Detailed Description

Defines the IMU sensor.

Functions
DW_API_PUBLIC dwStatus	dwSensorIMU_popFrame (dwIMUFrame *const frame, dwSensorHandle_t const sensor)
	Returns any IMU data previously processed through the raw data stream. More...

DW_API_PUBLIC dwStatus	dwSensorIMU_popFrameNew (dwIMUFrameNew *const frame, dwSensorHandle_t const sensor)
	Returns any IMU Frame New previously processed through the raw data stream. More...

DW_API_PUBLIC dwStatus	dwSensorIMU_processRawData (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Decodes IMU frames from raw data. More...

DW_API_PUBLIC dwStatus	dwSensorIMU_processRawDataNew (uint8_t const *const data, size_t const size, dwSensorHandle_t const sensor)
	Reads the IMU frame New from raw data. More...

DW_API_PUBLIC dwStatus	dwSensorIMU_readFrame (dwIMUFrame *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next IMU frame from the sensor within a given timeout. More...

DW_API_PUBLIC dwStatus	dwSensorIMU_readFrameNew (dwIMUFrameNew *const frame, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next IMU frame New from the sensor within a given timeout. More...

Function Documentation

◆ dwSensorIMU_popFrame()

DW_API_PUBLIC dwStatus dwSensorIMU_popFrame	(	dwIMUFrame *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any IMU data previously processed through the raw data stream.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Internally this API function will

Poll the internal IMU frame queue, and return the frame in queue head, and return DW_SUCCESS
If IMU frame queue is empty, return DW_NOT_AVAILABLE.

Parameters

[out]	frame	Pointer to an IMU frame structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

◆ dwSensorIMU_popFrameNew()

DW_API_PUBLIC dwStatus dwSensorIMU_popFrameNew	(	dwIMUFrameNew *const	frame,
		dwSensorHandle_t const	sensor
	)

Returns any IMU Frame New previously processed through the raw data stream.

This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[out]	frame	Pointer to an IMU frame New structure to be filled with new data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid.
DW_INVALID_ARGUMENTS - if given arguments are invalid.
DW_NOT_AVAILABLE - if no more data is available
DW_SUCCESS

◆ dwSensorIMU_processRawData()

DW_API_PUBLIC dwStatus dwSensorIMU_processRawData	(	uint8_t const *const	data,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes IMU frames from raw data.

Any processed messages can be picked up using the dwSensorIMU_readFrame() or dwSensorIMU_popFrame() function. This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Internally this API function will

Push the raw data block data to its internal decoder instance. If it failed to push this data block to internal decoder, errors will be returned.
After the decoder accepted the raw data block, decoder will decode this raw data block into one or more IMU frames, and these decoded IMU frames will be enqueued into an internal IMU frame queue.
If one or more IMU frames are successfully decoded, return DW_SUCCESS. Otherwise return DW_NOT_READY.

Parameters

[in]	data	Undecoded imu data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

Note: It's possible that raw IMU data block data will be decoded into one or more IMU frames. All these decoded IMU frames will be stored into internal IMU frame queue and could be accessed via dwSensorIMU_readFrame() or dwSensorIMU_popFrame().

◆ dwSensorIMU_processRawDataNew()

DW_API_PUBLIC dwStatus dwSensorIMU_processRawDataNew	(	uint8_t const *const	data,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Reads the IMU frame New from raw data.

Any processed messages can be picked up using the dwSensorIMU_readFrameNew() method. This happens on the CPU thread where the function is called, incurring an additional load on that thread.

Parameters

[in]	data	Undecoded imu data.
[in]	size	Size in bytes of the raw data.
[in]	sensor	Sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid,
DW_INVALID_ARGUMENTS - if given arguments are invalid,
DW_NOT_READY - if more data needs to be passed in (loop while it returns 'DW_NOT_READY').
DW_SUCCESS

◆ dwSensorIMU_readFrame()

DW_API_PUBLIC dwStatus dwSensorIMU_readFrame	(	dwIMUFrame *const	frame,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads the next IMU frame from the sensor within a given timeout.

The method blocks until either a new valid frame is received from the sensor or the given timeout is exceeded.

Internally this API function will

If there are already decoded IMU frames available in its internal IMU frame queue, this API function directly returns the first IMU frame from this internal IMU frame queue and return DW_SUCCESS. It'll not turn to sensors for raw IMU data blocks in this case.
Otherwise, this API function reads a raw sensor output data block from sensor. Timeout is detected in this step. DW_TIME_OUT is returned in case of timeout
If raw sensor output data block is successfully retrieved, this raw sensor data block will be decoded by its underlying decoder instance, one or more decoded IMU frames will be generated/decoded, and they will be enqueued into an internal IMU frame queue
Finally this function will return the FIRST decoded IMU frame(a.k.a dequeue operation) from the internal IMU frame queue with return status DW_SUCCESS
If no frames are decoded from this piece of raw IMU data block, DW_NOT_AVAILABLE will be returned

Parameters

[out]	frame	A pointer to an IMU frame structure to be filled with new data.
[in]	timeoutUs	Timeout, in us, to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitely. Zero - means polling of internal queue.
[in]	sensor	Sensor handle of the IMU sensor previously created with dwSAL_createSensor().

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid
DW_INVALID_ARGUMENTS - if given arguments are invalid
DW_TIME_OUT - if operation has timeout
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS

Note: This function will block until a frame is decoded or timeout is detected, if timeoutUs is specified as non-zero values.

◆ dwSensorIMU_readFrameNew()

DW_API_PUBLIC dwStatus dwSensorIMU_readFrameNew	(	dwIMUFrameNew *const	frame,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads the next IMU frame New from the sensor within a given timeout.

The method blocks until either a new valid frame is received from the sensor or the given timeout is exceeded.

Parameters

[out]	frame	A pointer to an IMU frame New structure to be filled with new data.
[in]	timeoutUs	Timeout, in us, to wait for a new message. Special values: DW_TIMEOUT_INFINITE - to wait infinitely. Zero - means polling of internal queue.
[in]	sensor	Sensor handle of the IMU sensor previously created with dwSAL_createSensor().

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid
DW_INVALID_ARGUMENTS - if given arguments are invalid
DW_TIME_OUT - if operation has timeout
DW_NOT_AVAILABLE - if sensor has not been started or data is not available in polling mode.
DW_END_OF_STREAM - if end of stream reached (virtual sensor only).
DW_SAL_SENSOR_ERROR - if there was an i/o or bus error.
DW_SUCCESS

Detailed Description

Functions

Function Documentation

◆ dwSensorIMU_popFrame()

◆ dwSensorIMU_popFrameNew()

◆ dwSensorIMU_processRawData()

◆ dwSensorIMU_processRawDataNew()

◆ dwSensorIMU_readFrame()

◆ dwSensorIMU_readFrameNew()