccCalibMatrix ( float *  cal, float *  bias  )

virtual

Changes accelerometer calibration settings the device is using at the moment.

Parameters

cal	Array of 9 matrix (3x3) elements for missalignment calibration.
bias	Array of 9 matrix (3x3) elements for bias and temperature and temperature bias calibration.

virtual void cyberatom::Device::setBaudRate ( uint8_t  rate )

virtual

Changes baud rate for UART interface.

Parameters

rate	Integer value representing new baud rate.

virtual void cyberatom::Device::setFilterAccMatrix ( float *  mat )

virtual

Changes Kalman filter coeficiences for accelerometer sensor.

Parameters

mat	a11,a22 and a33 matrix coeficiences for magnetometer accelerometer noise matrix.

virtual void cyberatom::Device::setFilterGyrMatrix ( float *  mat )

virtual

Changes Kalman filter coeficiences for gyroscope sensor.

Parameters

mat	a11,a22 and a33 matrix coeficiences for magnetometer gyroscope noise matrix.

virtual void cyberatom::Device::setFilterMagMatrix ( float *  mat )

virtual

Changes Kalman filter coeficiences for magnetometer sensor.

Parameters

mat	a11,a22 and a33 matrix coeficiences for magnetometer measurement noise matrix.

virtual void cyberatom::Device::setFilterProcMatrix ( float *  mat )

virtual

Parameters

mat	An array with 7 matrix elements for the filter process matric to set.

virtual void cyberatom::Device::setGyrCalibMatrix ( float *  cal, float *  bias  )

virtual

Changes gyroscope calibration settings the device is using at the moment.

Parameters

cal	Array of 9 matrix (3x3) elements for missalignment calibration.
bias	Array of 9 matrix (3x3) elements for bias and temperature and temperature bias calibration.

virtual void cyberatom::Device::setI2cAddress ( uint8_t  address )

virtual

Changes 7-bit address as an I2C slave device.

Parameters

address

New I2c device address.

virtual void cyberatom::Device::setMagCalibMatrix ( float *  cal, float *  bias  )

virtual

Changes magnetometer calibration settings the device is using at the moment.

Parameters

cal	Array of 9 matrix (3x3) elements for missalignment calibration.
bias	Array of 9 matrix (3x3) elements for bias and temperature and temperature bias calibration.

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The documentation for this class was generated from the following file:

• cyberatom.hpp