com.softexor.cyberatom

Class Device

java.lang.Object

com.softexor.cyberatom.IDevice

com.softexor.cyberatom.Device

public class Device
extends IDevice

Implementation of logical CyberAtom device.

Field Summary

Fields inherited from class com.softexor.cyberatom.IDevice

handle

Constructor Summary

Constructors

Constructor and Description
Device(IConnection connection, IResponseInterface response) Constructs logical device object using given connection and forwards responses to given handler object.

Method Summary

Modifier and Type	Method and Description
void	checkForMessages() Triggers communication with the device and checks whether there are any incoming messages from the device.
void	factoryReset() Requests loading factory settings into device RAM memory.
void	getAccCalibMatrix() Requests calibration matrices used for accelerometer measurements.
void	getBaudRate() Requests sending actual baud rate used for UART interface..
void	getCalibAccData() Requests sending post-calibration values of accelerometer measurements.
void	getCalibGyrData() Requests sending post-calibration values of gyroscope measurements.
void	getCalibMagData() Requests sending post-calibration values of magnetometer measurements.
void	getEulerData() Requests information about actual device spatial orientation expressed in form of Euler angles.
void	getFilterAccMatrix() Requests Kalman filter coeficiences for accelerometer measurement noise.
void	getFilterGyrMatrix() Requests Kalman filter coeficiences for gyroscope measurement noise.
void	getFilterMagMatrix() Requests Kalman filter coeficiences for magnetometer measurement noise.
void	getFilterProcMatrix() Requests Kalman filter coeficiences for process noise.
void	getGyrCalibMatrix() Requests calibration matrices used for gyroscope measurements.
void	getI2cAddress() Requests sending actual I2C device address.
void	getMagCalibMatrix() Requests calibration matrices used for magnetometer measurements.
void	getNormAccData() Requests sending normalized values of accelerometer measurements.
void	getNormGyrData() Requests sending normalized values of gyroscope measurements.
void	getNormMagData() Requests sending normalized values of magnetometer measurements.
void	getQuatData() Requests information about actual device spatial orientation expressed in form of quaternion.
void	getRawAccData() Requests sending RAW type of accelerometer measurements.
void	getRawGyrData() Requests sending RAW type of gyroscope measurements.
void	getRawMagData() Requests sending RAW type of magnetometer measurements.
void	getRotRateData() Requests actual rotation rate information from the device.
void	getStats()
void	getSysInfo() Requests sending back information on the device type and firmware version.
void	getTemperature() Requests actual tempereature data.
void	reboot() Requests the device to reboot.
void	resetGyr() Resets gyroscope bias estimates.
void	setAccCalibMatrix(float[] cal, float[] bias) Changes accelerometer calibration settings the device is using at the moment.
void	setBaudRate(short rate) Changes baud rate for UART interface.
void	setFilterAccMatrix(float[] mat) Changes Kalman filter coeficiences for accelerometer sensor.
void	setFilterGyrMatrix(float[] mat) Changes Kalman filter coeficiences for gyroscope sensor.
void	setFilterMagMatrix(float[] mat) Changes Kalman filter coeficiences for magnetometer sensor.
void	setFilterProcMatrix(float[] mat)
void	setGyrCalibMatrix(float[] cal, float[] bias) Changes gyroscope calibration settings the device is using at the moment.
void	setI2cAddress(short address) Changes 7-bit address as an I2C slave device.
void	setMagCalibMatrix(float[] cal, float[] bias) Changes magnetometer calibration settings the device is using at the moment.
void	writeFlash() Saves current settings in device RAM into internal non-volotile flash memory.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Device

public Device(IConnection connection,
              IResponseInterface response)

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

Parameters:

connection - A connection that this device object will use to communicate with physical device.

response - A response object that will receive response messages from the device. Note: Make sure you maintain lifecycle of given connection and response interfaces accordingly with the lifecycle of the Device class instance itself.

Method Detail

getSysInfo

public void getSysInfo()

Requests sending back information on the device type and firmware version.

getQuatData

public void getQuatData()

Requests information about actual device spatial orientation expressed in form of quaternion.

getEulerData

public void getEulerData()

Requests information about actual device spatial orientation expressed in form of Euler angles.

getRotRateData

public void getRotRateData()

Requests actual rotation rate information from the device.

reboot

public void reboot()

Requests the device to reboot.

factoryReset

public void factoryReset()

Requests loading factory settings into device RAM memory.

setAccCalibMatrix

public void setAccCalibMatrix(float[] cal,
                              float[] bias)

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.

setMagCalibMatrix

public void setMagCalibMatrix(float[] cal,
                              float[] bias)

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.

setGyrCalibMatrix

public void setGyrCalibMatrix(float[] cal,
                              float[] bias)

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.

setFilterMagMatrix

public void setFilterMagMatrix(float[] mat)

Changes Kalman filter coeficiences for magnetometer sensor.

Parameters:

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

setFilterAccMatrix

public void setFilterAccMatrix(float[] mat)

Changes Kalman filter coeficiences for accelerometer sensor.

Parameters:

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

setFilterGyrMatrix

public void setFilterGyrMatrix(float[] mat)

Changes Kalman filter coeficiences for gyroscope sensor.

Parameters:

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

setFilterProcMatrix

public void setFilterProcMatrix(float[] mat)

Parameters:

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

getFilterMagMatrix

public void getFilterMagMatrix()

Requests Kalman filter coeficiences for magnetometer measurement noise.

getFilterAccMatrix

public void getFilterAccMatrix()

Requests Kalman filter coeficiences for accelerometer measurement noise.

getFilterGyrMatrix

public void getFilterGyrMatrix()

Requests Kalman filter coeficiences for gyroscope measurement noise.

getFilterProcMatrix

public void getFilterProcMatrix()

Requests Kalman filter coeficiences for process noise.

getTemperature

public void getTemperature()

Requests actual tempereature data.

setBaudRate

public void setBaudRate(short rate)

Changes baud rate for UART interface.

Parameters:

rate - Integer value representing new baud rate. Note: This call changes settings stored in device RAM. However, the device takes into account baud rate only at the power-on or reset event. So this call should be followed by writeFlash().

setI2cAddress

public void setI2cAddress(short address)

Changes 7-bit address as an I2C slave device.

Parameters:

address - New I2c device address. Note: This call changes settings stored in device RAM. However, the device takes into account baud rate only at the power-on or reset event. So this call should be followed by writeFlash().

getI2cAddress

public void getI2cAddress()

Requests sending actual I2C device address.

getBaudRate

public void getBaudRate()

Requests sending actual baud rate used for UART interface..

resetGyr

public void resetGyr()

Resets gyroscope bias estimates. Note: Should be performed when the device is not rotating.

writeFlash

public void writeFlash()

Saves current settings in device RAM into internal non-volotile flash memory.

getRawAccData

public void getRawAccData()

Requests sending RAW type of accelerometer measurements.

getRawMagData

public void getRawMagData()

Requests sending RAW type of magnetometer measurements.

getRawGyrData

public void getRawGyrData()

Requests sending RAW type of gyroscope measurements.

getNormAccData

public void getNormAccData()

Requests sending normalized values of accelerometer measurements.

getNormMagData

public void getNormMagData()

Requests sending normalized values of magnetometer measurements.

getNormGyrData

public void getNormGyrData()

Requests sending normalized values of gyroscope measurements.

getCalibAccData

public void getCalibAccData()

Requests sending post-calibration values of accelerometer measurements.

getCalibMagData

public void getCalibMagData()

Requests sending post-calibration values of magnetometer measurements.

getCalibGyrData

public void getCalibGyrData()

Requests sending post-calibration values of gyroscope measurements.

getAccCalibMatrix

public void getAccCalibMatrix()

Requests calibration matrices used for accelerometer measurements.

getMagCalibMatrix

public void getMagCalibMatrix()

Requests calibration matrices used for magnetometer measurements.

getGyrCalibMatrix

public void getGyrCalibMatrix()

Requests calibration matrices used for gyroscope measurements.

getStats

public void getStats()

checkForMessages

public void checkForMessages()
                      throws UnsupportedMessageIdException,
                             DataTransferException

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

Throws:

UnsupportedMessageIdException - Thrown when connected CyberAtom device sends message with code unknown to the API library.

DataTransferException - Thrown when there was a problem to retrieve data packet from the device.