cyberatom.Device Class Reference

Implementation of logical CyberAtom device. More...

Inheritance diagram for cyberatom.Device:

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

Public Attributes
	connection
	response
	responseStruct
	handle

Detailed Description

Implementation of logical CyberAtom device.

Constructor & Destructor Documentation

def cyberatom.Device.__init__	(		self,
			connection,
			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.

Member Function Documentation

def cyberatom.Device.getBaudRate

(

self

)

Requests sending actual baud rate used for UART interface.

def cyberatom.Device.onMessage	(		self,
			code,
			payload,
			payload_size
	)

Parameters

code
payload
payload_size

def cyberatom.Device.resetGyr

(

self

)

Resets gyroscope bias estimates.

Note

Should be performed when the device is not rotating.

def cyberatom.Device.setAccCalibMatrix	(		self,
			cal,
			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.

def cyberatom.Device.setBaudRate	(		self,
			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().

def cyberatom.Device.setFilterAccMatrix	(		self,
			mat
	)

Changes Kalman filter coeficiences for accelerometer sensor.

Parameters

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

def cyberatom.Device.setFilterGyrMatrix	(		self,
			mat
	)

Changes Kalman filter coeficiences for gyroscope sensor.

Parameters

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

def cyberatom.Device.setFilterMagMatrix	(		self,
			mat
	)

Changes Kalman filter coeficiences for magnetometer sensor.

Parameters

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

def cyberatom.Device.setFilterProcMatrix	(		self,
			mat
	)

Parameters

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

def cyberatom.Device.setGyrCalibMatrix	(		self,
			cal,
			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.

def cyberatom.Device.setI2cAddress	(		self,
			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().

def cyberatom.Device.setMagCalibMatrix	(		self,
			cal,
			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.

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

• cyberatom.py