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DfMPU6050Wrapper Class Reference
Inheritance diagram for DfMPU6050Wrapper:
Collaboration diagram for DfMPU6050Wrapper:

Classes

struct  accel_calibration_s
 
struct  gyro_calibration_s
 

Public Member Functions

 DfMPU6050Wrapper (enum Rotation rotation)
 
 ~DfMPU6050Wrapper ()
 
int start ()
 Start automatic measurement. More...
 
int stop ()
 Stop automatic measurement. More...
 
void info ()
 Print some debug info. More...
 

Private Member Functions

int _publish (struct imu_sensor_data &data)
 
void _update_accel_calibration ()
 
void _update_gyro_calibration ()
 

Private Attributes

orb_advert_t _accel_topic
 
orb_advert_t _gyro_topic
 
orb_advert_t _mavlink_log_pub
 
int _param_update_sub
 
struct DfMPU6050Wrapper::accel_calibration_s _accel_calibration
 
struct DfMPU6050Wrapper::gyro_calibration_s _gyro_calibration
 
matrix::Dcmf _rotation_matrix
 
int _accel_orb_class_instance
 
int _gyro_orb_class_instance
 
Integrator _accel_int
 
Integrator _gyro_int
 
unsigned _publish_count
 
perf_counter_t _read_counter
 
perf_counter_t _error_counter
 
perf_counter_t _fifo_overflow_counter
 
perf_counter_t _fifo_corruption_counter
 
perf_counter_t _gyro_range_hit_counter
 
perf_counter_t _accel_range_hit_counter
 
perf_counter_t _publish_perf
 
hrt_abstime _last_accel_range_hit_time
 
uint64_t _last_accel_range_hit_count
 

Detailed Description

Definition at line 78 of file df_mpu6050_wrapper.cpp.

Constructor & Destructor Documentation

◆ DfMPU6050Wrapper()

DfMPU6050Wrapper::DfMPU6050Wrapper ( enum Rotation  rotation)

Definition at line 158 of file df_mpu6050_wrapper.cpp.

References _accel_calibration, _accel_int, _accel_orb_class_instance, _accel_range_hit_counter, _error_counter, _fifo_corruption_counter, _fifo_overflow_counter, _gyro_calibration, _gyro_int, _gyro_orb_class_instance, _gyro_range_hit_counter, _last_accel_range_hit_count, _last_accel_range_hit_time, _publish_count, _publish_perf, _read_counter, _rotation_matrix, get_rot_matrix(), MPU6050_NEVER_AUTOPUBLISH_US, PC_COUNT, PC_ELAPSED, perf_alloc, DfMPU6050Wrapper::accel_calibration_s::x_offset, DfMPU6050Wrapper::gyro_calibration_s::x_offset, DfMPU6050Wrapper::accel_calibration_s::x_scale, DfMPU6050Wrapper::gyro_calibration_s::x_scale, DfMPU6050Wrapper::accel_calibration_s::y_offset, DfMPU6050Wrapper::gyro_calibration_s::y_offset, DfMPU6050Wrapper::accel_calibration_s::y_scale, DfMPU6050Wrapper::gyro_calibration_s::y_scale, DfMPU6050Wrapper::accel_calibration_s::z_offset, DfMPU6050Wrapper::gyro_calibration_s::z_offset, DfMPU6050Wrapper::accel_calibration_s::z_scale, and DfMPU6050Wrapper::gyro_calibration_s::z_scale.

Referenced by df_mpu6050_wrapper::start().

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◆ ~DfMPU6050Wrapper()

DfMPU6050Wrapper::~DfMPU6050Wrapper ( )

Definition at line 200 of file df_mpu6050_wrapper.cpp.

References _accel_range_hit_counter, _error_counter, _fifo_corruption_counter, _fifo_overflow_counter, _gyro_range_hit_counter, _publish_perf, _read_counter, and perf_free().

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Member Function Documentation

◆ _publish()

int DfMPU6050Wrapper::_publish ( struct imu_sensor_data &  data)
private

Definition at line 419 of file df_mpu6050_wrapper.cpp.

References _accel_calibration, _accel_int, _accel_orb_class_instance, _accel_range_hit_counter, _accel_topic, _error_counter, _fifo_corruption_counter, _fifo_overflow_counter, _gyro_calibration, _gyro_int, _gyro_orb_class_instance, _gyro_range_hit_counter, _gyro_topic, _last_accel_range_hit_count, _last_accel_range_hit_time, _mavlink_log_pub, _param_update_sub, _publish_count, _publish_perf, _read_counter, _rotation_matrix, _update_accel_calibration(), _update_gyro_calibration(), sensor_gyro_s::device_id, sensor_accel_s::device_id, Integrator::get_and_filtered(), hrt_absolute_time(), hrt_elapsed_time(), sensor_gyro_s::integral_dt, sensor_accel_s::integral_dt, mavlink_log_critical, orb_advertise_multi(), orb_check(), orb_copy(), ORB_ID, ORB_PRIO_DEFAULT, orb_publish(), perf_begin(), perf_end(), perf_set_count(), Integrator::put(), sensor_gyro_s::scaling, sensor_accel_s::scaling, sensor_accel_s::timestamp, sensor_gyro_s::timestamp, sensor_accel_s::x, sensor_gyro_s::x, sensor_gyro_s::x_integral, sensor_accel_s::x_integral, DfMPU6050Wrapper::accel_calibration_s::x_offset, DfMPU6050Wrapper::gyro_calibration_s::x_offset, sensor_gyro_s::x_raw, sensor_accel_s::x_raw, DfMPU6050Wrapper::accel_calibration_s::x_scale, DfMPU6050Wrapper::gyro_calibration_s::x_scale, sensor_accel_s::y, sensor_gyro_s::y, sensor_accel_s::y_integral, sensor_gyro_s::y_integral, DfMPU6050Wrapper::accel_calibration_s::y_offset, DfMPU6050Wrapper::gyro_calibration_s::y_offset, sensor_accel_s::y_raw, sensor_gyro_s::y_raw, DfMPU6050Wrapper::accel_calibration_s::y_scale, DfMPU6050Wrapper::gyro_calibration_s::y_scale, sensor_gyro_s::z, sensor_accel_s::z, sensor_accel_s::z_integral, sensor_gyro_s::z_integral, DfMPU6050Wrapper::accel_calibration_s::z_offset, DfMPU6050Wrapper::gyro_calibration_s::z_offset, sensor_gyro_s::z_raw, sensor_accel_s::z_raw, DfMPU6050Wrapper::accel_calibration_s::z_scale, and DfMPU6050Wrapper::gyro_calibration_s::z_scale.

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◆ _update_accel_calibration()

void DfMPU6050Wrapper::_update_accel_calibration ( )
private

Definition at line 343 of file df_mpu6050_wrapper.cpp.

References _accel_calibration, device_id, OK, param_find(), param_get(), DfMPU6050Wrapper::accel_calibration_s::x_offset, DfMPU6050Wrapper::accel_calibration_s::x_scale, DfMPU6050Wrapper::accel_calibration_s::y_offset, DfMPU6050Wrapper::accel_calibration_s::y_scale, DfMPU6050Wrapper::accel_calibration_s::z_offset, and DfMPU6050Wrapper::accel_calibration_s::z_scale.

Referenced by _publish(), and start().

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◆ _update_gyro_calibration()

void DfMPU6050Wrapper::_update_gyro_calibration ( )
private

Definition at line 268 of file df_mpu6050_wrapper.cpp.

References _gyro_calibration, device_id, OK, param_find(), param_get(), DfMPU6050Wrapper::gyro_calibration_s::x_offset, DfMPU6050Wrapper::gyro_calibration_s::x_scale, DfMPU6050Wrapper::gyro_calibration_s::y_offset, DfMPU6050Wrapper::gyro_calibration_s::y_scale, DfMPU6050Wrapper::gyro_calibration_s::z_offset, and DfMPU6050Wrapper::gyro_calibration_s::z_scale.

Referenced by _publish(), and start().

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◆ info()

void DfMPU6050Wrapper::info ( )

Print some debug info.

Definition at line 256 of file df_mpu6050_wrapper.cpp.

References _accel_range_hit_counter, _error_counter, _fifo_corruption_counter, _fifo_overflow_counter, _gyro_range_hit_counter, _publish_perf, _read_counter, and perf_print_counter().

Referenced by df_mpu6050_wrapper::info().

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◆ start()

int DfMPU6050Wrapper::start ( )

Start automatic measurement.

Returns
0 on success

Definition at line 212 of file df_mpu6050_wrapper.cpp.

References _param_update_sub, _update_accel_calibration(), _update_gyro_calibration(), ToneAlarmInterface::init(), ORB_ID, orb_subscribe(), and start().

Referenced by df_mpu6050_wrapper::start().

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◆ stop()

int DfMPU6050Wrapper::stop ( )

Stop automatic measurement.

Returns
0 on success

Definition at line 243 of file df_mpu6050_wrapper.cpp.

References stop().

Referenced by df_mpu6050_wrapper::stop().

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Member Data Documentation

◆ _accel_calibration

struct DfMPU6050Wrapper::accel_calibration_s DfMPU6050Wrapper::_accel_calibration
private

Referenced by _publish(), _update_accel_calibration(), and DfMPU6050Wrapper().

◆ _accel_int

Integrator DfMPU6050Wrapper::_accel_int
private

Definition at line 140 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), and DfMPU6050Wrapper().

◆ _accel_orb_class_instance

int DfMPU6050Wrapper::_accel_orb_class_instance
private

Definition at line 137 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), and DfMPU6050Wrapper().

◆ _accel_range_hit_counter

perf_counter_t DfMPU6050Wrapper::_accel_range_hit_counter
private

Definition at line 150 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), DfMPU6050Wrapper(), info(), and ~DfMPU6050Wrapper().

◆ _accel_topic

orb_advert_t DfMPU6050Wrapper::_accel_topic
private

Definition at line 110 of file df_mpu6050_wrapper.cpp.

Referenced by _publish().

◆ _error_counter

perf_counter_t DfMPU6050Wrapper::_error_counter
private

Definition at line 146 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), DfMPU6050Wrapper(), info(), and ~DfMPU6050Wrapper().

◆ _fifo_corruption_counter

perf_counter_t DfMPU6050Wrapper::_fifo_corruption_counter
private

Definition at line 148 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), DfMPU6050Wrapper(), info(), and ~DfMPU6050Wrapper().

◆ _fifo_overflow_counter

perf_counter_t DfMPU6050Wrapper::_fifo_overflow_counter
private

Definition at line 147 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), DfMPU6050Wrapper(), info(), and ~DfMPU6050Wrapper().

◆ _gyro_calibration

struct DfMPU6050Wrapper::gyro_calibration_s DfMPU6050Wrapper::_gyro_calibration
private

Referenced by _publish(), _update_gyro_calibration(), and DfMPU6050Wrapper().

◆ _gyro_int

Integrator DfMPU6050Wrapper::_gyro_int
private

Definition at line 141 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), and DfMPU6050Wrapper().

◆ _gyro_orb_class_instance

int DfMPU6050Wrapper::_gyro_orb_class_instance
private

Definition at line 138 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), and DfMPU6050Wrapper().

◆ _gyro_range_hit_counter

perf_counter_t DfMPU6050Wrapper::_gyro_range_hit_counter
private

Definition at line 149 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), DfMPU6050Wrapper(), info(), and ~DfMPU6050Wrapper().

◆ _gyro_topic

orb_advert_t DfMPU6050Wrapper::_gyro_topic
private

Definition at line 111 of file df_mpu6050_wrapper.cpp.

Referenced by _publish().

◆ _last_accel_range_hit_count

uint64_t DfMPU6050Wrapper::_last_accel_range_hit_count
private

Definition at line 154 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), and DfMPU6050Wrapper().

◆ _last_accel_range_hit_time

hrt_abstime DfMPU6050Wrapper::_last_accel_range_hit_time
private

Definition at line 153 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), and DfMPU6050Wrapper().

◆ _mavlink_log_pub

orb_advert_t DfMPU6050Wrapper::_mavlink_log_pub
private

Definition at line 113 of file df_mpu6050_wrapper.cpp.

Referenced by _publish().

◆ _param_update_sub

int DfMPU6050Wrapper::_param_update_sub
private

Definition at line 115 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), and start().

◆ _publish_count

unsigned DfMPU6050Wrapper::_publish_count
private

Definition at line 143 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), and DfMPU6050Wrapper().

◆ _publish_perf

perf_counter_t DfMPU6050Wrapper::_publish_perf
private

Definition at line 151 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), DfMPU6050Wrapper(), info(), and ~DfMPU6050Wrapper().

◆ _read_counter

perf_counter_t DfMPU6050Wrapper::_read_counter
private

Definition at line 145 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), DfMPU6050Wrapper(), info(), and ~DfMPU6050Wrapper().

◆ _rotation_matrix

matrix::Dcmf DfMPU6050Wrapper::_rotation_matrix
private

Definition at line 135 of file df_mpu6050_wrapper.cpp.

Referenced by _publish(), and DfMPU6050Wrapper().

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