AHRS_3DMGX3.h

Go to the documentation of this file.

#ifndef AHRS_3DMGX3_H
#define AHRS_3DMGX3_H

#include "component/FailureMode.h"
#include "component/SyncComponent.h"
#include "io/LoadControl.h"
#include "io/UartStream.h"
#include "logger/Logger.h"

class UniversalDataReader;
class UniversalDataWriter;

class AHRS_3DMGX3 : public SyncSensorComponent
{
public:

    AHRS_3DMGX3( const Module* module );

    virtual ~AHRS_3DMGX3();

    virtual void run();

    virtual RunState start();

    virtual RunState starting();

    virtual RunState pause();

    virtual RunState paused();

    virtual RunState resume();

    virtual RunState resuming();

    virtual RunState runnable();

    virtual RunState resetting()
    {
        return stop();
    }

    virtual RunState stop();

    virtual RunState stopping();

    virtual RunState stopped();

    void uninitialize();

    virtual ConfigURI getConfigURI( ConfigOption configOption ) const;

private:
    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    AHRS_3DMGX3( const AHRS_3DMGX3& old ); // disallow copy constructor

    // scen configuraiton settings
    void readConfig();

    // Slate inputs
    UniversalDataReader* latitudeReader_;
    UniversalDataReader* longitudeReader_;

    // Slate outputs
    DataWriter* compassHeadingWriter_;
    UniversalDataWriter* magneticHeadingWriter_;
    UniversalDataWriter* trueHeadingWriter_;
    UniversalDataWriter* pitchWriter_;
    UniversalDataWriter* rollWriter_;
    UniversalBlobWriter* rotationMatrixWriter_;

    UniversalDataWriter* rollRateWriter_;
    UniversalDataWriter* pitchRateWriter_;
    UniversalDataWriter* yawRateWriter_;

    ConfigReader* magDeviationCfgReader_;
    ConfigReader* pitchOffsetCfgReader_;
    ConfigReader* rollOffsetCfgReader_;

    // returns true if data is requested from one of the readers
    bool isDataRequested();

    // Debugging outputs
    bool debug_;

    // Instance of load controller
    LoadControl loadControl_;

    Timespan ahrsTimeout_;
    Timestamp startTime_;

    // True if we have alerted user that we are using Simulator instead of hardware.
    bool usingSimWarned_;

    float magDeviation_;
    float magVariation_;

    float pitchOffset_;
    float rollOffset_;

    // Multipler for angular rate vectors
    // Equals GyroGainScale from device (EEPROM address #130, nominally 8500) / 32768000
    float  gyroGain_;

    // Stores the current response from the modem
    char deviceResponse_[96];

    // Holds the communications device
    UartStream uart_;

    // Current fault
    FailureMode::FailType fault_;

    // Flips endian and converts 4 bytes to floating point
    float extractFloat( char * convertFloat );

    FailureMode::FailType readTemperature( float  &temperature );

    FailureMode::FailType readTransducers( float  &roll, float  &pitch, float  &magHeading,
                                           float  &rollRate, float  &pitchRate, float  &yawRate );


};

#endif /*AHRS_3DMGX3_H*/