lorenzopo at dsea.unipi.it
Mon Jan 9 18:19:55 CET 2006
> Does anyone worked already with the XBow IMU400CC in RTAI?
> I must devellop a driver for it to work through serial port under
> RTAI...any help?
You should not need a driver.
Since you may access the imu400c via serial port,
using the rtai serial port driver.
Which SW architecture might be preferable
for acquiring the data depends on your application:
- streaming mode (the IMU does not guarantee an
exact acquisition period... AFAIK it should run as fast as possible)
- polled mode
- asynchronous (start of conversion and wait to read data when you need
- periodic (start of conversion and read data periodically)
if you may stand 1 sample delay, I suggest you to use polled mode
in a periodic RTAI task
(should work at least up to 50 Hz)
send a request to the IMU and read
the answer to previous request from the buffer
(this is the fastest way to achieve periodical acquisition)
the data packet is very simple and fixed size
just read those bytes in one read, checks header and verify checksum to
what you read is ok and extract the data from the byte array
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