This is class implements a driver for the Murata SCHA63T inertial sensor. More...

Inheritance diagram for CScha63TDriver:

Classes
struct	SCompensationParameters
	A struct to store compensation parameters stored in the sensor's NVM. More...

Public Member Functions
void	Init () override

bool	IsInitialized () override

void	PollSensor ()
	Poll the sensor. Puts batches of 30 measurements periodically into the queue of the FreeRTOS task. The function is called from the 6kHz interrupt triggered by the TIM7.

void	ConvertRawDataset ()
	Converts batches of 30 raw measurements to IMU measurement, applies factory calibration and writes the result to the RTE port. The routine shall be called from FreeRTOS tasks.

Public Member Functions inherited from CSoftwareComponent< CScha63TDriver, 1U >
	CSoftwareComponent (CSoftwareComponent &)=delete

	CSoftwareComponent (CSoftwareComponent &&)=delete

CSoftwareComponent &	operator= (const CSoftwareComponent &orOther)=delete

CSoftwareComponent &	operator= (CSoftwareComponent &&orOther)=delete

virtual void	Init ()=0

virtual bool	IsInitialized ()=0

Private Types
enum	EMeasurementFrames { eSpecificForceX = 0 , eSpecificForceY , eSpecificForceZ , eAngularRateX , eAngularRateY , eAngularRateZ , eTemperatureUno , eTemperatureDue , eFrameCount }
	Enumeration of measurement frames for SPI communication. More...

Private Member Functions
	CScha63TDriver (CScha63TDriver &)=delete

	CScha63TDriver (CScha63TDriver &&)=delete

CScha63TDriver &	operator= (const CScha63TDriver &orOther)=delete

CScha63TDriver &	operator= (CScha63TDriver &&orOther)=delete

	CScha63TDriver (SPI_HandleTypeDef &korSpiHandle)

	~CScha63TDriver ()=default

bool	pollUnoStatus ()
	Poll the status of the UNO ASIC.

bool	pollDueStatus ()
	Poll the status of the DUE ASIC.

uint32_t	spiWriteReadUno (uint32_t uDataOut)
	Read/write a 32-bit frame to/from the UNO ASIC.

uint32_t	spiWriteReadDue (uint32_t uDataOut)
	Read/write a 32-bit frame to/from the DUE ASIC.

uint32_t	spiWriteRead (uint32_t uDataOut, GPIO_TypeDef *opGpioX, uint16_t uGpioPin)
	SPI communication with the sensor.

Static Private Member Functions
static CScha63TDriver &	getInstanceImpl (unsigned uInstanceIndex)

static SPI_HandleTypeDef &	getSpiHandle ()
	Get reference to a SPI handle object instantiated in the HAL library. Returns reference to hspi1 for BAHRS V2 and hspi2 for BAHRS V3.

static bool	checkRsError (uint32_t uFrame)
	Check for RS error bits in the frame.

static bool	checkRsErrorInFrames (uint32_t *upFrames, unsigned uFrameCount)
	Check for RS errors in an array of frames received from the ASIC:

static int16_t	frameToInt16 (uint32_t uFrame)
	Get a 16-bit integer from the frame received from the ASIC.

static uint16_t	frameToUint16 (uint32_t uFrame)
	Get a 16-bit unsigned integer from the frame received from the ASIC.

static int8_t	lowerInt8FromFrame (uint32_t uFrame)
	Get a 8-bit integer from the frame received from the ASIC using the lower bits.

static int8_t	upperInt8FromFrame (uint32_t uFrame)
	Get a 8-bit integer from the frame received from the ASIC using the upper bits.

Private Attributes
bool	bIsInitialized_ { false }
	Sensor initialization status: true – initialized, false otherwise.

char	acSerialNumber_ [14] { "" }
	ID of the sensor read from the sensor's NVM.

SCompensationParameters	oCompensationParameters_
	Compensation parameters read from the sensor's NVM.

SScha63TDataset	oLatestDataset_
	The latest 30 measurements that are transfered periodically to the queue of the dedicated FreeRTOS task.

SScha63TDataset	oOutputDataset_

bool	bErrorFlags_ { false }
	The flag indicating errors during ASIC operation.

SScha63TStatusUno	oStatusUno_
	The latest content of the UNO status registers. Valid only when bErrorFlags_ is true.

SScha63TStatusDue	oStatusDue_
	The latest content of the DUE status registers. Valid only when bErrorFlags_ is true.

volatile bool	bDatasetAvailable_ { false }

SPI_HandleTypeDef &	orSpiHandle_

Static Private Attributes
static constexpr float	skfGravity_ { 9.8F }
	Gravity constant, [m/s^2].

static constexpr float	skfDegreesToRadians_ { 0.017453292F }
	Scale factor to convert degrees to radians, [rad/deg].

static constexpr float	skfAccelerometerSensitivity_ { 4905.0F }
	Accelerometer sensitivity, [LSB/g].

static constexpr float	skfGyroscopeSensitivity_ { 80.0F }
	Gyroscope sensitivity, [LSB/deg/s].

static constexpr int	skiMaxAttemptsToConfigure_ { 2 }
	Number of attempts to configure the sensor.

Friends
class	CSoftwareComponent< CScha63TDriver, 1U >

Additional Inherited Members
Static Public Member Functions inherited from CSoftwareComponent< CScha63TDriver, 1U >
static CScha63TDriver &	GetInstance (unsigned uInstanceIndex=0U)

Static Public Attributes inherited from CSoftwareComponent< CScha63TDriver, 1U >
static constexpr unsigned	skuInstanceCount_

Protected Member Functions inherited from CSoftwareComponent< CScha63TDriver, 1U >
	CSoftwareComponent ()=default

	~CSoftwareComponent ()=default

Detailed Description

This is class implements a driver for the Murata SCHA63T inertial sensor.

Member Enumeration Documentation

◆ EMeasurementFrames

enum CScha63TDriver::EMeasurementFrames

private

Enumeration of measurement frames for SPI communication.

Enumerator
eSpecificForceX
eSpecificForceY
eSpecificForceZ
eAngularRateX
eAngularRateY
eAngularRateZ
eTemperatureUno
eTemperatureDue
eFrameCount

Constructor & Destructor Documentation

◆ CScha63TDriver() [1/3]

CScha63TDriver::CScha63TDriver ( CScha63TDriver & )

privatedelete

◆ CScha63TDriver() [2/3]

CScha63TDriver::CScha63TDriver ( CScha63TDriver && )

privatedelete

◆ CScha63TDriver() [3/3]

CScha63TDriver::CScha63TDriver ( SPI_HandleTypeDef & korSpiHandle )

explicitprivate

◆ ~CScha63TDriver()

CScha63TDriver::~CScha63TDriver ( )

privatedefault

Member Function Documentation

◆ checkRsError()

bool CScha63TDriver::checkRsError ( uint32_t uFrame )

inlinestaticprivate

Check for RS error bits in the frame.

Parameters

uFrame 32-bit frame received from the ASIC.

Returns: True – there are errors, false – no errors.

◆ checkRsErrorInFrames()

bool CScha63TDriver::checkRsErrorInFrames	(	uint32_t *	upFrames,
		unsigned	uFrameCount
	)

staticprivate

Check for RS errors in an array of frames received from the ASIC:

Parameters

upFrames	A pointer to the first array element.
uFrameCount	Number of frames ín the array.

Returns: True if there are errors, false – no errors.

◆ ConvertRawDataset()

void CScha63TDriver::ConvertRawDataset ( )

Converts batches of 30 raw measurements to IMU measurement, applies factory calibration and writes the result to the RTE port. The routine shall be called from FreeRTOS tasks.

◆ frameToInt16()

int16_t CScha63TDriver::frameToInt16 ( uint32_t uFrame )

inlinestaticprivate

Get a 16-bit integer from the frame received from the ASIC.

Parameters

uFrame A 32-bit frame received from the ASIC:

Returns: 16-bit integer.

◆ frameToUint16()

uint16_t CScha63TDriver::frameToUint16 ( uint32_t uFrame )

inlinestaticprivate

Get a 16-bit unsigned integer from the frame received from the ASIC.

Parameters

uFrame A 32-bit frame received from the ASIC:

Returns: A 16-bit unsigned integer.

◆ getInstanceImpl()

CScha63TDriver & CScha63TDriver::getInstanceImpl ( unsigned uInstanceIndex )

staticprivate

◆ getSpiHandle()

SPI_HandleTypeDef & CScha63TDriver::getSpiHandle ( )

staticprivate

Get reference to a SPI handle object instantiated in the HAL library. Returns reference to hspi1 for BAHRS V2 and hspi2 for BAHRS V3.

Returns: Reference to SPI handle.

◆ Init()

void CScha63TDriver::Init ( )

overridevirtual

Initialize the software component.

Implements CSoftwareComponent< CScha63TDriver, 1U >.

◆ IsInitialized()

bool CScha63TDriver::IsInitialized ( )

overridevirtual

Get initialization status of the software component.

Returns: True – the component is initialized, false otherwise.

Implements CSoftwareComponent< CScha63TDriver, 1U >.

◆ lowerInt8FromFrame()

int8_t CScha63TDriver::lowerInt8FromFrame ( uint32_t uFrame )

inlinestaticprivate

Get a 8-bit integer from the frame received from the ASIC using the lower bits.

Parameters

uFrame A 32-bit frame received from the ASIC.

Returns: Desired 8-bit integer.

◆ operator=() [1/2]

CScha63TDriver & CScha63TDriver::operator= ( const CScha63TDriver & orOther )

privatedelete

◆ operator=() [2/2]

CScha63TDriver & CScha63TDriver::operator= ( CScha63TDriver && orOther )

privatedelete

◆ pollDueStatus()

bool CScha63TDriver::pollDueStatus ( )

private

Poll the status of the DUE ASIC.

Returns: True if the DUE ASIC operates normally, false otherwise.

◆ PollSensor()

void CScha63TDriver::PollSensor ( )

Poll the sensor. Puts batches of 30 measurements periodically into the queue of the FreeRTOS task. The function is called from the 6kHz interrupt triggered by the TIM7.

◆ pollUnoStatus()

bool CScha63TDriver::pollUnoStatus ( )

private

Poll the status of the UNO ASIC.

Returns: True if the UNO ASIC operates normally, false otherwise.

◆ spiWriteRead()

uint32_t CScha63TDriver::spiWriteRead	(	uint32_t	uDataOut,
		GPIO_TypeDef *	opGpioX,
		uint16_t	uGpioPin
	)

private

SPI communication with the sensor.

Parameters

uDataOut	Data to be sent.
opGpioX	CSB GPIO group.
uGpioPin	CSB GPIO pin.

Returns: Response of the sensor.

◆ spiWriteReadDue()

uint32_t CScha63TDriver::spiWriteReadDue ( uint32_t uDataOut )

private

Read/write a 32-bit frame to/from the DUE ASIC.

Parameters

uDataOut Data to be send on SPI (for example read address).

Returns: Response of the sensor to the previous operation.

◆ spiWriteReadUno()

uint32_t CScha63TDriver::spiWriteReadUno ( uint32_t uDataOut )

private

Read/write a 32-bit frame to/from the UNO ASIC.

Parameters

uDataOut Data to be send on SPI (for example read address).

Returns: Response of the sensor to the previous operation.

◆ upperInt8FromFrame()

int8_t CScha63TDriver::upperInt8FromFrame ( uint32_t uFrame )

inlinestaticprivate

Get a 8-bit integer from the frame received from the ASIC using the upper bits.

Parameters

uFrame A 32-bit frame received from the ASIC.

Returns: Desired 8-bit integer.

Friends And Related Function Documentation

◆ CSoftwareComponent< CScha63TDriver, 1U >

friend class CSoftwareComponent< CScha63TDriver, 1U >

friend

Member Data Documentation

◆ acSerialNumber_

char CScha63TDriver::acSerialNumber_[14] { "" }

private

ID of the sensor read from the sensor's NVM.

◆ bDatasetAvailable_

volatile bool CScha63TDriver::bDatasetAvailable_ { false }

private

◆ bErrorFlags_

bool CScha63TDriver::bErrorFlags_ { false }

private

The flag indicating errors during ASIC operation.

◆ bIsInitialized_

bool CScha63TDriver::bIsInitialized_ { false }

private

Sensor initialization status: true – initialized, false otherwise.

◆ oCompensationParameters_

SCompensationParameters CScha63TDriver::oCompensationParameters_

private

Compensation parameters read from the sensor's NVM.

◆ oLatestDataset_

SScha63TDataset CScha63TDriver::oLatestDataset_

private

The latest 30 measurements that are transfered periodically to the queue of the dedicated FreeRTOS task.

◆ oOutputDataset_

SScha63TDataset CScha63TDriver::oOutputDataset_

private

◆ orSpiHandle_

SPI_HandleTypeDef& CScha63TDriver::orSpiHandle_

private

◆ oStatusDue_

SScha63TStatusDue CScha63TDriver::oStatusDue_

private

The latest content of the DUE status registers. Valid only when bErrorFlags_ is true.

◆ oStatusUno_

SScha63TStatusUno CScha63TDriver::oStatusUno_

private

The latest content of the UNO status registers. Valid only when bErrorFlags_ is true.

◆ skfAccelerometerSensitivity_

constexpr float CScha63TDriver::skfAccelerometerSensitivity_ { 4905.0F }

staticconstexprprivate

Accelerometer sensitivity, [LSB/g].

◆ skfDegreesToRadians_

constexpr float CScha63TDriver::skfDegreesToRadians_ { 0.017453292F }

staticconstexprprivate

Scale factor to convert degrees to radians, [rad/deg].

◆ skfGravity_

constexpr float CScha63TDriver::skfGravity_ { 9.8F }

staticconstexprprivate

Gravity constant, [m/s^2].

◆ skfGyroscopeSensitivity_

constexpr float CScha63TDriver::skfGyroscopeSensitivity_ { 80.0F }

staticconstexprprivate

Gyroscope sensitivity, [LSB/deg/s].

◆ skiMaxAttemptsToConfigure_

constexpr int CScha63TDriver::skiMaxAttemptsToConfigure_ { 2 }

staticconstexprprivate

Number of attempts to configure the sensor.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ EMeasurementFrames

Constructor & Destructor Documentation

◆ CScha63TDriver() [1/3]

◆ CScha63TDriver() [2/3]

◆ CScha63TDriver() [3/3]

◆ ~CScha63TDriver()

Member Function Documentation

◆ checkRsError()

◆ checkRsErrorInFrames()

◆ ConvertRawDataset()

◆ frameToInt16()

◆ frameToUint16()

◆ getInstanceImpl()

◆ getSpiHandle()

◆ Init()

◆ IsInitialized()

◆ lowerInt8FromFrame()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pollDueStatus()

◆ PollSensor()

◆ pollUnoStatus()

◆ spiWriteRead()

◆ spiWriteReadDue()

◆ spiWriteReadUno()

◆ upperInt8FromFrame()

Friends And Related Function Documentation

◆ CSoftwareComponent< CScha63TDriver, 1U >

Member Data Documentation

◆ acSerialNumber_

◆ bDatasetAvailable_

◆ bErrorFlags_

◆ bIsInitialized_

◆ oCompensationParameters_

◆ oLatestDataset_

◆ oOutputDataset_

◆ orSpiHandle_

◆ oStatusDue_

◆ oStatusUno_

◆ skfAccelerometerSensitivity_

◆ skfDegreesToRadians_

◆ skfGravity_

◆ skfGyroscopeSensitivity_

◆ skiMaxAttemptsToConfigure_