#include <atomic>
#include <yarp/sig/Vector.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/dev/ISerialDevice.h>
#include <yarp/dev/IGenericSensor.h>
#include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
#include <yarp/math/Quaternion.h>
#include <mutex>
#include "BoschIMU_ParamsParser.h"
Go to the source code of this file.
Classes | |
class | BoschIMU |
imuBosch_BNO055 : This device will connect to the proper analogServer and read the data broadcasted making them available to use for the user application. More... | |
Macros | |
#define | START_BYTE 0xAA |
#define | WRITE_CMD 0x00 |
#define | READ_CMD 0x01 |
#define | REPLY_HEAD 0xBB |
#define | ERROR_HEAD 0xEE |
#define | WRITE_SUCC 0x01 |
#define | READ_FAIL 0x02 |
#define | WRITE_FAIL 0x03 |
#define | REGISTER_NOT_READY 0x07 |
#define | REG_CHIP_ID 0x00 |
#define | REG_SW_VERSION 0x04 |
#define | REG_BOOTLOADER 0x06 |
#define | REG_PAGE_ID 0x07 |
#define | REG_ACC_DATA 0x08 |
#define | REG_MAGN_DATA 0x0E |
#define | REG_GYRO_DATA 0x14 |
#define | REG_RPY_DATA 0x1A |
#define | REG_QUATERN_DATA 0x20 |
#define | REG_GRAVITY 0x2E |
#define | REG_CALIB_STATUS 0x35 |
#define | REG_SYS_CLK_STATUS 0x38 |
#define | REG_SYS_STATUS 0x39 |
#define | REG_SYS_ERR 0x3A |
#define | REG_UNIT_SEL 0x3B |
#define | REG_OP_MODE 0x3D |
#define | REG_POWER_MODE 0x3E |
#define | REG_SYS_TRIGGER 0x3F |
#define | CONFIG_MODE 0x00 |
#define | AMG_MODE 0x07 |
#define | IMU_MODE 0x08 |
#define | M4G_MODE 0x0A |
#define | NDOF_MODE 0x0C |
#define | TRIG_EXT_CLK_SEL 0x80 |
#define | TRIG_RESET_INT 0x40 |
#define | TRIG_RESET_SYSTEM 0x20 |
#define | TRIG_SELF_TEST 0x01 |
#define | BNO055_ID 0xA0 |
#define | RESP_HEADER_SIZE 2 |
#define | SWITCHING_TIME 0.020 |
#define | TIME_REPORT_INTERVAL 30 |
#define | ATTEMPTS_NUM_OF_SEND_CONFIG_CMD 3 |
Variables | |
constexpr int | MAX_MSG_LENGTH = 128 |
#define AMG_MODE 0x07 |
Definition at line 93 of file imuBosch_BNO055.h.
#define ATTEMPTS_NUM_OF_SEND_CONFIG_CMD 3 |
Definition at line 111 of file imuBosch_BNO055.h.
#define BNO055_ID 0xA0 |
Definition at line 104 of file imuBosch_BNO055.h.
#define CONFIG_MODE 0x00 |
Definition at line 92 of file imuBosch_BNO055.h.
#define ERROR_HEAD 0xEE |
Definition at line 61 of file imuBosch_BNO055.h.
#define IMU_MODE 0x08 |
Definition at line 94 of file imuBosch_BNO055.h.
#define M4G_MODE 0x0A |
Definition at line 95 of file imuBosch_BNO055.h.
#define NDOF_MODE 0x0C |
Definition at line 96 of file imuBosch_BNO055.h.
#define READ_CMD 0x01 |
Definition at line 57 of file imuBosch_BNO055.h.
#define READ_FAIL 0x02 |
Definition at line 63 of file imuBosch_BNO055.h.
#define REG_ACC_DATA 0x08 |
Definition at line 76 of file imuBosch_BNO055.h.
#define REG_BOOTLOADER 0x06 |
Definition at line 73 of file imuBosch_BNO055.h.
#define REG_CALIB_STATUS 0x35 |
Definition at line 82 of file imuBosch_BNO055.h.
#define REG_CHIP_ID 0x00 |
Definition at line 71 of file imuBosch_BNO055.h.
#define REG_GRAVITY 0x2E |
Definition at line 81 of file imuBosch_BNO055.h.
#define REG_GYRO_DATA 0x14 |
Definition at line 78 of file imuBosch_BNO055.h.
#define REG_MAGN_DATA 0x0E |
Definition at line 77 of file imuBosch_BNO055.h.
#define REG_OP_MODE 0x3D |
Definition at line 87 of file imuBosch_BNO055.h.
#define REG_PAGE_ID 0x07 |
Definition at line 74 of file imuBosch_BNO055.h.
#define REG_POWER_MODE 0x3E |
Definition at line 88 of file imuBosch_BNO055.h.
#define REG_QUATERN_DATA 0x20 |
Definition at line 80 of file imuBosch_BNO055.h.
#define REG_RPY_DATA 0x1A |
Definition at line 79 of file imuBosch_BNO055.h.
#define REG_SW_VERSION 0x04 |
Definition at line 72 of file imuBosch_BNO055.h.
#define REG_SYS_CLK_STATUS 0x38 |
Definition at line 83 of file imuBosch_BNO055.h.
#define REG_SYS_ERR 0x3A |
Definition at line 85 of file imuBosch_BNO055.h.
#define REG_SYS_STATUS 0x39 |
Definition at line 84 of file imuBosch_BNO055.h.
#define REG_SYS_TRIGGER 0x3F |
Definition at line 89 of file imuBosch_BNO055.h.
#define REG_UNIT_SEL 0x3B |
Definition at line 86 of file imuBosch_BNO055.h.
#define REGISTER_NOT_READY 0x07 |
Definition at line 67 of file imuBosch_BNO055.h.
#define REPLY_HEAD 0xBB |
Definition at line 60 of file imuBosch_BNO055.h.
#define RESP_HEADER_SIZE 2 |
Definition at line 106 of file imuBosch_BNO055.h.
#define START_BYTE 0xAA |
Definition at line 55 of file imuBosch_BNO055.h.
#define SWITCHING_TIME 0.020 |
Definition at line 108 of file imuBosch_BNO055.h.
#define TIME_REPORT_INTERVAL 30 |
Definition at line 109 of file imuBosch_BNO055.h.
#define TRIG_EXT_CLK_SEL 0x80 |
Definition at line 99 of file imuBosch_BNO055.h.
#define TRIG_RESET_INT 0x40 |
Definition at line 100 of file imuBosch_BNO055.h.
#define TRIG_RESET_SYSTEM 0x20 |
Definition at line 101 of file imuBosch_BNO055.h.
#define TRIG_SELF_TEST 0x01 |
Definition at line 102 of file imuBosch_BNO055.h.
#define WRITE_CMD 0x00 |
Definition at line 56 of file imuBosch_BNO055.h.
#define WRITE_FAIL 0x03 |
Definition at line 64 of file imuBosch_BNO055.h.
#define WRITE_SUCC 0x01 |
Definition at line 62 of file imuBosch_BNO055.h.
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constexpr |
Definition at line 52 of file imuBosch_BNO055.h.