public RegisterIO(IRegisterIo io_provider, byte update_rate_hz, IIoCompleteNotification notify_sink, IBoardCapabilities board_capabilities)
{
this.io_provider = io_provider;
this.update_rate_hz = update_rate_hz;
this.board_capabilities = board_capabilities;
this.notify_sink = notify_sink;
raw_data_update = new IMUProtocol.GyroUpdate();
ahrs_update = new AHRSProtocol.AHRSUpdate();
ahrspos_update = new AHRSProtocol.AHRSPosUpdate();
board_state = new BoardState();
board_id = new AHRSProtocol.BoardID();
}
const bool debug = false; /* Set to true to enable debug output (to smart dashboard) */
public SerialIO(SerialPort.Port port_id, byte update_rate_hz, bool processed_data, IIoCompleteNotification notify_sink, IBoardCapabilities board_capabilities)
{
this.serial_port_id = port_id;
ypr_update_data = new IMUProtocol.YPRUpdate();
gyro_update_data = new IMUProtocol.GyroUpdate();
ahrs_update_data = new AHRSProtocol.AHRSUpdate();
ahrspos_update_data = new AHRSProtocol.AHRSPosUpdate();
board_id = new AHRSProtocol.BoardID();
board_state = new BoardState();
this.notify_sink = notify_sink;
this.board_capabilities = board_capabilities;
serial_port = GetMaybeCreateSerialPort();
this.update_rate_hz = update_rate_hz;
if (processed_data)
{
update_type = AHRSProtocol.MSGID_AHRSPOS_UPDATE;
}
else {
update_type = IMUProtocol.MSGID_GYRO_UPDATE;
}
}
public void SetBoardState(BoardState boardState)
{
m_parent.m_updateRateHz = boardState.UpdateRateHz;
m_parent.m_accelFsrG = boardState.AccelFsrG;
m_parent.m_gyroFsrDps = boardState.GyroFsrDps;
m_parent.m_capabilityFlags = boardState.CapabilityFlags;
m_parent.m_opStatus = boardState.OpStatus;
m_parent.m_sensorStatus = boardState.SensorStatus;
m_parent.m_calStatus = boardState.CalStatus;
m_parent.m_selftestStatus = boardState.SelftestStatus;
}