DMURateGyro.h

Go to the documentation of this file.

/************************************************************************************************/
/*! \file DMURateGyro.h
*  \brief The DMURateGyro class provides the interface for h/w DMU rate gyros.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.14 $
*  \date    $Date: 2007/08/31 16:21:07 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#ifndef __SSSL_DMURATEGYRO_H__
#define __SSSL_DMURATEGYRO_H__
#include <math.h>
#include <string.h>
#include <iostream.h>

#include <Sensors/DMU.h>
#include <Hardware/DAQCard.h>
#include <Sensors/RateGyro.h>
#include <Utils/CfgParse.h>
#include "dsacssinterface.h"

using namespace std;

class DMURateGyro : public RateGyro  
{
public:
        // Contructors/Deconstructors
        
        /*! create an object of type DMURateGyro */
        DMURateGyro() {};
        
        /*! constructor which accepts argument to set the channel id */
        DMURateGyro(int _channel)
        { 
                m_channelID = _channel;
                Initialize();
        };

        /*! (standard) constructor which accepts the config file parsing information */
        DMURateGyro(TiXmlHandle handle, string rateGyro);

        ~DMURateGyro() {};

        /*! function which sets the pointer to the (one and only) instance of the DMU, as well as the (one and only) instance of the DAQCard if the rate gyro is set to analog mode in the config file */
        int Initialize()
        {
                m_DMU = DMU::Instance(m_mode);
                if (m_mode == 2) // means the analog mode, so need DAQ card
                {
                        m_DAQCard = DAQCard::Instance();
                        //cout << " DMURateGyro::Initialize() just called DAQCard::Instance() " << endl;
                };
                return 0;
        }; 
        // Facilitators
                // Inspectors
                        /*! Gets current measurement */
                        inline Measurement GetMeasurement() 
                        {
                                double rateData = 0.0;
                                timeval timeStamp;
                                switch(m_mode)
                                {
                                        case 1: 
                                                // use digital mode of operation for the DMU
                                                m_DMU->GetDigitalReading(m_channelID, timeStamp, rateData);
                                                break;
                                        case 2:
                                                // use analog mode of operation for the DMU, so need to 
                                                // pass pointer to DAQCard object
                                                m_DMU->GetAnalogReading(m_channelID, m_DAQCard, timeStamp, rateData);
                                                
                                                // Correct raw voltage using scale factor and offset.
                                                // Note that (despite not being mentioned in the MoPak manual) when 
                                                // the MoPak is used in Low Analog mode, the negative is needed to 
                                                // get directions matching the MoPak label.
                                                rateData = -(rateData - m_offset)/m_rateScaleFactor;
                                                // rateData is now in units of deg/s
                                                break;
                                        default:
                                                break;
                                };
        
                                /* Convert rate data from degrees/sec to radians/sec */
                                rateData = rateData * M_PI/180;

                                /* Set up measurement to return */
                                Measurement rateMeasurement(rateData);
                                // for now...
                                rateMeasurement.SetTime(timeStamp.tv_sec, timeStamp.tv_usec);
                                return rateMeasurement;                         
                        };
                                
                        /*! Gets sensor to body quaternion */
                        inline Vector GetSensorToBodyQuaternion() {     return m_DMU->GetSensorToBodyQuaternion(m_channelID); };
                        
                        /*! Gets sensor location */
                        inline Vector GetLocation() { return m_DMU->GetLocation(); };

                        /*! Gets sensor mode (mainly for debugging purposes now) */
                        inline int GetMode() { return m_mode; };
protected:
        
private:
        DMU* m_DMU;      /*!< pointer to the instance of the DMU physical device */
        DAQCard* m_DAQCard; /*!< pointer to instance of the DAQ card */
        
        int m_channelID; /*!< channel of sensor in DMU */
        int m_mode; /*!< operating mode of sensor, either digital (1) or analog (2)*/
        float m_offset; /*!< calibration offset value in units of V */
        float m_rateScaleFactor; /*!< rate sensor scale factor in units of  V/(deg/s) */
};

#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: DMURateGyro.h,v $
*       Revision 1.14  2007/08/31 16:21:07  jayhawk_hokie
*       Modified.
*       
*       Revision 1.13  2007/01/12 20:25:31  bwilliam
*       Modified to use XML parser.
*       
*       Revision 1.12  2005/04/26 17:20:38  cakinli
*       Updated Makefiles to build a single libdsacss.a in the src directory to alleviate linking issues with the multiple, per-directory libraries.
*       
*       Revision 1.11  2005/03/16 18:08:16  cakinli
*       *** empty log message ***
*       
*       Revision 1.10  2004/05/27 19:07:28  shoemaker
*       Made changes corresponding to new daq card settings and calibration methods
*       
*       Revision 1.9  2004/04/11 19:33:25  shoemaker
*       Fixed bugs in analog code and cleaned up random messages
*       
*       Revision 1.8  2004/04/08 06:07:08  shoemaker
*       Added analog MoPak calibration routines
*       
*       Revision 1.7  2004/03/29 16:43:11  shoemaker
*       Added code to work with analog DAQ card code
*       
*       Revision 1.6  2003/08/18 19:15:43  mavandyk
*       Changed config parsing
*       
*       Revision 1.5  2003/08/13 23:19:53  mavandyk
*       Fixed a few lines that had warnings.
*       
*       Revision 1.4  2003/07/18 17:22:13  shoemaker
*       Now uses Measurement class.  Still has timing and data-wasting issues.
*       
*       Revision 1.3  2003/07/03 16:54:50  shoemaker
*       Added semi-working versions of DMU code
*       
*       Revision 1.2  2003/06/26 20:12:08  mavandyk
*       Added code to inline functions for the calls to the DMU class.
*       
*       Revision 1.1  2003/06/25 21:49:23  mavandyk
*       Alter architechture of class structure.
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*
******************************************************************************/

---