sensor::imu::LaeImuCleanFlight Class Reference

#include <laeImu.h>

Inheritance diagram for sensor::imu::LaeImuCleanFlight:

Public Member Functions
	LaeImuCleanFlight ()
	Default constructor.
virtual	~LaeImuCleanFlight ()
	Destructor.
virtual int	numDoFs ()
	Get the total degress of freedom of the IMU sensor. More...
virtual bool	hasAccelerometer ()
	Test if IMU has an accelerometer. More...
virtual bool	hasGyroscope ()
	Test if IMU has an gyroscope. More...
virtual int	readIdentity (std::string &strIdent)
	Read sensor identity values. More...
virtual int	readRawImu ()
	Read sensor and board raw IMU values. More...
virtual int	readRawInertia ()
	Read sensors inertia data. More...
virtual int	readRawRollPitchYaw ()
	Read board's calculated roll, pitch, and yaw raw values. More...
virtual int	convertRawToSI ()
	Convert last read IMU values to International System of Units. More...
Public Member Functions inherited from sensor::imu::LaeImu
	LaeImu (std::string strIdent="Virtual IMU")
	Default constructor. More...
virtual	~LaeImu ()
	Destructor.
virtual int	open (const std::string &strDevName, int nBaudRate)
virtual int	close ()
	Close connection to motor controller. More...
virtual bool	isOpen ()
	Check if IMU serial interface is open. More...
virtual void	blacklist ()
	Black list IMU from robot sensors.
virtual void	whitelist ()
	White list IMU sensor.
virtual bool	isBlackListed ()
	Test if IMU is black listed. More...
virtual void	clearSensedData ()
	Clear IMU sensed data.
virtual bool	hasMagnetometer ()
	Test if IMU has an magnetometer. More...
virtual int	configure (const laelaps::LaeDesc &desc)
	Configure IMU from product description. More...
virtual int	configure (const laelaps::LaeTunes &tunes)
	Configure IMU from tunable parameters. More...
virtual int	reload (const laelaps::LaeTunes &tunes)
	Reload with new tuning parameters. More...
virtual void	compute ()
	Compute all IMU values form converted, raw values. More...
virtual void	computeQuaternion ()
	Compute the quaternion from the IMU data.
virtual void	computeDynamics ()
	Compute the velocity, position, and any other dynamics from the IMU data. More...
virtual void	exec ()
	Exectute one step to read, convert, and compute IMU values.
std::string	getIdentity ()
	Get IMU identity. More...
std::string	getDevName ()
	Get IMU device name. More...
virtual void	getRawInertiaData (int accel[], int gyro[])
	Get the last read raw inertia data. More...
virtual void	getInertiaData (double accel[], double gyro[])
	Get the last read and converted inertia data. More...
virtual void	getMagnetometerData (double mag[])
	Get the last read magnetometer values. More...
virtual void	getAttitude (double rpy[])
	Get the last read IMU (vehicle) attitude. More...
virtual void	getAttitude (double &roll, double &pitch, double &yaw)
	Get the last read IMU (vehicle) attitude. More...
virtual void	getQuaternion (Quaternion &q)
	Get the last computed quaternion. More...
virtual void	getImuData (double accel[], double gyro[], double mag[], double rpy[], Quaternion &q)
	Get the last sensed, converted, and computed IMU data. More...

Static Public Attributes
static const int	SerBaud9600 = 9600
	9600 serial baudrate
static const int	SerBaud19200 = 19200
	19200 serial baudrate
static const int	SerBaud38400 = 38400
	38400 serial baudrate
static const int	SerBaud57600 = 38400
	38400 serial baudrate
static const int	SerBaud115200 = 115200
	115200 serial baudrate
static const int	SerBaudDft = SerBaud115200
	default serial baudrate
static const uint_t	TCmdTimeout = 1000
	command timeout (usec)
static const uint_t	TRspTimeout = 12000
	response timeout (usec)
static const uint_t	TFlushDelay = 100
	flush buffer delay (usec)

Protected Member Functions
int	mspReadIdent (msp::MspIdent &ident)
	Read CleanFlight board's identity values. More...
int	mspReadRawImu ()
	Read raw IMU data. More...
int	mspReadAttitude ()
	MSP command/response. More...
int	sendCmd (uint_t cmdId, byte_t cmdData[], size_t lenData)
	Send command to IMU. More...
int	receiveRsp (uint_t cmdId, byte_t rspData[], size_t lenData)
void	resyncComm ()
	Attempt to resynchronize the serial communication between the host and the IMU.
void	flush (uint_t t)
	Flush serial input and output FIFOs, discarding all data. More...
int	pack16 (int val, byte_t buf[])
	Pack 16-bit signed value into buffer. More...
int	pack16 (uint_t val, byte_t buf[])
	Pack 16-bit unsigned value into buffer. More...
int	unpack16 (byte_t buf[], int &val)
	Unpack 16-bit signed value from buffer. More...
int	unpack16 (byte_t buf[], uint_t &val)
	Unpack 16-bit unsigned value from buffer. More...
int	pack32 (int val, byte_t buf[])
	Pack 32-bit signed value into buffer. More...
int	pack32 (uint_t val, byte_t buf[])
	Pack 32-bit unsigned value into buffer. More...
int	unpack32 (byte_t buf[], int &val)
	Unpack 32-bit signed value from buffer. More...
int	unpack32 (byte_t buf[], uint_t &val)
	Unpack 32-bit unsigned value from buffer. More...
Protected Member Functions inherited from sensor::imu::LaeImu
void	lockIo ()
	Lock the shared I/O resource. More...
void	unlockIo ()
	Unlock the shared I/O resource. More...
void	lockOp ()
	Lock the extended operation. More...
void	unlockOp ()
	Unlock the extended operation. More...

Additional Inherited Members
Protected Attributes inherited from sensor::imu::LaeImu
std::string	m_strIdent
	IMU identity.
std::string	m_strDevName
	serial device name
int	m_nBaudRate
	device baudrate
int	m_fd
	opened device file descriptor
bool	m_bBlackListed
	IMU is [not] black listed.
int	m_accelRaw [NumOfAxes]
	accelerometer raw values
int	m_gyroRaw [NumOfAxes]
	gyroscope raw values
int	m_magRaw [NumOfAxes]
	magnetometer raw values
int	m_rpyRaw [NumOfAxes]
	roll,pitch,yaw raw values
double	m_accel [NumOfAxes]
	accelerometer (m/s^2)
double	m_gyro [NumOfAxes]
	gyrscope (radians/s)
double	m_mag [NumOfAxes]
	magnetometer (tesla)
double	m_rpy [NumOfAxes]
	roll,pitch,yaw (radians)
Quaternion	m_quaternion
	imu orientation (and robot)
pthread_mutex_t	m_mutexIo
	low-level I/O mutex
pthread_mutex_t	m_mutexOp
	high-level operation mutex

Detailed Description

Inertia Measurement Unit class running the CleanFlight firmware.

Definition at line 670 of file laeImu.h.

Member Function Documentation

int LaeImuCleanFlight::convertRawToSI ( )

virtual

Convert last read IMU values to International System of Units.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Implements sensor::imu::LaeImu.

Definition at line 452 of file laeImu.cxx.

References laelaps::degToRad(), sensor::imu::LaeImu::m_accel, sensor::imu::LaeImu::m_accelRaw, sensor::imu::LaeImu::m_gyro, sensor::imu::LaeImu::m_gyroRaw, sensor::imu::LaeImu::m_rpy, sensor::imu::LaeImu::m_rpyRaw, sensor::imu::msp::MspAttitudeRawToDeg, sensor::imu::msp::MspGToMPerSec2, sensor::imu::msp::MspMpu6050RawToDegPerSec, sensor::imu::msp::MspMpu6050RawToG, sensor::imu::NumOfAxes, and sensor::imu::YAW.

{
  for(int i = 0; i < NumOfAxes; ++i)
  {
    m_accel[i] = m_accelRaw[i] * MspMpu6050RawToG * MspGToMPerSec2;
    RtDb.m_imu.m_accel[i] = m_accel[i];

    m_gyro[i]  = degToRad(m_gyroRaw[i] * MspMpu6050RawToDegPerSec);
    RtDb.m_imu.m_gyro[i] = m_gyro[i];

    if( i != YAW )
    {
      m_rpy[i]  = degToRad(m_rpyRaw[i] * MspAttitudeRawToDeg);
      RtDb.m_imu.m_rpy[i] = m_rpy[i];
    }
  }
  m_rpy[YAW] = degToRad(m_rpyRaw[YAW]);
  RtDb.m_imu.m_rpy[YAW] = m_rpy[YAW];

  return LAE_OK;
}

void LaeImuCleanFlight::flush ( uint_t  t )

protected

Flush serial input and output FIFOs, discarding all data.

Parameters

t	Delay time (usec) before flushing. Zero means no delay.

Definition at line 718 of file laeImu.cxx.

References sensor::imu::LaeImu::m_fd.

Referenced by receiveRsp(), resyncComm(), and sendCmd().

{
  if( t > 0 )
  {
    usleep(t);
  }

  SerDevFIFOOutputFlush(m_fd);
  SerDevFIFOInputFlush(m_fd);
}

virtual bool sensor::imu::LaeImuCleanFlight::hasAccelerometer ( )

inlinevirtual

Test if IMU has an accelerometer.

Returns

Returns true or false.

Reimplemented from sensor::imu::LaeImu.

Definition at line 716 of file laeImu.h.

      {
        return true;
      }

virtual bool sensor::imu::LaeImuCleanFlight::hasGyroscope ( )

inlinevirtual

Test if IMU has an gyroscope.

Returns

Returns true or false.

Reimplemented from sensor::imu::LaeImu.

Definition at line 726 of file laeImu.h.

      {
        return true;
      }

int LaeImuCleanFlight::mspReadAttitude ( )

protected

MSP command/response.

Parameters

Definition at line 549 of file laeImu.cxx.

References sensor::imu::LaeImu::isOpen(), sensor::imu::LaeImu::lockIo(), sensor::imu::LaeImu::m_rpyRaw, sensor::imu::msp::MspCmdIdAttitude, sensor::imu::NumOfAxes, receiveRsp(), sendCmd(), sensor::imu::LaeImu::unlockIo(), and unpack16().

Referenced by readRawImu(), and readRawRollPitchYaw().

{
  static const uint_t CmdId       = MspCmdIdAttitude;
  static const size_t RspDataLen = 6;

  byte_t  rspData[RspDataLen];
  int     i, n;
  int     rc;

  if( !isOpen() )
  {
    return -LAE_ECODE_IO;
  }

  lockIo();

  if( (rc = sendCmd(CmdId, NULL, 0)) == LAE_OK )
  {
    rc = receiveRsp(CmdId, rspData, RspDataLen);
  }

  if( rc == LAE_OK )
  {
    for(i = 0, n = 0; i < NumOfAxes; ++i, n += 2)
    {
      unpack16(&rspData[n], m_rpyRaw[i]);
    }
  }

  unlockIo();

  return rc;
}

int LaeImuCleanFlight::mspReadIdent ( msp::MspIdent &  ident )

protected

Read CleanFlight board's identity values.

MSP command/response.

Parameters

[out]

ident

Identity.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 474 of file laeImu.cxx.

References sensor::imu::LaeImu::isOpen(), sensor::imu::LaeImu::lockIo(), sensor::imu::msp::MspIdent::m_uCaps, sensor::imu::msp::MspIdent::m_uFwVersion, sensor::imu::msp::MspIdent::m_uMspVersion, sensor::imu::msp::MspIdent::m_uMultiType, sensor::imu::msp::MspCmdIdIdent, receiveRsp(), sendCmd(), sensor::imu::LaeImu::unlockIo(), and unpack32().

Referenced by readIdentity(), and resyncComm().

{
  static const uint_t CmdId       = MspCmdIdIdent;
  static const size_t RspDataLen = 7;

  byte_t  rspData[RspDataLen];
  int     rc;

  if( !isOpen() )
  {
    return -LAE_ECODE_IO;
  }

  lockIo();

  if( (rc = sendCmd(CmdId, NULL, 0)) == LAE_OK )
  {
    rc = receiveRsp(CmdId, rspData, RspDataLen);
  }

  if( rc == LAE_OK )
  {
    ident.m_uFwVersion  = (uint_t)rspData[0];
    ident.m_uMultiType  = (uint_t)rspData[1];
    ident.m_uMspVersion = (uint_t)rspData[2];
    unpack32(&rspData[3], ident.m_uCaps);
  }

  unlockIo();

  return rc;
}

int LaeImuCleanFlight::mspReadRawImu ( )

protected

Read raw IMU data.

Read data are updated to local class object member data.

MSP command/response.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 507 of file laeImu.cxx.

References sensor::imu::LaeImu::isOpen(), sensor::imu::LaeImu::lockIo(), sensor::imu::LaeImu::m_accelRaw, sensor::imu::LaeImu::m_gyroRaw, sensor::imu::LaeImu::m_magRaw, sensor::imu::msp::MspCmdIdRawImu, sensor::imu::NumOfAxes, receiveRsp(), sendCmd(), sensor::imu::LaeImu::unlockIo(), and unpack16().

Referenced by readRawImu(), and readRawInertia().

{
  static const uint_t CmdId       = MspCmdIdRawImu;
  static const size_t RspDataLen  = 18;

  byte_t  rspData[RspDataLen];
  int     i, n;
  int     rc;

  if( !isOpen() )
  {
    return -LAE_ECODE_IO;
  }

  lockIo();

  if( (rc = sendCmd(CmdId, NULL, 0)) == LAE_OK )
  {
    rc = receiveRsp(CmdId, rspData, RspDataLen);
  }

  if( rc == LAE_OK )
  {
    for(i = 0, n = 0; i < NumOfAxes; ++i, n += 2)
    {
      unpack16(&rspData[n], m_accelRaw[i]);
    }
    for(i = 0; i < NumOfAxes; ++i, n += 2)
    {
      unpack16(&rspData[n], m_gyroRaw[i]);
    }
    for(i = 0; i < NumOfAxes; ++i, n += 2)
    {
      unpack16(&rspData[n], m_magRaw[i]);
    }
  }

  unlockIo();

  return rc;
}

virtual int sensor::imu::LaeImuCleanFlight::numDoFs ( )

inlinevirtual

Get the total degress of freedom of the IMU sensor.

Returns

DoF

Reimplemented from sensor::imu::LaeImu.

Definition at line 706 of file laeImu.h.

      {
        return 6;
      }

int sensor::imu::LaeImuCleanFlight::pack16 ( int  val, byte_t  buf[]  )

inlineprotected

Pack 16-bit signed value into buffer.

Order is little-endian (LSB first).

Parameters

[in]	val	Value to pack.
[out]	buf	Destination buffer.

Returns

Number of bytes packed(2).

Definition at line 859 of file laeImu.h.

      {
        return pack16((uint_t &)val, buf);
      }

int LaeImuCleanFlight::pack16 ( uint_t  val, byte_t  buf[]  )

protected

Pack 16-bit unsigned value into buffer.

Order is little-endian (LSB first).

Parameters

[in]	val	Value to pack.
[out]	buf	Destination buffer.

Returns

Number of bytes packed(2).

Definition at line 729 of file laeImu.cxx.

{
  buf[0] = (byte_t)(val & 0xff);
  buf[1] = (byte_t)((val >> 8) & 0xff);
  return 2;
}

int sensor::imu::LaeImuCleanFlight::pack32 ( int  val, byte_t  buf[]  )

inlineprotected

Pack 32-bit signed value into buffer.

Order is little-endian (LSB first).

Parameters

[in]	val	Value to pack.
[out]	buf	Destination buffer.

Returns

Number of bytes packed(4).

Definition at line 910 of file laeImu.h.

      {
        return pack32((uint_t)val, buf);
      }

int LaeImuCleanFlight::pack32 ( uint_t  val, byte_t  buf[]  )

protected

Pack 32-bit unsigned value into buffer.

Order is little-endian (LSB first).

Parameters

[in]	val	Value to pack.
[out]	buf	Destination buffer.

Returns

Number of bytes packed(4).

Definition at line 750 of file laeImu.cxx.

{
  buf[0] = (byte_t)(val & 0xff);
  buf[1] = (byte_t)((val >>  8) & 0xff);
  buf[2] = (byte_t)((val >> 16) & 0xff);
  buf[3] = (byte_t)((val >> 24) & 0xff);
  return 4;
}

int LaeImuCleanFlight::readIdentity ( std::string &  strIdent )

virtual

Read sensor identity values.

Parameters

[out]

strIdent

Hardware specific, formated identity string.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Implements sensor::imu::LaeImu.

Definition at line 376 of file laeImu.cxx.

References sensor::imu::LaeImu::isBlackListed(), sensor::imu::LaeImu::m_strIdent, sensor::imu::msp::MspIdent::m_uFwVersion, and mspReadIdent().

Referenced by laelaps::LaeRobot::connSensors().

{
  MspIdent  ident;
  int       rc;

  if( isBlackListed() )
  {
    strIdent = "Unknown - blacklisted";
    rc = LAE_OK; 
  }

  else if( (rc = mspReadIdent(ident)) == LAE_OK )
  {
    stringstream  ss;

    ss << "CleanFlight v" << ident.m_uFwVersion
      << " Naze32 with MPU-6050 IMU sensor";

    m_strIdent  = ss.str();
    strIdent    = m_strIdent;
  }

  return rc;
}

int LaeImuCleanFlight::readRawImu ( )

virtual

Read sensor and board raw IMU values.

The CleanFlight Naze32 with MPU-6050 sensor has:

• accelerometer
• gyroscope
• attitude

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Implements sensor::imu::LaeImu.

Definition at line 401 of file laeImu.cxx.

References sensor::imu::LaeImu::isBlackListed(), mspReadAttitude(), and mspReadRawImu().

{
  int   rc;

  if( isBlackListed() )
  {
    rc = LAE_OK; 
  }

  else if( (rc = mspReadRawImu()) == LAE_OK )
  {
    rc = mspReadAttitude();
  }

  return rc;
}

int LaeImuCleanFlight::readRawInertia ( )

virtual

Read sensors inertia data.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 418 of file laeImu.cxx.

References sensor::imu::LaeImu::isBlackListed(), and mspReadRawImu().

{
  int   rc;

  if( isBlackListed() )
  {
    rc = LAE_OK; 
  }

  else
  {
    rc = mspReadRawImu();
  }

  return rc;
}

int LaeImuCleanFlight::readRawRollPitchYaw ( )

virtual

Read board's calculated roll, pitch, and yaw raw values.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 435 of file laeImu.cxx.

References sensor::imu::LaeImu::isBlackListed(), and mspReadAttitude().

{
  int   rc;

  if( isBlackListed() )
  {
    rc = LAE_OK; 
  }

  else
  {
    rc = mspReadAttitude();
  }

  return rc;
}

int LaeImuCleanFlight::receiveRsp ( uint_t  cmdId, byte_t  rspData[], size_t  lenData  )

protected

Parameters

	cmdId	Response's associated MSP command id.
[out]	rspData	Optional response data.
	lenData	Length of response data. Zero if no data.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 623 of file laeImu.cxx.

References flush(), sensor::imu::LaeImu::m_fd, sensor::imu::msp::MspFieldPosCmdId, sensor::imu::msp::MspFieldPosDataStart, sensor::imu::msp::MspFieldPosSize, sensor::imu::msp::MspRspMaxLen, sensor::imu::msp::MspRspMinLen, resyncComm(), TFlushDelay, and TRspTimeout.

Referenced by mspReadAttitude(), mspReadIdent(), mspReadRawImu(), and Laelaps.Imu.Imu::unpackS32().

{
  byte_t  rsp[MspRspMaxLen];
  uint_t  chksum;
  size_t  lenRsp;
  size_t  n;
  size_t  fldSize;
  uint_t  fldCmdId;
  byte_t  fldChkSum;
  size_t  i;

  lenRsp = MspRspMinLen + lenData;

  if( (n = SerDevRead(m_fd, rsp, lenRsp, TRspTimeout)) < 0 )
  {
    LOGERROR("IMU: Cmd %d response: Receive failed.", cmdId);
    flush(TFlushDelay);
    return -LAE_ECODE_IO;
  }
  else if( n < lenRsp )
  {
    LOGERROR("IMU: Cmd %d response: Receive partial response: "
        "rcv'd %zu bytes, expected %zu bytes.", cmdId, n, lenRsp);
    flush(TFlushDelay);
    return -LAE_ECODE_IO;
  }

  fldSize = (size_t)rsp[MspFieldPosSize];

  if( fldSize != lenData )
  {
    LOGERROR("IMU: Cmd %d response: Data length mismatch: " \
          "Received %zu bytes, expected %zu bytes.", cmdId, fldSize, lenData);
    resyncComm();
    return -LAE_ECODE_IO;
  }

  fldCmdId = (uint_t)rsp[MspFieldPosCmdId];

  if( fldCmdId != cmdId )
  {
    LOGERROR("IMU: Cmd %d response: Command Id mismatch: Received %d.",
        cmdId, fldCmdId);
    resyncComm();
    return -LAE_ECODE_IO;
  }

  chksum  = rsp[MspFieldPosSize];
  chksum ^= rsp[MspFieldPosCmdId];

  for(i = 0, n = MspFieldPosDataStart; i < lenData; ++i, ++n)
  {
    chksum ^= rsp[n];
    rspData[i] = rsp[n];
  }

  fldChkSum = rsp[lenRsp-1];

  if( chksum != fldChkSum )
  {
    LOGERROR("IMU: Cmd %d response: Checksum mismatch: " \
          "Received 0x%02x, calculated 0x%02x.", cmdId, fldChkSum, chksum);
    resyncComm();
    return -LAE_ECODE_IO;
  }

  return LAE_OK;
}

int LaeImuCleanFlight::sendCmd ( uint_t  cmdId, byte_t  cmdData[], size_t  lenData  )

protected

Send command to IMU.

Parameters

	cmdId	MSP command id.
[in]	cmdData	Optional command data.
	lenData	Length of command data. Zero if no data.

Returns

On success, OK(0) is returned.
On error, RC_ERROR(-1) is returned.

Definition at line 584 of file laeImu.cxx.

References flush(), sensor::imu::LaeImu::m_fd, sensor::imu::msp::MspCmdMaxLen, sensor::imu::msp::MspCmdPreamble, TCmdTimeout, and TFlushDelay.

Referenced by mspReadAttitude(), mspReadIdent(), mspReadRawImu(), and Laelaps.Imu.Imu::unpackS32().

{
  byte_t  cmd[MspCmdMaxLen];
  uint_t  chksum;
  size_t  n;

  for(n = 0; n<strlen(MspCmdPreamble); ++n)
  {
    cmd[n] = MspCmdPreamble[n];
  }

  chksum = 0;

  cmd[n++] = (byte_t)lenData;
  chksum  ^= (byte_t)lenData;

  cmd[n++] = (byte_t)cmdId;
  chksum  ^= (byte_t)cmdId;
  
  for(size_t i = 0; i < lenData; ++i)
  {
    cmd[n++] = (byte_t)cmdData[i];
    chksum  ^= (byte_t)cmdData[i];
  }

  cmd[n++] = (byte_t)chksum;

  if( SerDevWrite(m_fd, cmd, n, TCmdTimeout) == n )
  {
    return LAE_OK;
  }
  else
  {
    flush(TFlushDelay);
    LOGERROR("IMU: Cmd %d: Send failed.", cmdId);
    return -LAE_ECODE_IO;
  }
}

int LaeImuCleanFlight::unpack16 ( byte_t  buf[], int &  val  )

protected

Unpack 16-bit signed value from buffer.

Buffer is little-endian (LSB first).

Parameters

[in]	buf	Source buffer.
[out]	val	Unpacked value.

Returns

Number of bytes unpacked(2).

Definition at line 742 of file laeImu.cxx.

Referenced by mspReadAttitude(), and mspReadRawImu().

{
  s16_t v;
  v = ((s16_t)(buf[1]) << 8) | (s16_t)buf[0];
  val = (int)v;
  return 2;
}

int LaeImuCleanFlight::unpack16 ( byte_t  buf[], uint_t &  val  )

protected

Unpack 16-bit unsigned value from buffer.

Buffer is little-endian (LSB first).

Parameters

[in]	buf	Source buffer.
[out]	val	Unpacked value.

Returns

Number of bytes unpacked(2).

Definition at line 736 of file laeImu.cxx.

{
  val = ((uint_t)(buf[1]) << 8) | (uint_t)buf[0];
  return 2;
}

int LaeImuCleanFlight::unpack32 ( byte_t  buf[], int &  val  )

protected

Unpack 32-bit signed value from buffer.

Buffer is little-endian (LSB first).

Parameters

[in]	buf	Source buffer.
[out]	val	Unpacked value.

Returns

Number of bytes unpacked(4).

Definition at line 768 of file laeImu.cxx.

Referenced by mspReadIdent().

{
  s32_t v;

  v = ((s32_t)(buf[3]) << 24) |
      ((s32_t)(buf[2]) << 16) |
      ((s32_t)(buf[1]) <<  8) |
      (s32_t)buf[0];
  val = (int)v;
  return 4;
}

int LaeImuCleanFlight::unpack32 ( byte_t  buf[], uint_t &  val  )

protected

Unpack 32-bit unsigned value from buffer.

Buffer is little-endian (LSB first).

Parameters

[in]	buf	Source buffer.
[out]	val	Unpacked value.

Returns

Number of bytes unpacked(4).

Definition at line 759 of file laeImu.cxx.

{
  val = ((uint_t)(buf[3]) << 24) |
        ((uint_t)(buf[2]) << 16) |
        ((uint_t)(buf[1]) <<  8) |
        (uint_t)buf[0];
  return 4;
}

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

• include/Laelaps/laeImu.h
• sw/liblaelaps/laeImu.cxx