Class for the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS). Includes methods to communicate with the sensor, such as getting the tracked location, configuring the sensor, etc. This class is a base class that must be derived to implement the delay function and I2C communication bus. More...

#include <sfDevOTOS.h>

Inheritance diagram for sfDevOTOS:

Public Member Functions
	sfDevOTOS ()
	Default constructor, only initializes member variables. More...

sfTkError_t	begin (sfTkII2C *commBus=nullptr)
	Begins the Qwiic OTOS and verifies it is connected. More...

sfTkError_t	isConnected ()
	Checks if the device is connected. More...

sfTkError_t	getVersionInfo (sfe_otos_version_t &hwVersion, sfe_otos_version_t &fwVersion)
	Gets the hardware and firmware version numbers from the OTOS. More...

sfTkError_t	selfTest ()
	Performs a self test of the OTOS. More...

sfTkError_t	calibrateImu (uint8_t numSamples=255, bool waitUntilDone=true)
	Calibrates the IMU on the OTOS, which removes the accelerometer and gyroscope offsets. More...

sfTkError_t	getImuCalibrationProgress (uint8_t &numSamples)
	Gets the progress of the IMU calibration. Used for asynchronous calibration with calibrateImu() More...

sfe_otos_linear_unit_t	getLinearUnit ()
	Gets the linear unit used by all methods using a pose. More...

void	setLinearUnit (sfe_otos_linear_unit_t unit)
	Sets the linear unit used by all methods using a pose. More...

sfe_otos_angular_unit_t	getAngularUnit ()
	Gets the angular unit used by all methods using a pose. More...

void	setAngularUnit (sfe_otos_angular_unit_t unit)
	Sets the angular unit used by all methods using a pose. More...

sfTkError_t	getLinearScalar (float &scalar)
	Gets the linear scalar used by the OTOS. More...

sfTkError_t	setLinearScalar (float scalar)
	Sets the linear scalar used by the OTOS. Can be used to compensate for scaling issues with the sensor measurements. More...

sfTkError_t	getAngularScalar (float &scalar)
	Gets the angular scalar used by the OTOS. More...

sfTkError_t	setAngularScalar (float scalar)
	Sets the angular scalar used by the OTOS. Can be used to compensate for scaling issues with the sensor measurements. More...

sfTkError_t	resetTracking ()
	Resets the tracking algorithm, which resets the position to the origin, but can also be used to recover from some rare tracking errors. More...

sfTkError_t	getSignalProcessConfig (sfe_otos_signal_process_config_t &config)
	Gets the signal processing configuration from the OTOS. More...

sfTkError_t	setSignalProcessConfig (sfe_otos_signal_process_config_t &config)
	Sets the signal processing configuration on the OTOS. This is primarily useful for creating and testing a new lookup table calibration. More...

sfTkError_t	getStatus (sfe_otos_status_t &status)
	Gets the status register from the OTOS, which includes warnings and errors reported by the sensor. More...

sfTkError_t	getOffset (sfe_otos_pose2d_t &pose)
	Gets the offset of the OTOS. More...

sfTkError_t	setOffset (sfe_otos_pose2d_t &pose)
	Sets the offset of the OTOS. This is useful if your sensor is mounted off-center from a robot. Rather than returning the position of the sensor, the OTOS will return the position of the robot. More...

sfTkError_t	getPosition (sfe_otos_pose2d_t &pose)
	Gets the position measured by the OTOS. More...

sfTkError_t	setPosition (sfe_otos_pose2d_t &pose)
	Sets the position measured by the OTOS. This is useful if your robot does not start at the origin, or you have another source of location information (eg. vision odometry); the OTOS will continue tracking from this position. More...

sfTkError_t	getVelocity (sfe_otos_pose2d_t &pose)
	Gets the velocity measured by the OTOS. More...

sfTkError_t	getAcceleration (sfe_otos_pose2d_t &pose)
	Gets the acceleration measured by the OTOS. More...

sfTkError_t	getPositionStdDev (sfe_otos_pose2d_t &pose)
	Gets the standard deviation of the measured position. More...

sfTkError_t	getVelocityStdDev (sfe_otos_pose2d_t &pose)
	Gets the standard deviation of the measured velocity. More...

sfTkError_t	getAccelerationStdDev (sfe_otos_pose2d_t &pose)
	Gets the standard deviation of the measured acceleration. More...

sfTkError_t	getPosVelAcc (sfe_otos_pose2d_t &pos, sfe_otos_pose2d_t &vel, sfe_otos_pose2d_t &acc)
	Gets the position, velocity, and acceleration measured by the OTOS in a single burst read. More...

sfTkError_t	getPosVelAccStdDev (sfe_otos_pose2d_t &pos, sfe_otos_pose2d_t &vel, sfe_otos_pose2d_t &acc)
	Gets the standard deviation of the measured position, velocity, and acceleration in a single burst read. More...

sfTkError_t	getPosVelAccAndStdDev (sfe_otos_pose2d_t &pos, sfe_otos_pose2d_t &vel, sfe_otos_pose2d_t &acc, sfe_otos_pose2d_t &posStdDev, sfe_otos_pose2d_t &velStdDev, sfe_otos_pose2d_t &accStdDev)
	Gets the position, velocity, acceleration, and standard deviation of each in a single burst read. More...

Static Public Attributes
static constexpr uint8_t	kDefaultAddress = 0x17
	Default I2C addresses of the Qwiic OTOS. More...

static constexpr float	kMinScalar = 0.872f
	Minimum scalar value for the linear and angular scalars. More...

static constexpr float	kMaxScalar = 1.127f
	Maximum scalar value for the linear and angular scalars. More...

Protected Member Functions
virtual void	delayMs (uint32_t ms)=0

sfTkError_t	readPoseRegs (uint8_t reg, sfe_otos_pose2d_t &pose, float rawToXY, float rawToH)

sfTkError_t	writePoseRegs (uint8_t reg, sfe_otos_pose2d_t &pose, float xyToRaw, float hToRaw)

void	regsToPose (uint8_t *rawData, sfe_otos_pose2d_t &pose, float rawToXY, float rawToH)

void	poseToRegs (uint8_t *rawData, sfe_otos_pose2d_t &pose, float xyToRaw, float hToRaw)

Protected Attributes
sfTkII2C *	_commBus

sfe_otos_linear_unit_t	_linearUnit

sfe_otos_angular_unit_t	_angularUnit

float	_meterToUnit

float	_radToUnit

Static Protected Attributes
static constexpr uint8_t	kRegProductId = 0x00

static constexpr uint8_t	kRegHwVersion = 0x01

static constexpr uint8_t	kRegFwVersion = 0x02

static constexpr uint8_t	kRegScalarLinear = 0x04

static constexpr uint8_t	kRegScalarAngular = 0x05

static constexpr uint8_t	kRegImuCalib = 0x06

static constexpr uint8_t	kRegReset = 0x07

static constexpr uint8_t	kRegSignalProcess = 0x0E

static constexpr uint8_t	kRegSelfTest = 0x0F

static constexpr uint8_t	kRegOffXL = 0x10

static constexpr uint8_t	kRegOffXH = 0x11

static constexpr uint8_t	kRegOffYL = 0x12

static constexpr uint8_t	kRegOffYH = 0x13

static constexpr uint8_t	kRegOffHL = 0x14

static constexpr uint8_t	kRegOffHH = 0x15

static constexpr uint8_t	kRegStatus = 0x1F

static constexpr uint8_t	kRegPosXL = 0x20

static constexpr uint8_t	kRegPosXH = 0x21

static constexpr uint8_t	kRegPosYL = 0x22

static constexpr uint8_t	kRegPosYH = 0x23

static constexpr uint8_t	kRegPosHL = 0x24

static constexpr uint8_t	kRegPosHH = 0x25

static constexpr uint8_t	kRegVelXL = 0x26

static constexpr uint8_t	kRegVelXH = 0x27

static constexpr uint8_t	kRegVelYL = 0x28

static constexpr uint8_t	kRegVelYH = 0x29

static constexpr uint8_t	kRegVelHL = 0x2A

static constexpr uint8_t	kRegVelHH = 0x2B

static constexpr uint8_t	kRegAccXL = 0x2C

static constexpr uint8_t	kRegAccXH = 0x2D

static constexpr uint8_t	kRegAccYL = 0x2E

static constexpr uint8_t	kRegAccYH = 0x2F

static constexpr uint8_t	kRegAccHL = 0x30

static constexpr uint8_t	kRegAccHH = 0x31

static constexpr uint8_t	kRegPosStdXL = 0x32

static constexpr uint8_t	kRegPosStdXH = 0x33

static constexpr uint8_t	kRegPosStdYL = 0x34

static constexpr uint8_t	kRegPosStdYH = 0x35

static constexpr uint8_t	kRegPosStdHL = 0x36

static constexpr uint8_t	kRegPosStdHH = 0x37

static constexpr uint8_t	kRegVelStdXL = 0x38

static constexpr uint8_t	kRegVelStdXH = 0x39

static constexpr uint8_t	kRegVelStdYL = 0x3A

static constexpr uint8_t	kRegVelStdYH = 0x3B

static constexpr uint8_t	kRegVelStdHL = 0x3C

static constexpr uint8_t	kRegVelStdHH = 0x3D

static constexpr uint8_t	kRegAccStdXL = 0x3E

static constexpr uint8_t	kRegAccStdXH = 0x3F

static constexpr uint8_t	kRegAccStdYL = 0x40

static constexpr uint8_t	kRegAccStdYH = 0x41

static constexpr uint8_t	kRegAccStdHL = 0x42

static constexpr uint8_t	kRegAccStdHH = 0x43

static constexpr uint8_t	kProductId = 0x5F

static constexpr float	kMeterToInch = 39.37f

static constexpr float	kInchToMeter = 1.0f / kMeterToInch

static constexpr float	kRadianToDegree = 180.0f / M_PI

static constexpr float	kDegreeToRadian = M_PI / 180.0f

static constexpr float	kMeterToInt16 = 32768.0f / 10.0f

static constexpr float	kInt16ToMeter = 1.0f / kMeterToInt16

static constexpr float	kMpsToInt16 = 32768.0f / 5.0f

static constexpr float	kInt16ToMps = 1.0f / kMpsToInt16

static constexpr float	kMpssToInt16 = 32768.0f / (16.0f * 9.80665f)

static constexpr float	kInt16ToMpss = 1.0f / kMpssToInt16

static constexpr float	kRadToInt16 = 32768.0f / M_PI

static constexpr float	kInt16ToRad = 1.0f / kRadToInt16

static constexpr float	kRpsToInt16 = 32768.0f / (2000.0f * kDegreeToRadian)

static constexpr float	kInt16ToRps = 1.0f / kRpsToInt16

static constexpr float	kRpssToInt16 = 32768.0f / (M_PI * 1000.0f)

static constexpr float	kInt16ToRpss = 1.0f / kRpssToInt16

Detailed Description

Class for the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS). Includes methods to communicate with the sensor, such as getting the tracked location, configuring the sensor, etc. This class is a base class that must be derived to implement the delay function and I2C communication bus.

Constructor & Destructor Documentation

◆ sfDevOTOS()

sfDevOTOS::sfDevOTOS ( )

Default constructor, only initializes member variables.

Member Function Documentation

◆ begin()

sfTkError_t sfDevOTOS::begin ( sfTkII2C * commBus = nullptr )

Begins the Qwiic OTOS and verifies it is connected.

Parameters

commBus I2C bus to use for communication

Returns: 0 for succuss, negative for errors, positive for warnings

◆ calibrateImu()

sfTkError_t sfDevOTOS::calibrateImu	(	uint8_t	numSamples = `255`,
		bool	waitUntilDone = `true`
	)

Calibrates the IMU on the OTOS, which removes the accelerometer and gyroscope offsets.

Parameters

numSamples	Number of samples to take for calibration. Each sample takes about 2.4ms, so fewer samples can be taken for faster calibration
waitUntilDone	Whether to wait until the calibration is complete. Set false to calibrate asynchronously, see getImuCalibrationProgress()

Returns: 0 for succuss, negative for errors, positive for warnings

◆ delayMs()

virtual void sfDevOTOS::delayMs ( uint32_t ms )

protectedpure virtual

Implemented in QwiicOTOS.

◆ getAcceleration()

sfTkError_t sfDevOTOS::getAcceleration ( sfe_otos_pose2d_t & pose )

Gets the acceleration measured by the OTOS.

Parameters

pose	Acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getAccelerationStdDev()

sfTkError_t sfDevOTOS::getAccelerationStdDev ( sfe_otos_pose2d_t & pose )

Gets the standard deviation of the measured acceleration.

Parameters

pose	Standard deviation of the acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

Note: These values are just the square root of the diagonal elements of the covariance matrices of the Kalman filters used in the firmware, so they are just statistical quantities and do not represent actual error!

◆ getAngularScalar()

sfTkError_t sfDevOTOS::getAngularScalar ( float & scalar )

Gets the angular scalar used by the OTOS.

Parameters

scalar Angular scalar

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getAngularUnit()

sfe_otos_angular_unit_t sfDevOTOS::getAngularUnit ( )

Gets the angular unit used by all methods using a pose.

Returns: Angular unit

◆ getImuCalibrationProgress()

sfTkError_t sfDevOTOS::getImuCalibrationProgress ( uint8_t & numSamples )

Gets the progress of the IMU calibration. Used for asynchronous calibration with calibrateImu()

Parameters

numSamples Number of samples remaining for calibration

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getLinearScalar()

sfTkError_t sfDevOTOS::getLinearScalar ( float & scalar )

Gets the linear scalar used by the OTOS.

Parameters

scalar Linear scalar

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getLinearUnit()

sfe_otos_linear_unit_t sfDevOTOS::getLinearUnit ( )

Gets the linear unit used by all methods using a pose.

Returns: Linear unit

◆ getOffset()

sfTkError_t sfDevOTOS::getOffset ( sfe_otos_pose2d_t & pose )

Gets the offset of the OTOS.

Parameters

pose	Offset of the sensor relative to the center of the robot

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getPosition()

sfTkError_t sfDevOTOS::getPosition ( sfe_otos_pose2d_t & pose )

Gets the position measured by the OTOS.

Parameters

pose	Position measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getPositionStdDev()

sfTkError_t sfDevOTOS::getPositionStdDev ( sfe_otos_pose2d_t & pose )

Gets the standard deviation of the measured position.

Parameters

pose	Standard deviation of the position measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

Note: These values are just the square root of the diagonal elements of the covariance matrices of the Kalman filters used in the firmware, so they are just statistical quantities and do not represent actual error!

◆ getPosVelAcc()

sfTkError_t sfDevOTOS::getPosVelAcc	(	sfe_otos_pose2d_t &	pos,
		sfe_otos_pose2d_t &	vel,
		sfe_otos_pose2d_t &	acc
	)

Gets the position, velocity, and acceleration measured by the OTOS in a single burst read.

Parameters

pos	Position measured by the OTOS
vel	Velocity measured by the OTOS
acc	Acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getPosVelAccAndStdDev()

sfTkError_t sfDevOTOS::getPosVelAccAndStdDev	(	sfe_otos_pose2d_t &	pos,
		sfe_otos_pose2d_t &	vel,
		sfe_otos_pose2d_t &	acc,
		sfe_otos_pose2d_t &	posStdDev,
		sfe_otos_pose2d_t &	velStdDev,
		sfe_otos_pose2d_t &	accStdDev
	)

Gets the position, velocity, acceleration, and standard deviation of each in a single burst read.

Parameters

pos	Position measured by the OTOS
vel	Velocity measured by the OTOS
acc	Acceleration measured by the OTOS
posStdDev	Standard deviation of the position measured by the OTOS
velStdDev	Standard deviation of the velocity measured by the OTOS
accStdDev	Standard deviation of the acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getPosVelAccStdDev()

sfTkError_t sfDevOTOS::getPosVelAccStdDev	(	sfe_otos_pose2d_t &	pos,
		sfe_otos_pose2d_t &	vel,
		sfe_otos_pose2d_t &	acc
	)

Gets the standard deviation of the measured position, velocity, and acceleration in a single burst read.

Parameters

pos	Standard deviation of the position measured by the OTOS
vel	Standard deviation of the velocity measured by the OTOS
acc	Standard deviation of the acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getSignalProcessConfig()

sfTkError_t sfDevOTOS::getSignalProcessConfig ( sfe_otos_signal_process_config_t & config )

Gets the signal processing configuration from the OTOS.

Parameters

config Signal processing configuration

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getStatus()

sfTkError_t sfDevOTOS::getStatus ( sfe_otos_status_t & status )

Gets the status register from the OTOS, which includes warnings and errors reported by the sensor.

Parameters

status Status register value

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getVelocity()

sfTkError_t sfDevOTOS::getVelocity ( sfe_otos_pose2d_t & pose )

Gets the velocity measured by the OTOS.

Parameters

pose	Velocity measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getVelocityStdDev()

sfTkError_t sfDevOTOS::getVelocityStdDev ( sfe_otos_pose2d_t & pose )

Gets the standard deviation of the measured velocity.

Parameters

pose	Standard deviation of the velocity measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

Note: These values are just the square root of the diagonal elements of the covariance matrices of the Kalman filters used in the firmware, so they are just statistical quantities and do not represent actual error!

◆ getVersionInfo()

sfTkError_t sfDevOTOS::getVersionInfo	(	sfe_otos_version_t &	hwVersion,
		sfe_otos_version_t &	fwVersion
	)

Gets the hardware and firmware version numbers from the OTOS.

Parameters

hwVersion	Hardware version number
fwVersion	Firmware version number

Returns: 0 for succuss, negative for errors, positive for warnings

◆ isConnected()

sfTkError_t sfDevOTOS::isConnected ( )

Checks if the device is connected.

Returns: 0 for succuss, negative for errors, positive for warnings

◆ poseToRegs()

void sfDevOTOS::poseToRegs	(	uint8_t *	rawData,
		sfe_otos_pose2d_t &	pose,
		float	xyToRaw,
		float	hToRaw
	)

protected

◆ readPoseRegs()

sfTkError_t sfDevOTOS::readPoseRegs	(	uint8_t	reg,
		sfe_otos_pose2d_t &	pose,
		float	rawToXY,
		float	rawToH
	)

protected

◆ regsToPose()

void sfDevOTOS::regsToPose	(	uint8_t *	rawData,
		sfe_otos_pose2d_t &	pose,
		float	rawToXY,
		float	rawToH
	)

protected

◆ resetTracking()

sfTkError_t sfDevOTOS::resetTracking ( )

Resets the tracking algorithm, which resets the position to the origin, but can also be used to recover from some rare tracking errors.

Returns: 0 for succuss, negative for errors, positive for warnings

◆ selfTest()

sfTkError_t sfDevOTOS::selfTest ( )

Performs a self test of the OTOS.

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setAngularScalar()

sfTkError_t sfDevOTOS::setAngularScalar ( float scalar )

Sets the angular scalar used by the OTOS. Can be used to compensate for scaling issues with the sensor measurements.

Parameters

scalar Angular scalar, must be between 0.872 and 1.127

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setAngularUnit()

void sfDevOTOS::setAngularUnit ( sfe_otos_angular_unit_t unit )

Sets the angular unit used by all methods using a pose.

Parameters

unit	Angular unit

◆ setLinearScalar()

sfTkError_t sfDevOTOS::setLinearScalar ( float scalar )

Sets the linear scalar used by the OTOS. Can be used to compensate for scaling issues with the sensor measurements.

Parameters

scalar Linear scalar, must be between 0.872 and 1.127

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setLinearUnit()

void sfDevOTOS::setLinearUnit ( sfe_otos_linear_unit_t unit )

Sets the linear unit used by all methods using a pose.

Parameters

unit	Linear unit

◆ setOffset()

sfTkError_t sfDevOTOS::setOffset ( sfe_otos_pose2d_t & pose )

Sets the offset of the OTOS. This is useful if your sensor is mounted off-center from a robot. Rather than returning the position of the sensor, the OTOS will return the position of the robot.

Parameters

pose	Offset of the sensor relative to the center of the robot

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setPosition()

sfTkError_t sfDevOTOS::setPosition ( sfe_otos_pose2d_t & pose )

Sets the position measured by the OTOS. This is useful if your robot does not start at the origin, or you have another source of location information (eg. vision odometry); the OTOS will continue tracking from this position.

Parameters

pose	New position for the OTOS to track from

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setSignalProcessConfig()

sfTkError_t sfDevOTOS::setSignalProcessConfig ( sfe_otos_signal_process_config_t & config )

Sets the signal processing configuration on the OTOS. This is primarily useful for creating and testing a new lookup table calibration.

Parameters

config Signal processing configuration

Returns: 0 for succuss, negative for errors, positive for warnings

◆ writePoseRegs()

sfTkError_t sfDevOTOS::writePoseRegs	(	uint8_t	reg,
		sfe_otos_pose2d_t &	pose,
		float	xyToRaw,
		float	hToRaw
	)

protected

Member Data Documentation

◆ _angularUnit

sfe_otos_angular_unit_t sfDevOTOS::_angularUnit

protected

◆ _commBus

sfTkII2C* sfDevOTOS::_commBus

protected

◆ _linearUnit

sfe_otos_linear_unit_t sfDevOTOS::_linearUnit

protected

◆ _meterToUnit

float sfDevOTOS::_meterToUnit

protected

◆ _radToUnit

float sfDevOTOS::_radToUnit

protected

◆ kDefaultAddress

constexpr uint8_t sfDevOTOS::kDefaultAddress = 0x17

staticconstexpr

Default I2C addresses of the Qwiic OTOS.

◆ kDegreeToRadian

constexpr float sfDevOTOS::kDegreeToRadian = M_PI / 180.0f

staticconstexprprotected

◆ kInchToMeter

constexpr float sfDevOTOS::kInchToMeter = 1.0f / kMeterToInch

staticconstexprprotected

◆ kInt16ToMeter

constexpr float sfDevOTOS::kInt16ToMeter = 1.0f / kMeterToInt16

staticconstexprprotected

◆ kInt16ToMps

constexpr float sfDevOTOS::kInt16ToMps = 1.0f / kMpsToInt16

staticconstexprprotected

◆ kInt16ToMpss

constexpr float sfDevOTOS::kInt16ToMpss = 1.0f / kMpssToInt16

staticconstexprprotected

◆ kInt16ToRad

constexpr float sfDevOTOS::kInt16ToRad = 1.0f / kRadToInt16

staticconstexprprotected

◆ kInt16ToRps

constexpr float sfDevOTOS::kInt16ToRps = 1.0f / kRpsToInt16

staticconstexprprotected

◆ kInt16ToRpss

constexpr float sfDevOTOS::kInt16ToRpss = 1.0f / kRpssToInt16

staticconstexprprotected

◆ kMaxScalar

constexpr float sfDevOTOS::kMaxScalar = 1.127f

staticconstexpr

Maximum scalar value for the linear and angular scalars.

◆ kMeterToInch

constexpr float sfDevOTOS::kMeterToInch = 39.37f

staticconstexprprotected

◆ kMeterToInt16

constexpr float sfDevOTOS::kMeterToInt16 = 32768.0f / 10.0f

staticconstexprprotected

◆ kMinScalar

constexpr float sfDevOTOS::kMinScalar = 0.872f

staticconstexpr

Minimum scalar value for the linear and angular scalars.

◆ kMpssToInt16

constexpr float sfDevOTOS::kMpssToInt16 = 32768.0f / (16.0f * 9.80665f)

staticconstexprprotected

◆ kMpsToInt16

constexpr float sfDevOTOS::kMpsToInt16 = 32768.0f / 5.0f

staticconstexprprotected

◆ kProductId

constexpr uint8_t sfDevOTOS::kProductId = 0x5F

staticconstexprprotected

◆ kRadianToDegree

constexpr float sfDevOTOS::kRadianToDegree = 180.0f / M_PI

staticconstexprprotected

◆ kRadToInt16

constexpr float sfDevOTOS::kRadToInt16 = 32768.0f / M_PI

staticconstexprprotected

◆ kRegAccHH

constexpr uint8_t sfDevOTOS::kRegAccHH = 0x31

staticconstexprprotected

◆ kRegAccHL

constexpr uint8_t sfDevOTOS::kRegAccHL = 0x30

staticconstexprprotected

◆ kRegAccStdHH

constexpr uint8_t sfDevOTOS::kRegAccStdHH = 0x43

staticconstexprprotected

◆ kRegAccStdHL

constexpr uint8_t sfDevOTOS::kRegAccStdHL = 0x42

staticconstexprprotected

◆ kRegAccStdXH

constexpr uint8_t sfDevOTOS::kRegAccStdXH = 0x3F

staticconstexprprotected

◆ kRegAccStdXL

constexpr uint8_t sfDevOTOS::kRegAccStdXL = 0x3E

staticconstexprprotected

◆ kRegAccStdYH

constexpr uint8_t sfDevOTOS::kRegAccStdYH = 0x41

staticconstexprprotected

◆ kRegAccStdYL

constexpr uint8_t sfDevOTOS::kRegAccStdYL = 0x40

staticconstexprprotected

◆ kRegAccXH

constexpr uint8_t sfDevOTOS::kRegAccXH = 0x2D

staticconstexprprotected

◆ kRegAccXL

constexpr uint8_t sfDevOTOS::kRegAccXL = 0x2C

staticconstexprprotected

◆ kRegAccYH

constexpr uint8_t sfDevOTOS::kRegAccYH = 0x2F

staticconstexprprotected

◆ kRegAccYL

constexpr uint8_t sfDevOTOS::kRegAccYL = 0x2E

staticconstexprprotected

◆ kRegFwVersion

constexpr uint8_t sfDevOTOS::kRegFwVersion = 0x02

staticconstexprprotected

◆ kRegHwVersion

constexpr uint8_t sfDevOTOS::kRegHwVersion = 0x01

staticconstexprprotected

◆ kRegImuCalib

constexpr uint8_t sfDevOTOS::kRegImuCalib = 0x06

staticconstexprprotected

◆ kRegOffHH

constexpr uint8_t sfDevOTOS::kRegOffHH = 0x15

staticconstexprprotected

◆ kRegOffHL

constexpr uint8_t sfDevOTOS::kRegOffHL = 0x14

staticconstexprprotected

◆ kRegOffXH

constexpr uint8_t sfDevOTOS::kRegOffXH = 0x11

staticconstexprprotected

◆ kRegOffXL

constexpr uint8_t sfDevOTOS::kRegOffXL = 0x10

staticconstexprprotected

◆ kRegOffYH

constexpr uint8_t sfDevOTOS::kRegOffYH = 0x13

staticconstexprprotected

◆ kRegOffYL

constexpr uint8_t sfDevOTOS::kRegOffYL = 0x12

staticconstexprprotected

◆ kRegPosHH

constexpr uint8_t sfDevOTOS::kRegPosHH = 0x25

staticconstexprprotected

◆ kRegPosHL

constexpr uint8_t sfDevOTOS::kRegPosHL = 0x24

staticconstexprprotected

◆ kRegPosStdHH

constexpr uint8_t sfDevOTOS::kRegPosStdHH = 0x37

staticconstexprprotected

◆ kRegPosStdHL

constexpr uint8_t sfDevOTOS::kRegPosStdHL = 0x36

staticconstexprprotected

◆ kRegPosStdXH

constexpr uint8_t sfDevOTOS::kRegPosStdXH = 0x33

staticconstexprprotected

◆ kRegPosStdXL

constexpr uint8_t sfDevOTOS::kRegPosStdXL = 0x32

staticconstexprprotected

◆ kRegPosStdYH

constexpr uint8_t sfDevOTOS::kRegPosStdYH = 0x35

staticconstexprprotected

◆ kRegPosStdYL

constexpr uint8_t sfDevOTOS::kRegPosStdYL = 0x34

staticconstexprprotected

◆ kRegPosXH

constexpr uint8_t sfDevOTOS::kRegPosXH = 0x21

staticconstexprprotected

◆ kRegPosXL

constexpr uint8_t sfDevOTOS::kRegPosXL = 0x20

staticconstexprprotected

◆ kRegPosYH

constexpr uint8_t sfDevOTOS::kRegPosYH = 0x23

staticconstexprprotected

◆ kRegPosYL

constexpr uint8_t sfDevOTOS::kRegPosYL = 0x22

staticconstexprprotected

◆ kRegProductId

constexpr uint8_t sfDevOTOS::kRegProductId = 0x00

staticconstexprprotected

◆ kRegReset

constexpr uint8_t sfDevOTOS::kRegReset = 0x07

staticconstexprprotected

◆ kRegScalarAngular

constexpr uint8_t sfDevOTOS::kRegScalarAngular = 0x05

staticconstexprprotected

◆ kRegScalarLinear

constexpr uint8_t sfDevOTOS::kRegScalarLinear = 0x04

staticconstexprprotected

◆ kRegSelfTest

constexpr uint8_t sfDevOTOS::kRegSelfTest = 0x0F

staticconstexprprotected

◆ kRegSignalProcess

constexpr uint8_t sfDevOTOS::kRegSignalProcess = 0x0E

staticconstexprprotected

◆ kRegStatus

constexpr uint8_t sfDevOTOS::kRegStatus = 0x1F

staticconstexprprotected

◆ kRegVelHH

constexpr uint8_t sfDevOTOS::kRegVelHH = 0x2B

staticconstexprprotected

◆ kRegVelHL

constexpr uint8_t sfDevOTOS::kRegVelHL = 0x2A

staticconstexprprotected

◆ kRegVelStdHH

constexpr uint8_t sfDevOTOS::kRegVelStdHH = 0x3D

staticconstexprprotected

◆ kRegVelStdHL

constexpr uint8_t sfDevOTOS::kRegVelStdHL = 0x3C

staticconstexprprotected

◆ kRegVelStdXH

constexpr uint8_t sfDevOTOS::kRegVelStdXH = 0x39

staticconstexprprotected

◆ kRegVelStdXL

constexpr uint8_t sfDevOTOS::kRegVelStdXL = 0x38

staticconstexprprotected

◆ kRegVelStdYH

constexpr uint8_t sfDevOTOS::kRegVelStdYH = 0x3B

staticconstexprprotected

◆ kRegVelStdYL

constexpr uint8_t sfDevOTOS::kRegVelStdYL = 0x3A

staticconstexprprotected

◆ kRegVelXH

constexpr uint8_t sfDevOTOS::kRegVelXH = 0x27

staticconstexprprotected

◆ kRegVelXL

constexpr uint8_t sfDevOTOS::kRegVelXL = 0x26

staticconstexprprotected

◆ kRegVelYH

constexpr uint8_t sfDevOTOS::kRegVelYH = 0x29

staticconstexprprotected

◆ kRegVelYL

constexpr uint8_t sfDevOTOS::kRegVelYL = 0x28

staticconstexprprotected

◆ kRpssToInt16

constexpr float sfDevOTOS::kRpssToInt16 = 32768.0f / (M_PI * 1000.0f)

staticconstexprprotected

◆ kRpsToInt16

constexpr float sfDevOTOS::kRpsToInt16 = 32768.0f / (2000.0f * kDegreeToRadian)

staticconstexprprotected

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

src/sfTk/sfDevOTOS.h
src/sfTk/sfDevOTOS.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ sfDevOTOS()

Member Function Documentation

◆ begin()

◆ calibrateImu()

◆ delayMs()

◆ getAcceleration()

◆ getAccelerationStdDev()

◆ getAngularScalar()

◆ getAngularUnit()

◆ getImuCalibrationProgress()

◆ getLinearScalar()

◆ getLinearUnit()

◆ getOffset()

◆ getPosition()

◆ getPositionStdDev()

◆ getPosVelAcc()

◆ getPosVelAccAndStdDev()

◆ getPosVelAccStdDev()

◆ getSignalProcessConfig()

◆ getStatus()

◆ getVelocity()

◆ getVelocityStdDev()

◆ getVersionInfo()

◆ isConnected()

◆ poseToRegs()

◆ readPoseRegs()

◆ regsToPose()

◆ resetTracking()

◆ selfTest()

◆ setAngularScalar()

◆ setAngularUnit()

◆ setLinearScalar()

◆ setLinearUnit()

◆ setOffset()

◆ setPosition()

◆ setSignalProcessConfig()

◆ writePoseRegs()

Member Data Documentation

◆ _angularUnit

◆ _commBus

◆ _linearUnit

◆ _meterToUnit

◆ _radToUnit

◆ kDefaultAddress

◆ kDegreeToRadian

◆ kInchToMeter

◆ kInt16ToMeter

◆ kInt16ToMps

◆ kInt16ToMpss

◆ kInt16ToRad

◆ kInt16ToRps

◆ kInt16ToRpss

◆ kMaxScalar

◆ kMeterToInch

◆ kMeterToInt16

◆ kMinScalar

◆ kMpssToInt16

◆ kMpsToInt16

◆ kProductId

◆ kRadianToDegree

◆ kRadToInt16

◆ kRegAccHH

◆ kRegAccHL

◆ kRegAccStdHH

◆ kRegAccStdHL

◆ kRegAccStdXH

◆ kRegAccStdXL

◆ kRegAccStdYH

◆ kRegAccStdYL

◆ kRegAccXH

◆ kRegAccXL

◆ kRegAccYH

◆ kRegAccYL