116 lines
7.7 KiB
Matlab
116 lines
7.7 KiB
Matlab
classdef xIMUdataClass < handle
|
|
|
|
%% Public properties
|
|
properties (SetAccess = private)
|
|
FileNamePrefix = '';
|
|
ErrorData = [];
|
|
CommandData = [];
|
|
RegisterData = [];
|
|
DateTimeData = [];
|
|
RawBatteryAndThermometerData = [];
|
|
CalBatteryAndThermometerData = [];
|
|
RawInertialAndMagneticData = [];
|
|
CalInertialAndMagneticData = [];
|
|
QuaternionData = [];
|
|
RotationMatrixData = [];
|
|
EulerAnglesData = [];
|
|
DigitalIOdata = [];
|
|
RawAnalogueInputData = [];
|
|
CalAnalogueInputData = [];
|
|
PWMoutputData = [];
|
|
RawADXL345busData = [];
|
|
CalADXL345busData = [];
|
|
end
|
|
|
|
%% Public methods
|
|
methods (Access = public)
|
|
function obj = xIMUdataClass(varargin)
|
|
% Create data objects from files
|
|
obj.FileNamePrefix = varargin{1};
|
|
dataImported = false;
|
|
try obj.ErrorData = ErrorDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.CommandData = CommandDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.RegisterData = RegisterDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.DateTimeData = DateTimeDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.RawBatteryAndThermometerData = RawBatteryAndThermometerDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.CalBatteryAndThermometerData = CalBatteryAndThermometerDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.RawInertialAndMagneticData = RawInertialAndMagneticDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.CalInertialAndMagneticData = CalInertialAndMagneticDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.QuaternionData = QuaternionDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.EulerAnglesData = EulerAnglesDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.RotationMatrixData = RotationMatrixDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.DigitalIOdata = DigitalIOdataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.RawAnalogueInputData = RawAnalogueInputDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.CalAnalogueInputData = CalAnalogueInputDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.PWMoutputData = PWMoutputDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.RawADXL345busData = RawADXL345busDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
try obj.CalADXL345busData = CalADXL345busDataClass(obj.FileNamePrefix); dataImported = true; catch e, end
|
|
if(~dataImported)
|
|
error('No data was imported.');
|
|
end
|
|
|
|
% Apply SampleRate from register data
|
|
try h = obj.DateTimeData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(67)); catch e, end
|
|
try h = obj.RawBatteryAndThermometerData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(68)); catch e, end
|
|
try h = obj.CalBatteryAndThermometerData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(68)); catch e, end
|
|
try h = obj.RawInertialAndMagneticData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(69)); catch e, end
|
|
try h = obj.CalInertialAndMagneticData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(69)); catch e, end
|
|
try h = obj.QuaternionData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(70)); catch e, end
|
|
try h = obj.RotationMatrixData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(70)); catch e, end
|
|
try h = obj.EulerAnglesData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(70)); catch e, end
|
|
try h = obj.DigitalIOdata; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(78)); catch e, end
|
|
try h = obj.RawAnalogueInputData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(80)); catch e, end
|
|
try h = obj.CalAnalogueInputData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(80)); catch e, end
|
|
try h = obj.RawADXL345busData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(85)); catch e, end
|
|
try h = obj.CalADXL345busData; h.SampleRate = obj.SampleRateFromRegValue(obj.RegisterData.GetValueAtAddress(85)); catch e, end
|
|
|
|
% Apply SampleRate if specified as argument
|
|
for i = 2:2:(nargin)
|
|
if strcmp(varargin{i}, 'DateTimeSampleRate')
|
|
try h = obj.DateTimeData; h.SampleRate = varargin{i+1}; catch e, end
|
|
elseif strcmp(varargin{i}, 'BattThermSampleRate')
|
|
try h = obj.RawBatteryAndThermometerData; h.SampleRate = varargin{i+1}; catch e, end
|
|
try h = obj.CalBatteryAndThermometerData; h.SampleRate = varargin{i+1}; catch e, end
|
|
elseif strcmp(varargin{i}, 'InertialMagneticSampleRate')
|
|
try h = obj.RawInertialAndMagneticData; h.SampleRate = varargin{i+1}; catch e, end
|
|
try h = obj.CalInertialAndMagneticData; h.SampleRate = varargin{i+1}; catch e, end
|
|
elseif strcmp(varargin{i}, 'QuaternionSampleRate')
|
|
try h = obj.QuaternionData; h.SampleRate = varargin{i+1}; catch e, end
|
|
try h = obj.RotationMatrixData.SampleRate; h.SampleRate = varargin{i+1}; catch e, end
|
|
try h = obj.EulerAnglesData; h.SampleRate = varargin{i+1}; catch e, end
|
|
elseif strcmp(varargin{i}, 'DigitalIOSampleRate')
|
|
try h = obj.DigitalIOdata; h.SampleRate = varargin{i+1}; catch e, end
|
|
elseif strcmp(varargin{i}, 'AnalogueInputSampleRate')
|
|
try h = obj.RawAnalogueInputData; h.SampleRate = varargin{i+1}; catch e, end
|
|
try h = obj.CalAnalogueInputData; h.SampleRate = varargin{i+1}; catch e, end
|
|
elseif strcmp(varargin{i}, 'ADXL345SampleRate')
|
|
try h = obj.RawADXL345busData; h.SampleRate = varargin{i+1}; catch e, end
|
|
try h = obj.CalADXL345busData; h.SampleRate = varargin{i+1}; catch e, end
|
|
else
|
|
error('Invalid argument.');
|
|
end
|
|
end
|
|
end
|
|
function obj = Plot(obj)
|
|
try obj.RawBatteryAndThermometerData.Plot(); catch e, end
|
|
try obj.CalBatteryAndThermometerData.Plot(); catch e, end
|
|
try obj.RawInertialAndMagneticData.Plot(); catch e, end
|
|
try obj.CalInertialAndMagneticData.Plot(); catch e, end
|
|
try obj.QuaternionData.Plot(); catch e, end
|
|
try obj.EulerAnglesData.Plot(); catch e, end
|
|
try obj.RotationMatrixDataClass.Plot(); catch e, end
|
|
try obj.DigitalIOdata.Plot(); catch e, end
|
|
try obj.RawAnalogueInputData.Plot(); catch e, end
|
|
try obj.CalAnalogueInputData.Plot(); catch e, end
|
|
try obj.RawADXL345busData.Plot(); catch e, end
|
|
try obj.CalADXL345busData.Plot(); catch e, end
|
|
end
|
|
end
|
|
|
|
%% Private methods
|
|
methods (Access = private)
|
|
function sampleRate = SampleRateFromRegValue(obj, value)
|
|
sampleRate = floor(2^(value-1));
|
|
end
|
|
end
|
|
end |