Laelaps.Imu.Imu Class Reference

IMU class. More...

Public Member Functions
def	__init__ (self)
	Constructor.
def	open (self, device, baudrate)
	Open connection to IMU. More...
def	close (self)
	Close connection with IMU.
def	isOpen (self)
	Check if connecton is open. More...
def	sendCmd (self, cmdId, cmdData="")
	Send command. More...
def	receiveRsp (self, cmdId, lenData=0)
	Receive response. More...
def	packU8 (self, val)
	Pack an unsigned 8-bit value. More...
def	packS8 (self, val)
	Pack a signed 8-bit value. More...
def	packU16 (self, val)
	Pack an unsigned 16-bit value. More...
def	packS16 (self, val)
	Pack a signed 16-bit value. More...
def	packU32 (self, val)
	Pack an unsigned 32-bit value. More...
def	packS32 (self, val)
	Pack a signed 32-bit value. More...
def	unpackU8 (self, buf)
	Unpack an unsigned 8-bit value from buffer. More...
def	unpackS8 (self, buf)
	Unpack a signed 8-bit value from buffer. More...
def	unpackU16 (self, buf)
	Unpack an unsigned 16-bit value from buffer. More...
def	unpackS16 (self, buf)
	Unpack a signed 16-bit value from buffer. More...
def	unpackU32 (self, buf)
	Unpack an unsigned 32-bit value from buffer. More...
def	unpackS32 (self, buf)
	Unpack a signed 32-bit value from buffer. More...
def	readIdent (self)
def	readRawImu (self, accel_units='raw', gyro_units='raw', mag_units='raw')
def	readAttitude (self, units='raw')

Public Attributes
	m_port

Detailed Description

IMU class.

Definition at line 156 of file Imu.py.

Member Function Documentation

def Laelaps.Imu.Imu.isOpen

(

self

)

Check if connecton is open.

Returns

True or False

Definition at line 196 of file Imu.py.

Referenced by Laelaps.WatchDog.WatchDog.cmdConfigDPin(), Laelaps.WatchDog.WatchDog.cmdEnableAuxPort5V(), Laelaps.WatchDog.WatchDog.cmdEnableAuxPortBatt(), Laelaps.WatchDog.WatchDog.cmdEnableMotorCtlrs(), Laelaps.WatchDog.WatchDog.cmdGetFwVersion(), Laelaps.WatchDog.WatchDog.cmdPetTheDog(), Laelaps.WatchDog.WatchDog.cmdReadAPin(), Laelaps.WatchDog.WatchDog.cmdReadDPin(), Laelaps.WatchDog.WatchDog.cmdReadEnables(), Laelaps.WatchDog.WatchDog.cmdReadVoltages(), Laelaps.WatchDog.WatchDog.cmdResetRgbLed(), Laelaps.WatchDog.WatchDog.cmdSetAlarms(), Laelaps.WatchDog.WatchDog.cmdSetBatterySoC(), Laelaps.WatchDog.WatchDog.cmdSetRgbLed(), and Laelaps.WatchDog.WatchDog.cmdWriteDPin().

  def isOpen(self):
    return self.m_port.isOpen()

def Laelaps.Imu.Imu.open	(		self,
			device,
			baudrate
	)

Open connection to IMU.

Parameters

device	Serial (symbolic) device name.
baudrate	Serial baud rate.

Definition at line 170 of file Imu.py.

References Laelaps.Imu.Imu.m_port.

  def open(self, device, baudrate):
    #dev = os.path.join(os.path.dirname(device), os.readlink(device))
    try:
      devName = os.readlink(device)
      dirName = os.path.dirname(device)
      dev = os.path.join(dirName, devName)
    except OSError:
      dev = device
    try:
      self.m_port = serial.Serial(dev, baudrate=baudrate, timeout=0.5)
    except serial.SerialException as inst:
      raise ImuException(inst.message)
    self.m_port.flushInput()
    self.m_port.flushOutput()

def Laelaps.Imu.Imu.packS16	(		self,
			val
	)

Pack a signed 16-bit value.

Parameters

val	Value to pack.

Returns

Packed string.

Definition at line 307 of file Imu.py.

Referenced by Laelaps.RoboClaw.RoboClaw.setM1Duty(), Laelaps.RoboClaw.RoboClaw.setM1DutyAccel(), Laelaps.RoboClaw.RoboClaw.setM2Duty(), Laelaps.RoboClaw.RoboClaw.setM2DutyAccel(), Laelaps.RoboClaw.RoboClaw.setMixedDuty(), and Laelaps.RoboClaw.RoboClaw.setMixedDutyAccel().

  def packS16(self, val):
    return struct.pack('<h', val)

def Laelaps.Imu.Imu.packS32	(		self,
			val
	)

Pack a signed 32-bit value.

Parameters

val	Value to pack.

Returns

Packed string.

Definition at line 327 of file Imu.py.

Referenced by Laelaps.RoboClaw.RoboClaw.setM1Speed(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccel(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setM1SpeedDistance(), Laelaps.RoboClaw.RoboClaw.setM2Speed(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccel(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setM2SpeedDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeed(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccel(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedIAccel(), and Laelaps.RoboClaw.RoboClaw.setMixedSpeedIAccelDistance().

  def packS32(self, val):
    return struct.pack('<i', val)

def Laelaps.Imu.Imu.packS8	(		self,
			val
	)

Pack a signed 8-bit value.

Parameters

val	Value to pack.

Returns

Packed string.

Definition at line 287 of file Imu.py.

  def packS8(self, val):
    return struct.pack('<b', val)

def Laelaps.Imu.Imu.packU16	(		self,
			val
	)

Pack an unsigned 16-bit value.

Parameters

val	Value to pack.

Returns

Packed string.

Definition at line 297 of file Imu.py.

Referenced by Laelaps.RoboClaw.RoboClaw.execCmdWithAckRsp(), Laelaps.RoboClaw.RoboClaw.setLogicBatterySettings(), Laelaps.RoboClaw.RoboClaw.setM1DutyAccel(), Laelaps.RoboClaw.RoboClaw.setM2DutyAccel(), Laelaps.RoboClaw.RoboClaw.setMainBatterySettings(), and Laelaps.RoboClaw.RoboClaw.setMixedDutyAccel().

  def packU16(self, val):
    return struct.pack('<H', val)

def Laelaps.Imu.Imu.packU32	(		self,
			val
	)

Pack an unsigned 32-bit value.

Parameters

val	Value to pack.

Returns

Packed string.

Definition at line 317 of file Imu.py.

Referenced by Laelaps.RoboClaw.RoboClaw.setM1MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw.setM1Pidq(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccel(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setM1SpeedDistance(), Laelaps.RoboClaw.RoboClaw.setM2MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw.setM2Pidq(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccel(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setM2SpeedDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccel(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedIAccel(), and Laelaps.RoboClaw.RoboClaw.setMixedSpeedIAccelDistance().

  def packU32(self, val):
    return struct.pack('<I', val)

def Laelaps.Imu.Imu.packU8	(		self,
			val
	)

Pack an unsigned 8-bit value.

Parameters

val	Value to pack.

Returns

Packed string.

Definition at line 277 of file Imu.py.

Referenced by Laelaps.RoboClaw.RoboClaw.BackwardMixed(), Laelaps.RoboClaw.RoboClaw.DriveM1(), Laelaps.RoboClaw.RoboClaw.DriveM2(), Laelaps.RoboClaw.RoboClaw.DriveMixed(), Laelaps.RoboClaw.RoboClaw.ForwardMixed(), Laelaps.RoboClaw.RoboClaw.LeftMixed(), Laelaps.RoboClaw.RoboClaw.M1Backward(), Laelaps.RoboClaw.RoboClaw.M1Forward(), Laelaps.RoboClaw.RoboClaw.M2Backward(), Laelaps.RoboClaw.RoboClaw.M2Forward(), Laelaps.RoboClaw.RoboClaw.RightMixed(), Laelaps.RoboClaw.RoboClaw.setM1EncoderMode(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setM1SpeedDistance(), Laelaps.RoboClaw.RoboClaw.setM2EncoderMode(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setM2SpeedDistance(), Laelaps.RoboClaw.RoboClaw.setMaxMainBattery(), Laelaps.RoboClaw.RoboClaw.setMinMainBattery(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedIAccelDistance(), and Laelaps.RoboClaw.RoboClaw.TurnMixed().

  def packU8(self, val):
    return struct.pack('<B', val)

def Laelaps.Imu.Imu.receiveRsp	(		self,
			cmdId,
			lenData = 0
	)

Receive response.

Parameters

cmdId	Command id associated with response.
lenData	Optional response data length.

Definition at line 233 of file Imu.py.

Referenced by Laelaps.Imu.Imu.unpackS32().

  def receiveRsp(self, cmdId, lenData=0):
    rspLen = MSP_RSP_HDR_LEN + lenData + 1
    rspBuf = self.m_port.read(rspLen)

    #print "rspBuf[%d] = '%s'" % (len(rspBuf), rspBuf.encode("hex"))

    msgLen = len(rspBuf)
    if msgLen < MSP_RSP_MIN_LEN:
      raise ImuException("Response too small: " \
          "Only %d bytes received." % (msgLen))

    fldSize = ord(rspBuf[MSP_POS_SIZE])
    if fldSize != lenData:
      raise ImuException("Response data length mismatch: " \
          "Received %d bytes, expected %d bytes." % (fldSize, lenData))

    fldCmdId = ord(rspBuf[MSP_POS_CMD_ID])
    if fldCmdId != cmdId:
      raise ImuException("Command Id mismatch: " \
          "Received %d, expected %d." % (fldCmdId, cmdId))

    chksum = lenData
    for b in rspBuf[MSP_POS_CMD_ID:-1]:
      chksum ^= ord(b)
    chksum &= 0xff

    fldChkSum = ord(rspBuf[-1])

    if chksum != fldChkSum:
      raise ImuException("Checksum mismatch: " \
          "Received 0x%02x, calculated 0x%02x." % (fldChkSum, chksum))

    if lenData > 0:
      return rspBuf[MSP_POS_DATA:-1]
    else:
      return ""

def Laelaps.Imu.Imu.sendCmd	(		self,
			cmdId,
			cmdData = ""
	)

Send command.

Parameters

cmdId	Command id.
cmdData	Optional command data.

Definition at line 205 of file Imu.py.

Referenced by Laelaps.Imu.Imu.unpackS32().

  def sendCmd(self, cmdId, cmdData=""):
    lenData = len(cmdData)
    cmdBuf  = ""

    for b in MSP_CMD_PREAMBLE:
      cmdBuf += b

    cmdBuf += chr(lenData)
    chksum = lenData

    cmdBuf += chr(cmdId)
    chksum ^= cmdId

    for b in cmdData:
      cmdBuf += b
      chksum ^= b

    chksum &= 0xff
    cmdBuf += chr(chksum)

    self.m_port.write(cmdBuf)

def Laelaps.Imu.Imu.unpackS16	(		self,
			buf
	)

Unpack a signed 16-bit value from buffer.

Parameters

buf

String.

Returns

Value.

Definition at line 367 of file Imu.py.

Referenced by Laelaps.Imu.Imu.unpackS32().

  def unpackS16(self, buf):
    return struct.unpack('<h', buf)[0]

def Laelaps.Imu.Imu.unpackS32	(		self,
			buf
	)

Unpack a signed 32-bit value from buffer.

Parameters

buf

String.

Returns

Value.

Definition at line 387 of file Imu.py.

References Laelaps.Imu.Imu.receiveRsp(), sensor::imu::LaeImuCleanFlight.receiveRsp(), Laelaps.Imu.Imu.sendCmd(), motor::roboclaw::RoboClawComm.sendCmd(), sensor::imu::LaeImuCleanFlight.sendCmd(), Laelaps.Imu.Imu.unpackS16(), Laelaps.Imu.Imu.unpackU32(), and Laelaps.Imu.Imu.unpackU8().

  def unpackS32(self, buf):
    return struct.unpack('<i', buf)[0]

def Laelaps.Imu.Imu.unpackS8	(		self,
			buf
	)

Unpack a signed 8-bit value from buffer.

Parameters

buf

String.

Returns

Value.

Definition at line 347 of file Imu.py.

  def unpackS8(self, buf):
    return struct.unpack('<b', buf)[0]

def Laelaps.Imu.Imu.unpackU16	(		self,
			buf
	)

Unpack an unsigned 16-bit value from buffer.

Parameters

buf

String.

Returns

Value.

Definition at line 357 of file Imu.py.

Referenced by Laelaps.RoboClaw.RoboClaw.execCmdWithDataRsp(), Laelaps.RoboClaw.RoboClaw.readCurrents(), Laelaps.RoboClaw.RoboClaw.readLogicBattery(), Laelaps.RoboClaw.RoboClaw.readLogicBatterySettings(), Laelaps.RoboClaw.RoboClaw.readMainBattery(), Laelaps.RoboClaw.RoboClaw.readMainBatterySettings(), Laelaps.RoboClaw.RoboClaw.readStatus(), Laelaps.RoboClaw.RoboClaw.readTemperature(), and Laelaps.RoboClaw.RoboClaw.readVersion().

  def unpackU16(self, buf):
    return struct.unpack('<H', buf)[0]

def Laelaps.Imu.Imu.unpackU32	(		self,
			buf
	)

Unpack an unsigned 32-bit value from buffer.

Parameters

buf

String.

Returns

Value.

Definition at line 377 of file Imu.py.

Referenced by Laelaps.RoboClaw.RoboClaw.readM1Encoder(), Laelaps.RoboClaw.RoboClaw.readM1instspeed(), Laelaps.RoboClaw.RoboClaw.readM1MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw.readM1Pidq(), Laelaps.RoboClaw.RoboClaw.readM1PositionConstants(), Laelaps.RoboClaw.RoboClaw.readM1Speed(), Laelaps.RoboClaw.RoboClaw.readM2Encoder(), Laelaps.RoboClaw.RoboClaw.readM2instspeed(), Laelaps.RoboClaw.RoboClaw.readM2MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw.readM2Pidq(), Laelaps.RoboClaw.RoboClaw.readM2PositionConstants(), Laelaps.RoboClaw.RoboClaw.readM2Speed(), and Laelaps.Imu.Imu.unpackS32().

  def unpackU32(self, buf):
    return struct.unpack('<I', buf)[0]

def Laelaps.Imu.Imu.unpackU8	(		self,
			buf
	)

Unpack an unsigned 8-bit value from buffer.

Parameters

buf

String.

Returns

Value.

Definition at line 337 of file Imu.py.

Referenced by Laelaps.RoboClaw.RoboClaw.execCmdWithAckRsp(), Laelaps.RoboClaw.RoboClaw.readBufferCnts(), Laelaps.RoboClaw.RoboClaw.readEncoderMode(), Laelaps.RoboClaw.RoboClaw.readM1Encoder(), Laelaps.RoboClaw.RoboClaw.readM1instspeed(), Laelaps.RoboClaw.RoboClaw.readM1Speed(), Laelaps.RoboClaw.RoboClaw.readM2Encoder(), Laelaps.RoboClaw.RoboClaw.readM2instspeed(), Laelaps.RoboClaw.RoboClaw.readM2Speed(), and Laelaps.Imu.Imu.unpackS32().

  def unpackU8(self, buf):
    return struct.unpack('<B', buf)[0]

---

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

• sw/pyModules/modules/Laelaps/Imu.py