VMXPi Class Reference

Top-level Library Class providing access to all VMX-pi functionality. More...

#include <VMXPi.h>

Public Member Functions
	VMXPi (bool realtime, uint8_t ahrs_update_rate_hz)
	Constructs the VMXPi object using the specified parameters. More...
bool	IsOpen ()
	Returns true if the communication with the VMX-pi firmware has been established.
vmx::AHRS &	getAHRS ()
	Returns a reference to the singleton AHRS object providing access to VMX-pi IMU functionality. More...
VMXTime &	getTime ()
	Returns a reference to the singleton VMXTime object providing access to VMX-pi Time functionality. More...
VMXIO &	getIO ()
	Returns a reference to the singleton VMXIO object providing access to VMX-pi IO functionality. More...
VMXCAN &	getCAN ()
	Returns a reference to the singleton VMXCAN object providing access to VMX-pi CAN functionality. More...
VMXPower &	getPower ()
	Returns a reference to the singleton VMXPower object providing access to VMX-pi Power functionality. More...
VMXVersion &	getVersion ()
	Returns a reference to the singleton VMXVersion object providing access to VMX-pi Version functionality. More...
VMXThread &	getThread ()
	Returns a reference to the singleton VMXThread object providing access to VMX-pi Threading functionality. More...
bool	registerShutdownHandler (void(*termination_func)(void))
	Registers a termination handler, invoked when VMXPi instance is terminated, but before resources are released. More...
bool	registerFinalShutdownHandler (void(*termination_func)(void))
	Registers a termination handler, invoked when VMXPi instance is terminated, but only after all resources are released. More...
bool	getPerformanceLogging ()
	Selective Enabling/Disabling of Summary Performance statistics. More...
void	setPerformanceLogging (bool enable)
	Sets the current state of Performance Logging. More...

Static Public Member Functions
static VMXPi *	getInstance ()

Public Attributes
vmx::AHRS	ahrs
	The AHRS object providing access to VMX-pi IMU functionality. More...
VMXTime	time
	The VMXTime object providing access to VMX-pi Time functionality. More...
VMXIO	io
	The VMXIO object providing access to VMX-pi IO functionality. More...
VMXCAN	can
	The VMXCAN object providing access to VMX-pi CAN functionality. More...
VMXPower	power
	The VMXPower object providing access to VMX-pi Power functionality. More...
VMXVersion	version
	The VMXVersion object providing access to VMX-pi Version functionality. More...
VMXThread	thread
	The VMXThread object providing access to VMX-pi Threading functionality. More...

Detailed Description

Top-level Library Class providing access to all VMX-pi functionality.

Constructor & Destructor Documentation

VMXPi()

VMXPi::VMXPi	(	bool	realtime,
		uint8_t	ahrs_update_rate_hz
	)

Constructs the VMXPi object using the specified parameters.

This constructor initializes the VMX-pi HAL.

Parameters

realtime	true if the VMX-pi host Linux operating system supports real-time priorities, as implemented via a fully-preemptible Real-time Linux Kernel.
ahrs_update_rate_hz	The update rate to use for the VMX-pi AHRS/IMU interface. Default is 50 hz. Valid range: 4-200Hz.

Member Function Documentation

getAHRS()

vmx::AHRS& VMXPi::getAHRS ( )

inline

Returns a reference to the singleton AHRS object providing access to VMX-pi IMU functionality.

getCAN()

VMXCAN& VMXPi::getCAN ( )

inline

Returns a reference to the singleton VMXCAN object providing access to VMX-pi CAN functionality.

getIO()

VMXIO& VMXPi::getIO ( )

inline

Returns a reference to the singleton VMXIO object providing access to VMX-pi IO functionality.

getPerformanceLogging()

bool VMXPi::getPerformanceLogging

(

)

Selective Enabling/Disabling of Summary Performance statistics.

Returns the current state of Performance Logging.

getPower()

VMXPower& VMXPi::getPower ( )

inline

Returns a reference to the singleton VMXPower object providing access to VMX-pi Power functionality.

getThread()

VMXThread& VMXPi::getThread ( )

inline

Returns a reference to the singleton VMXThread object providing access to VMX-pi Threading functionality.

getTime()

VMXTime& VMXPi::getTime ( )

inline

Returns a reference to the singleton VMXTime object providing access to VMX-pi Time functionality.

getVersion()

VMXVersion& VMXPi::getVersion ( )

inline

Returns a reference to the singleton VMXVersion object providing access to VMX-pi Version functionality.

registerFinalShutdownHandler()

bool VMXPi::registerFinalShutdownHandler

(

void(*)(void)

termination_func

)

Registers a termination handler, invoked when VMXPi instance is terminated, but only after all resources are released.

Only a single final shutdown handler may be registered.

registerShutdownHandler()

bool VMXPi::registerShutdownHandler

(

void(*)(void)

termination_func

)

Registers a termination handler, invoked when VMXPi instance is terminated, but before resources are released.

Termination functions are invoked in the reverse order of registration.

setPerformanceLogging()

void VMXPi::setPerformanceLogging

(

bool

enable

)

Sets the current state of Performance Logging.

Member Data Documentation

ahrs

vmx::AHRS VMXPi::ahrs

The AHRS object providing access to VMX-pi IMU functionality.

can

VMXCAN VMXPi::can

The VMXCAN object providing access to VMX-pi CAN functionality.

io

VMXIO VMXPi::io

The VMXIO object providing access to VMX-pi IO functionality.

power

VMXPower VMXPi::power

The VMXPower object providing access to VMX-pi Power functionality.

thread

VMXThread VMXPi::thread

The VMXThread object providing access to VMX-pi Threading functionality.

time

VMXTime VMXPi::time

The VMXTime object providing access to VMX-pi Time functionality.

version

VMXVersion VMXPi::version

The VMXVersion object providing access to VMX-pi Version functionality.

---

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

• /home/pi/vmx/vmx-pi/hal/hal_cpp/include/VMXPi.h
• /home/pi/vmx/vmx-pi/hal/hal_cpp/src/VMXPi.cpp