CanBusInertialMTB Class Reference

canbusinertialmtb : driver for CAN communication with inertial sensors (accelerometers, gyroscopes) mounted on MTB boards. More...

#include <CanBusInertialMTB.h>

Inheritance diagram for CanBusInertialMTB:

Public Member Functions
	CanBusInertialMTB (int period=20)
	~CanBusInertialMTB ()
virtual bool	open (yarp::os::Searchable &config)
virtual bool	close ()
virtual int	read (yarp::sig::Vector &out)
virtual int	getState (int ch)
virtual int	getChannels ()
int	calibrateSensor ()
virtual int	calibrateChannel (int ch, double v)
virtual int	calibrateSensor (const yarp::sig::Vector &v)
virtual int	calibrateChannel (int ch)
virtual bool	threadInit ()
virtual void	threadRelease ()
virtual void	run ()

Protected Attributes
PolyDriver	driver
ICanBus *	pCanBus
ICanBufferFactory *	pCanBufferFactory
CanBuffer	inBuffer
CanBuffer	outBuffer
std::mutex	mtx
std::vector< MTBInertialBoardInfo >	boards
int	nrOfTotalChannels
yarp::sig::Vector	data
yarp::sig::Vector	privateData
std::vector< short >	sharedStatus
std::vector< short >	privateStatus
short	sharedGlobalStatus
short	privateGlobalStatus
bool	initted
int	count

Detailed Description

canbusinertialmtb : driver for CAN communication with inertial sensors (accelerometers, gyroscopes) mounted on MTB boards.

The minimum MTB firmware version supported by this device is 2.10.17 .

It is possible to read from multiple MTB. This readings will be combined in a single vector.

YARP device name
canbusinertialmtb

Parameters accepted in the config argument of the open method:

Parameter name	Type	Units	Default Value	Required	Description	Notes
canbusDevice	string	-	-	Yes	Yarp device name of CAN Bus wrapper	-
physDevice	string	-	-	Yes	Yarp device name for the low level CAN device driver	-
canDeviceNum	int	-	-	Yes	ID of the CAN Bus line	-
canAddress	vector of int	-	-	Yes	Vector of the CAN Bus Addresses for the sensor boards	-
period	int	milliseconds	10	No	Period of the thread reading messages from the CAN bus	-
sensorType	int		-	Yes	Type of sensor to read from MTBs.	Possible values: acc for the internal LIS331DLH accelerometer of the MTB, extAccAndGyro for the external LIS331DLH accelerometer and L3G4200D gyroscope.
sensorPeriod	int	milliseconds	5	No	Every sensorPeriod milliseconds the MTB publishes the sensor measurements on the CAN Bus	Possible values: from 1 to 255

Definition at line 60 of file CanBusInertialMTB.h.

Constructor & Destructor Documentation

CanBusInertialMTB()

CanBusInertialMTB::CanBusInertialMTB ( int  period = 20 )

inline

Definition at line 97 of file CanBusInertialMTB.h.

~CanBusInertialMTB()

CanBusInertialMTB::~CanBusInertialMTB ( )

inline

Definition at line 103 of file CanBusInertialMTB.h.

Member Function Documentation

calibrateChannel() [1/2]

int CanBusInertialMTB::calibrateChannel ( int  ch )

virtual

Definition at line 307 of file CanBusInertialMTB.cpp.

calibrateChannel() [2/2]

int CanBusInertialMTB::calibrateChannel ( int  ch, double  v  )

virtual

Definition at line 295 of file CanBusInertialMTB.cpp.

calibrateSensor() [1/2]

int CanBusInertialMTB::calibrateSensor

(

)

Definition at line 289 of file CanBusInertialMTB.cpp.

calibrateSensor() [2/2]

int CanBusInertialMTB::calibrateSensor ( const yarp::sig::Vector &  v )

virtual

Definition at line 301 of file CanBusInertialMTB.cpp.

close()

bool CanBusInertialMTB::close ( )

virtual

Definition at line 255 of file CanBusInertialMTB.cpp.

getChannels()

int CanBusInertialMTB::getChannels ( )

virtual

Definition at line 284 of file CanBusInertialMTB.cpp.

getState()

int CanBusInertialMTB::getState ( int  ch )

virtual

Definition at line 278 of file CanBusInertialMTB.cpp.

open()

bool CanBusInertialMTB::open ( yarp::os::Searchable &  config )

virtual

Definition at line 135 of file CanBusInertialMTB.cpp.

read()

int CanBusInertialMTB::read ( yarp::sig::Vector &  out )

virtual

Definition at line 271 of file CanBusInertialMTB.cpp.

run()

void CanBusInertialMTB::run ( )

virtual

Definition at line 369 of file CanBusInertialMTB.cpp.

threadInit()

bool CanBusInertialMTB::threadInit ( )

virtual

Definition at line 313 of file CanBusInertialMTB.cpp.

threadRelease()

void CanBusInertialMTB::threadRelease ( )

virtual

Definition at line 489 of file CanBusInertialMTB.cpp.

Member Data Documentation

boards

std::vector<MTBInertialBoardInfo> CanBusInertialMTB::boards

protected

Definition at line 83 of file CanBusInertialMTB.h.

count

int CanBusInertialMTB::count

protected

Definition at line 95 of file CanBusInertialMTB.h.

data

yarp::sig::Vector CanBusInertialMTB::data

protected

Definition at line 87 of file CanBusInertialMTB.h.

driver

PolyDriver CanBusInertialMTB::driver

protected

Definition at line 75 of file CanBusInertialMTB.h.

inBuffer

CanBuffer CanBusInertialMTB::inBuffer

protected

Definition at line 78 of file CanBusInertialMTB.h.

initted

bool CanBusInertialMTB::initted

protected

Definition at line 94 of file CanBusInertialMTB.h.

mtx

std::mutex CanBusInertialMTB::mtx

protected

Definition at line 81 of file CanBusInertialMTB.h.

nrOfTotalChannels

int CanBusInertialMTB::nrOfTotalChannels

protected

Definition at line 85 of file CanBusInertialMTB.h.

outBuffer

CanBuffer CanBusInertialMTB::outBuffer

protected

Definition at line 79 of file CanBusInertialMTB.h.

pCanBufferFactory

ICanBufferFactory* CanBusInertialMTB::pCanBufferFactory

protected

Definition at line 77 of file CanBusInertialMTB.h.

pCanBus

ICanBus* CanBusInertialMTB::pCanBus

protected

Definition at line 76 of file CanBusInertialMTB.h.

privateData

yarp::sig::Vector CanBusInertialMTB::privateData

protected

Definition at line 88 of file CanBusInertialMTB.h.

privateGlobalStatus

short CanBusInertialMTB::privateGlobalStatus

protected

Definition at line 92 of file CanBusInertialMTB.h.

privateStatus

std::vector<short> CanBusInertialMTB::privateStatus

protected

Definition at line 90 of file CanBusInertialMTB.h.

sharedGlobalStatus

short CanBusInertialMTB::sharedGlobalStatus

protected

Definition at line 91 of file CanBusInertialMTB.h.

sharedStatus

std::vector<short> CanBusInertialMTB::sharedStatus

protected

Definition at line 89 of file CanBusInertialMTB.h.

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

• icub-main/src/libraries/icubmod/canBusInertialMTB/CanBusInertialMTB.h
• icub-main/src/libraries/icubmod/canBusInertialMTB/CanBusInertialMTB.cpp