SerialIO::SerialIO( SerialPort::Port port_id,
uint8_t update_rate_hz,
bool processed_data,
IIOCompleteNotification *notify_sink,
IBoardCapabilities *board_capabilities ) {
this->serial_port_id = port_id;
is_usb = ((port_id != SerialPort::Port::kMXP) &&
(port_id != SerialPort::Port::kOnboard));
ypr_update_data = {0};
gyro_update_data = {0};
ahrs_update_data = {};
ahrspos_update_data = {};
ahrspos_ts_update_data = {};
board_id = {0};
board_state = {0};
this->notify_sink = notify_sink;
this->board_capabilities = board_capabilities;
serial_port = 0;
serial_port = GetMaybeCreateSerialPort();
this->update_rate_hz = update_rate_hz;
if ( processed_data ) {
update_type = MSGID_AHRSPOS_TS_UPDATE;
} else {
update_type = MSGID_GYRO_UPDATE;
}
signal_transmit_integration_control = false;
signal_retransmit_stream_config = false;
stop = true;
byte_count = 0;
update_count = 0;
last_valid_packet_time = 0;
}
SerialPort *SerialIO::ResetSerialPort()
{
if (serial_port != 0) {
try {
delete serial_port;
} catch (std::exception ex) {
// This has been seen to happen before....
}
serial_port = 0;
}
serial_port = GetMaybeCreateSerialPort();
return serial_port;
}
SerialIO::SerialIO( SerialPort::Port port_id,
uint8_t update_rate_hz,
bool processed_data,
IIOCompleteNotification *notify_sink,
IBoardCapabilities *board_capabilities ) {
this->serial_port_id = port_id;
ypr_update_data = {0};
gyro_update_data = {0};
ahrs_update_data = {0};;
ahrspos_update_data = {0};
board_id = {0};
board_state = {0};
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 = MSGID_AHRSPOS_UPDATE;
} else {
update_type = MSGID_GYRO_UPDATE;
}
}
