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Overview
| Comment: | Starting a new branch that will introduce instabilities. Changes in this checkin intro place holders for the configuration of the accelerometer and magnetometer. The general configuration gui will likely change and even the low level bno055 may have some incompatible changes (the examples will be updated accordingly). |
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| Downloads: | Tarball | ZIP archive | SQL archive |
| Timelines: | family | ancestors | descendants | both | development |
| Files: | files | file ages | folders |
| SHA3-256: | e9e2cb5abf3b516caf26fa6d7a7500666ab9aa22601c3be917a6747f7bffe153 |
| User & Date: | gwlester 2018-02-10 21:04:47 |
Context
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2018-02-19
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| 23:31 | Added the rest of the configuration parameters to the class. More work done on the example GUI, Leaf check-in: 347c1be87b user: gwlester tags: development | |
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2018-02-10
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| 21:04 | Starting a new branch that will introduce instabilities. Changes in this checkin intro place holders for the configuration of the accelerometer and magnetometer. The general configuration gui will likely change and even the low level bno055 may have some incompatible changes (the examples will be updated accordingly). check-in: e9e2cb5abf user: gwlester tags: development | |
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2018-02-09
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| 22:39 | Correction of wide spread typo. check-in: cecb467b84 user: gwlester tags: trunk | |
Changes
Changes to src/dimu/dimu.tcl.
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self method init {} {
variable HardwiredSettings
variable ConfigurationRegisters
variable OptionDef
variable ReadOnly
set OptionDef {
-bus {-default 1}
-power {-register powerMode -allowed {normal low suspend} -type PWR_MODE}
-operation {-register operMode -immediate yes -allowed {configmode acconly magonly gyroonly accmag accgyro maggyro amg imu compass m4g ndof_fmc_off ndof} -type OPER_MODE}
-gyrorange {-register gyr,range -allowed {2000dps 1000dps 500dps 250dps 125dps} -type GYR_RANGE}
-gyrobandwidth {-register gyr,bandwidth -allowed {523hz 230hz 116hz 64hz 47hz 32hz 23hz 12hz} -type GYR_BANDWIDTH}
-gyropowermode {-register gyr,pwrMode -allowed {normal fast_up deep_suspend suspend advanced_powersave} -type GYR_POWER_MODE}
-gyrounits {-register gyr,units -allowed {dps rps} -type GYR_UNIT}
-gyroautosleep {-register gyr,autoSlpDur -allowed {4MS 5MS 8MS 10MS 15MS 20MS 40MS} -type GYR_AUTOSLP_DURR}
-gyrosleep {-register gyr,sleepDur -allowed {4MS 5MS 8MS 10MS 15MS 18MS 20MS} -type GYR_SLEEP_DURR}
-gyroawake {-register gyr,am,durr -allowed {8samples 16samples 32samples 64samples} -type GYR_AWAKE_DURR}
-gyroslope {-register gyr,am,slope}
-gyroxoffset {-register gyr,x,offset}
-gyroyoffset {-register gyr,y,offset}
-gyrozoffset {-register gyr,z,offset}
-clocksource {-register clockSource -type CLOCK_SOURCE}
-temperaturesource {-register tempSource -type TEMP_SRC}
-temperatureunits {-register temp,units -type TEMP_UNIT}
-fusionunits {-register format,opt -type ORI_MODE}
-eulunits {-register eul,units -type EUL_UNIT}
-remap_x_sign {-register remap,x,sign -type REMAP_SIGN}
-remap_y_sign {-register remap,y,sign -type REMAP_SIGN}
-remap_z_sign {-register remap,z,sign -type REMAP_SIGN}
-remap_x_axis {-register remap,x,value -type REMAP_TO}
-remap_y_axis {-register remap,y,value -type REMAP_TO}
-remap_z_axis {-register remap,z,value -type REMAP_TO}
}
set ReadOnly {
-uniqueID {-register uniqueId}
-softwareRev {-register sw,rev -format "0x%1$x"}
-bootloaderRev {-register bl,rev -format "0x%1$x"}
-mcuSelfTest {-register mcu,selftest}
................................................................................
close [dict get $instanceInfo handle]
}
##
## Public Methods
##
method cget {option} {
variable instanceInfo
classvariable OptionDef
classvariable ReadOnly
variable currentConfiguration
if {[dict exists $instanceInfo options $option]} {
................................................................................
}
}
}
return;
}
method readGyro {} {
variable instanceInfo
variable currentConfiguration
set operMode [bno055 getShortSymbol OPER_MODE [dict get $currentConfiguration operMode]]
if {$operMode in {CONFIGMODE ACCONLY MAGONLY COMPASS M4G}} {
throw [list DIMU SENDIS $operMode] "Gyroscope reading are not availble when dIMU is in '$operMode' mode."
}
set results {}
set readings [bno055 readMultipleRegisters [dict get $instanceInfo handle] {gyr,data,x gyr,data,y gyr,data,z}]
set range [bno055 getSymbol GYR_RANGE [dict get $currentConfiguration gyr,range]]
switch -exact -- $range {
GYR_RANGE_125DPS {
set divisor 256.0
}
................................................................................
dict set results units rps
set divisor [expr {$divsor * 900 / 16}]
}
dict set results x [expr {[dict get $readings gyr,data,x] / $divisor}]
dict set results y [expr {[dict get $readings gyr,data,y] / $divisor}]
dict set results z [expr {[dict get $readings gyr,data,z] / $divisor}]
}
method readTemperature {} {
variable instanceInfo
variable currentConfiguration
set results {}
set readings [bno055 readRegister [dict get $instanceInfo handle] temp,data]
................................................................................
set divisor 1.0
} else {
dict set results units V
set divisor 2.0
}
dict set results temperature [expr {$readings / $divisor}]
}
method reset {what} {
variable instanceInfo
set handle [dict get $instanceInfo handle]
switch -exact $what {
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self method init {} {
variable HardwiredSettings
variable ConfigurationRegisters
variable OptionDef
variable ReadOnly
set OptionDef {
-accelunits {-register acc,units -allowed {mps2 mg} -type ACC_UNIT}
-accelrange {-register acc,range -allowed {2000dps 1000dps 500dps 250dps 125dps} -type ACC_RANGE}
-accelbandwidth {-register acc,bandwidth -allowed {523hz 230hz 116hz 64hz 47hz 32hz 23hz 12hz} -type ACC_BANDWIDTH}
-accelpowermode {-register acc,pwrMode -allowed {normal fast_up deep_suspend suspend advanced_powersave} -type ACC_POWER_MODE}
-accelautosleep {-register acc,autoSlpDur -allowed {4MS 5MS 8MS 10MS 15MS 20MS 40MS} -type ACC_AUTOSLP_DURR}
-accelsleep {-register acc,sleepDur -allowed {4MS 5MS 8MS 10MS 15MS 18MS 20MS} -type ACC_SLEEP_DURR}
-accelawake {-register acc,am,durr -allowed {8samples 16samples 32samples 64samples} -type ACC_AWAKE_DURR}
-accelslope {-register acc,am,slope}
-accelxoffset {-register acc,x,offset}
-accelyoffset {-register acc,y,offset}
-accelzoffset {-register acc,z,offset}
-accelradius {-register acc,radius}
-bus {-default 1}
-clocksource {-register clockSource -type CLOCK_SOURCE}
-eulunits {-register eul,units -allowed {deg rad} -type EUL_UNIT}
-fusionunits {-register format,opt -allowed {windows android} -type ORI_MODE}
-gyrorange {-register gyr,range -allowed {2000dps 1000dps 500dps 250dps 125dps} -type GYR_RANGE}
-gyrobandwidth {-register gyr,bandwidth -allowed {523hz 230hz 116hz 64hz 47hz 32hz 23hz 12hz} -type GYR_BANDWIDTH}
-gyropowermode {-register gyr,pwrMode -allowed {normal fast_up deep_suspend suspend advanced_powersave} -type GYR_POWER_MODE}
-gyrounits {-register gyr,units -allowed {dps rps} -type GYR_UNIT}
-gyroautosleep {-register gyr,autoSlpDur -allowed {4MS 5MS 8MS 10MS 15MS 20MS 40MS} -type GYR_AUTOSLP_DURR}
-gyrosleep {-register gyr,sleepDur -allowed {4MS 5MS 8MS 10MS 15MS 18MS 20MS} -type GYR_SLEEP_DURR}
-gyroawake {-register gyr,am,durr -allowed {8samples 16samples 32samples 64samples} -type GYR_AWAKE_DURR}
-gyroslope {-register gyr,am,slope}
-gyroxoffset {-register gyr,x,offset}
-gyroyoffset {-register gyr,y,offset}
-gyrozoffset {-register gyr,z,offset}
-magrange {-register mag,range -allowed {2000dps 1000dps 500dps 250dps 125dps} -type MAG_RANGE}
-magbandwidth {-register mag,bandwidth -allowed {523hz 230hz 116hz 64hz 47hz 32hz 23hz 12hz} -type MAG_BANDWIDTH}
-magpowermode {-register mag,pwrMode -allowed {normal fast_up deep_suspend suspend advanced_powersave} -type MAG_POWER_MODE}
-magautosleep {-register mag,autoSlpDur -allowed {4MS 5MS 8MS 10MS 15MS 20MS 40MS} -type MAG_AUTOSLP_DURR}
-magsleep {-register mag,sleepDur -allowed {4MS 5MS 8MS 10MS 15MS 18MS 20MS} -type MAG_SLEEP_DURR}
-magawake {-register mag,am,durr -allowed {8samples 16samples 32samples 64samples} -type MAG_AWAKE_DURR}
-magslope {-register mag,am,slope}
-magxoffset {-register mag,x,offset}
-magyoffset {-register mag,y,offset}
-magzoffset {-register mag,z,offset}
-magradius {-register mag,radius}
-operation {-register operMode -immediate yes -allowed {configmode acconly magonly gyroonly accmag accgyro maggyro amg imu compass m4g ndof_fmc_off ndof} -type OPER_MODE}
-power {-register powerMode -allowed {normal low suspend} -type PWR_MODE}
-remap_x_axis {-register remap,x,value -type REMAP_TO}
-remap_y_axis {-register remap,y,value -type REMAP_TO}
-remap_z_axis {-register remap,z,value -type REMAP_TO}
-remap_x_sign {-register remap,x,sign -type REMAP_SIGN}
-remap_y_sign {-register remap,y,sign -type REMAP_SIGN}
-remap_z_sign {-register remap,z,sign -type REMAP_SIGN}
-temperaturesource {-register tempSource -type TEMP_SRC}
-temperatureunits {-register temp,units -allowed {f c} -type TEMP_UNIT}
}
set ReadOnly {
-uniqueID {-register uniqueId}
-softwareRev {-register sw,rev -format "0x%1$x"}
-bootloaderRev {-register bl,rev -format "0x%1$x"}
-mcuSelfTest {-register mcu,selftest}
................................................................................
close [dict get $instanceInfo handle]
}
##
## Public Methods
##
method mget {args} {
set results {}
foreach option $args {
lappend results $option [my cget $option]
}
return results
}
method cget {option} {
variable instanceInfo
classvariable OptionDef
classvariable ReadOnly
variable currentConfiguration
if {[dict exists $instanceInfo options $option]} {
................................................................................
}
}
}
return;
}
method readAccelerometer {} {
}
method readMagnetometer {} {
}
method readEulerAngles {} {
}
method readGravity{} {
}
method readGyro {} {
variable instanceInfo
variable currentConfiguration
set operMode [bno055 getShortSymbol OPER_MODE [dict get $currentConfiguration operMode]]
if {$operMode in {CONFIGMODE ACCONLY MAGONLY ACCMAG}} {
throw [list DIMU SENDIS $operMode] "Gyroscope reading are not availble when dIMU is in '$operMode' mode."
}
set results {}
set readings [bno055 readMultipleRegisters [dict get $instanceInfo handle] {gyr,data,x gyr,data,y gyr,data,z}]
set range [bno055 getSymbol GYR_RANGE [dict get $currentConfiguration gyr,range]]
switch -exact -- $range {
GYR_RANGE_125DPS {
set divisor 256.0
}
................................................................................
dict set results units rps
set divisor [expr {$divsor * 900 / 16}]
}
dict set results x [expr {[dict get $readings gyr,data,x] / $divisor}]
dict set results y [expr {[dict get $readings gyr,data,y] / $divisor}]
dict set results z [expr {[dict get $readings gyr,data,z] / $divisor}]
}
method read LinearAccelration{} {
}
method readTemperature {} {
variable instanceInfo
variable currentConfiguration
set results {}
set readings [bno055 readRegister [dict get $instanceInfo handle] temp,data]
................................................................................
set divisor 1.0
} else {
dict set results units V
set divisor 2.0
}
dict set results temperature [expr {$readings / $divisor}]
}
method readQuaternion {} {
variable instanceInfo
variable currentConfiguration
set operMode [bno055 getShortSymbol OPER_MODE [dict get $currentConfiguration operMode]]
if {$operMode ni {IMU COMPASS M4G NDOF_FMC_OFF NDOF}} {
throw [list DIMU SENDIS $operMode] "Quaternion reading are not availble when dIMU is in '$operMode' mode."
}
set results {}
set readings [bno055 readMultipleRegisters [dict get $instanceInfo handle] {qua,data,w qua,data,x qua,data,y qua,data,z}]
dict set results w [expr {[dict get $readings qua,data,w] / (2.0 ** 14)}]
dict set results x [expr {[dict get $readings qua,data,x] / (2.0 ** 14)}]
dict set results y [expr {[dict get $readings qua,data,y] / (2.0 ** 14)}]
dict set results z [expr {[dict get $readings qua,data,z] / (2.0 ** 14)}]
}
method reset {what} {
variable instanceInfo
set handle [dict get $instanceInfo handle]
switch -exact $what {
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