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/** |
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* @file demo_usb_stream_imu_3DM_GX3_25.cpp |
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* @author Vincent Berenz (vincent.brenz@tuebingen.mpg.de) |
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* @brief Testing imu connection directly via the drivers. See test_interface in |
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* the same package for an example of the API. |
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* @version 0.1 |
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* @date 2019-05-09 |
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* |
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* @copyright Copyright (c) 2019 |
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* |
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*/ |
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#include "real_time_tools/timer.hpp" |
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#include "real_time_tools/usb_stream.hpp" |
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/** |
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* @brief Send the message that set the imu into stream mode or not. |
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* |
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* @param usb_stream is the usb interface. |
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* @param stream_mode start or stop the stream mode. |
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*/ |
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void continuous_mode_on(real_time_tools::UsbStream& usb_stream, |
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bool stream_mode) |
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{ |
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std::vector<uint8_t> reply; |
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std::vector<uint8_t> command; |
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/** |
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* Here we set the IMU into a constant broadcasting mode. The broadcasted |
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* data are composed with the accelerometer and the gyroscope. |
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* https://atlas.is.localnet/confluence/display/AMDW/Microstrain+3DM+IMUs?preview=/8979810/17761244/3DM-GX3-Data-Communications-Protocol.pdf |
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*/ |
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command.resize(4); |
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command[0] = 0xc4; // set continuous mode on |
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command[1] = 0xc1; // user confirmation 1 |
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command[2] = 0x29; // user confirmation 2 |
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command[3] = |
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0xc2; // Acceleration and angular rate continuously broadcasted |
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reply.resize(8, 0); // answer in 8 bits. |
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rt_printf("The IMU will blink fast\n"); |
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while (!(reply[0] == 0xC4 && reply[1] == 0xc2)) |
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{ |
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usb_stream.write_device(command); |
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usb_stream.read_device(reply, stream_mode); |
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} |
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rt_printf("Device answer is: %s\n", |
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real_time_tools::UsbStream::msg_debug_string(reply).c_str()); |
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rt_printf("The IMU should blink fast\n"); |
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} |
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/** |
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* @brief Check the mode of the imu. |
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* |
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* @param usb_stream usb communication interface. |
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* @param stream_mode read the socket in stream mode or not. |
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* @return true imu is in stream mode |
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* @return false imu is in idle mode |
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*/ |
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bool is_continuous_mode_on(real_time_tools::UsbStream& usb_stream, |
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bool stream_mode) |
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{ |
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std::vector<uint8_t> reply; |
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std::vector<uint8_t> command; |
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/** |
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* Ask current mode |
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* https://atlas.is.localnet/confluence/display/AMDW/Microstrain+3DM+IMUs?preview=/8979810/17761244/3DM-GX3-Data-Communications-Protocol.pdf |
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*/ |
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command.resize(4); |
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command[0] = 0xd4; // set continuous mode on |
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command[1] = 0xa3; // user confirmation 1 |
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command[2] = 0x47; // user confirmation 2 |
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command[3] = 0; // request continuous mode |
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reply.resize(4, 0); // answer in 8 bits. |
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bool success = usb_stream.write_device(command); |
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success = success && usb_stream.read_device(reply, stream_mode); |
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rt_printf("is continuous mode reply: %s\n", |
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real_time_tools::UsbStream::msg_debug_string(reply).c_str()); |
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return success && (reply[1] > 0); |
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} |
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/** |
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* @brief Set the imu into idle mode |
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* |
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* @param usb_stream |
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* @param stream_mode |
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*/ |
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void continuous_mode_off(real_time_tools::UsbStream& usb_stream, |
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bool stream_mode) |
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{ |
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std::vector<uint8_t> reply; |
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std::vector<uint8_t> command; |
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/** |
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* Here we set the IMU into a constant broadcasting mode. The broadcasted |
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* data are composed with the accelerometer and the gyroscope. |
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* https://atlas.is.localnet/confluence/display/AMDW/Microstrain+3DM+IMUs?preview=/8979810/17761244/3DM-GX3-Data-Communications-Protocol.pdf |
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*/ |
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command.resize(4); |
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command[0] = 0xc4; // set continuous mode on |
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command[1] = 0xc1; // user confirmation 1 |
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command[2] = 0x29; // user confirmation 2 |
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command[3] = |
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0x00; // Acceleration and angular rate continuously broadcasted |
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reply.resize(8, 0xFF); // answer in 8 bits. |
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rt_printf("The IMU will blink slowly\n"); |
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while (!(reply[0] == 0xC4 && reply[1] == 0x00)) |
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{ |
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usb_stream.write_device(command); |
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usb_stream.read_device(reply, stream_mode); |
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} |
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rt_printf("Device answer is: %s\n", |
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real_time_tools::UsbStream::msg_debug_string(reply).c_str()); |
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rt_printf("The IMU should blink slowly\n"); |
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} |
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/** |
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* @brief Reset the imu. |
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* |
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* @param usb_stream |
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* @param stream_mode |
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*/ |
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void reset(real_time_tools::UsbStream& usb_stream, bool stream_mode) |
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{ |
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std::vector<uint8_t> reply; |
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std::vector<uint8_t> command; |
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/** |
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* Device reset |
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*/ |
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command.resize(3); |
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command[0] = 0xfe; // reset device |
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command[1] = 0x9e; // user confirmation 1 |
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command[2] = 0x3a; // user confirmation 2 |
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reply.resize(0, 0); // answer in 8 bits. |
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rt_printf("The IMU is resetting\n"); |
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usb_stream.write_device(command); |
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usb_stream.read_device(reply, stream_mode); |
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rt_printf("Device answer is: %s\n", |
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real_time_tools::UsbStream::msg_debug_string(reply).c_str()); |
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rt_printf("The IMU is reset\n"); |
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real_time_tools::Timer::sleep_sec(10); |
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} |
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/** |
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* @brief Example on how to use the usb interface using an imu. |
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* |
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* @param argc |
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* @param argv |
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* @return int |
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*/ |
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int main(int argc, char** argv) |
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{ |
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/** |
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* The software input is the path to the port: /dev/tty0 |
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*/ |
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if (argc != 2) |
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{ |
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printf("usage: demo_device_stream <device>\ne.g. %s /dev/tty0\n", |
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argv[0]); |
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return -1; |
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} |
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/** |
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* Initialization, the IMU should blink slowly |
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*/ |
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// Let us acquire the device path from the application arguments |
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std::string device = std::string(argv[1]); |
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/** We create a UsbStream object that will allow us to interact with the dev |
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* port. |
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*/ |
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real_time_tools::UsbStream usb_stream; |
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/** If you receive some permission denied, please add yourself in the |
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* "dialout" group: sudo usermod -a -G dialout [YOUR_USER_NAME] Ask an admin |
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* to do it for you if you do not have the sudo rights. |
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*/ |
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if (!usb_stream.open_device(device)) |
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{ |
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return -1; |
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} |
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/** We need to create some port configuration. These configuration are valid |
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* for the IMU 3DM-GX3-25 from micro-strain initialization. |
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*/ |
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real_time_tools::PortConfig port_config; |
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port_config.rts_cts_enabled_ = false; |
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port_config.parity_ = false; |
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port_config.stop_bits_ = real_time_tools::PortConfig::StopBits::one; |
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port_config.prepare_size_definition_ = false; |
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port_config.data_bits_ = real_time_tools::PortConfig::cs8; |
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port_config.baude_rate_ = 115200; |
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usb_stream.set_port_config(port_config); |
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usb_stream.set_poll_mode_timeout(0.1); |
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// stream mode of the usb port |
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bool stream_mode = false; |
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real_time_tools::Timer::sleep_sec(1); |
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/** |
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* send some messages |
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*/ |
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continuous_mode_on(usb_stream, stream_mode); |
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real_time_tools::Timer::sleep_sec(5); |
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usb_stream.flush(); |
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continuous_mode_off(usb_stream, stream_mode); |
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usb_stream.flush(); |
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rt_printf("Close port\n"); |
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usb_stream.close_device(); |
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rt_printf("Stop program\n"); |
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return 0; |
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} |
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/** |
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* \example demo_usb_stream_imu_3DM_GX3_25.cpp |
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* |
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* In order to use this Demo one must have an IMU 3DM-GX3-25 from micro-strain |
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* plug in one of the usb port of the computer. |
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* https://atlas.is.localnet/confluence/display/AMDW/Microstrain+3DM+IMUs?preview=/8979810/17761244/3DM-GX3-Data-Communications-Protocol.pdf |
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* |
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* This demos present the use of the usb socket use using the real_time_tools |
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* API. |
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* |
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* One need to create a real_time_tools::UsbStream. This class allows you to |
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* open a device, which means that the class connects this process to a |
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* usb communication socket.One can initialize the socket parameters through |
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* the real_time_tools::PortConfig structure. Once open one can simply use the |
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* communication protocole of the hardware to send and receive messages. |
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* |
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*/ |
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