full package supporting UART and SPI

CMakeLists.txt

@@ -0,0 +1,215 @@
+cmake_minimum_required(VERSION 3.5)
+project(ess_imu_driver2)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+#find_package(rosidl_default_generators REQUIRED)
+
+# Specify DEBUG macro to enable any debug code by adding "-DDEBUG" in add_definitions()
+#add_definitions(-DDEBUG)
+
+# Refer to the README_src.md inside the src folder for more details about IMU macro
+# Uncomment the imu_model to build for
+# NOTE: Change IMU models require rebuilding binaries with colcon
+
+# Current
+#set(IMU_MODEL "G330PDG0")
+#set(IMU_MODEL "G365PDC1")
+#set(IMU_MODEL "G365PDF1")
+set(IMU_MODEL "G366PDG0")
+#set(IMU_MODEL "G370PDF1")
+#set(IMU_MODEL "G370PDS0")
+#set(IMU_MODEL "G370PDG0")
+#set(IMU_MODEL "G370PDT0")
+
+# legacy
+#set(IMU_MODEL "G320PDG0")
+#set(IMU_MODEL "G354PDH0")
+#set(IMU_MODEL "G364PDCA")
+#set(IMU_MODEL "G364PDC0")
+#set(IMU_MODEL "V340PDD0")
+
+# Specify ACCL_RANGE_16G macro to enable 16G accelerometer range, otherwise defaults to 8G
+# Only supported for G330PDG0/G366PDG0/G370PDG0/G370PDT0
+# Uncomment below to enable 16G output range
+#add_definitions(-DACCL_RANGE_16G)
+
+# select NONE for standard PC, or RPI for RaspberryPi
+set(PLATFORM "NONE")
+#set(PLATFORM "RPI")
+
+# select serial interface type
+set(INTERFACE "UART")
+#set(INTERFACE "SPI")
+
+message(STATUS "-- Building for IMU Model: ${IMU_MODEL}")
+message(STATUS "---- Building for platform: ${PLATFORM}")
+message(STATUS "---- Building for interface: ${INTERFACE}")
+
+# When SPI interface selected, mandatory platform is RPI
+if (INTERFACE STREQUAL "SPI")
+  set(PLATFORM "RPI")
+  message(STATUS "---- SPI selected forcing platform: ${PLATFORM}")
+endif()
+
+# Define macros variables for compilation
+add_definitions(-D${IMU_MODEL})
+add_definitions(-DBUILD_FOR=\"${IMU_MODEL}\")
+add_definitions(-D${PLATFORM})
+add_definitions(-D${INTERFACE})
+
+# Create file list for C libraries based on platform
+if (PLATFORM STREQUAL "RPI")
+  set(lib_sources
+    src/hcl_rpi.c
+    src/hcl_gpio_rpi.c
+  )
+elseif (PLATFORM STREQUAL "NONE")
+  set(lib_sources
+    src/hcl_linux.c
+    src/hcl_gpio.c
+  )
+else()
+  message(FATAL_ERROR "**** Invalid Platform")
+endif()
+
+
+# Create file list for C libraries based on interface
+if (INTERFACE STREQUAL "SPI")
+  set(lib_sources ${lib_sources}
+    src/hcl_spi_rpi.c
+    src/sensor_epsonCommon.c
+    src/sensor_epsonSpi.c
+  )
+elseif (INTERFACE STREQUAL "UART")
+  set(lib_sources ${lib_sources}
+    src/hcl_uart.c
+    src/sensor_epsonCommon.c
+    src/sensor_epsonUart.c
+  )
+else()
+  message(FATAL_ERROR "**** Invalid Interface")
+endif()
+
+
+# Add IMU model specific C source to filelist macro
+if (IMU_MODEL STREQUAL "G320PDG0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG320.c)
+elseif (IMU_MODEL STREQUAL "G330PDG0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG330_G366.c)
+elseif (IMU_MODEL STREQUAL "G354PDH0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG354.c)
+elseif (IMU_MODEL STREQUAL "G364PDC0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG364.c)
+elseif (IMU_MODEL STREQUAL "G364PDCA")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG364.c)
+elseif (IMU_MODEL STREQUAL "G365PDC1")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG365.c)
+elseif (IMU_MODEL STREQUAL "G365PDF1")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG365.c)
+elseif (IMU_MODEL STREQUAL "G366PDG0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG330_G366.c)
+elseif (IMU_MODEL STREQUAL "G370PDF1")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG370.c)
+elseif (IMU_MODEL STREQUAL "G370PDS0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG370.c)
+elseif (IMU_MODEL STREQUAL "G370PDG0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG370.c)
+elseif (IMU_MODEL STREQUAL "G370PDT0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonG370.c)
+elseif (IMU_MODEL STREQUAL "V340PDD0")
+  set(lib_sources ${lib_sources}
+    src/sensor_epsonV340.c)
+else()
+  message(FATAL_ERROR "**** Invalid IMU Model")
+endif()
+
+# Declare library for Epson IMU functions
+add_library(ess_imu_driver2_lib
+  ${lib_sources}
+)
+
+# Link external libraries to Epson IMU Library
+if (PLATFORM STREQUAL "RPI")
+  # Determine location of wiringPi library on the host system
+  # Needed if building on Raspberry Pi platform
+  find_library(wiringPi_LIB NAMES wiringPi)
+
+  target_link_libraries(ess_imu_driver2_lib
+    ${wiringPi_LIB}
+  )
+endif()
+
+
+# Declare a C++ executable
+if (INTERFACE STREQUAL "SPI")
+add_executable(ess_imu_driver2_node
+  src/epson_imu_spi_ros2_node.cpp
+)
+elseif (INTERFACE STREQUAL "UART")
+add_executable(ess_imu_driver2_node
+  src/epson_imu_uart_ros2_node.cpp
+)
+else()
+  message(FATAL_ERROR "**** Invalid Interface")
+endif()
+
+
+# Link C libraries to the ROS node
+target_link_libraries(ess_imu_driver2_node
+  ess_imu_driver2_lib
+  crypt
+  rt
+  pthread
+)
+
+# Link C++ Library to the ROS node
+ament_target_dependencies(ess_imu_driver2_node
+  rclcpp
+  std_msgs
+  sensor_msgs
+)
+
+# Mark executables and/or libraries for installation
+install(
+   TARGETS ess_imu_driver2_node
+   DESTINATION lib/${PROJECT_NAME}
+ )
+
+# Mark directories for installation
+install(
+   DIRECTORY launch DESTINATION share/${PROJECT_NAME}
+)
+
+#ament_export_include_directories(include)
+#ament_export_dependencies(std_msgs)
+ament_package()

LICENSE.txt

@@ -0,0 +1,46 @@
+The Epson IMU C++ Wrapper ROS2 Node is released under BSD-3 license:
+src/epson_imu_spi_ros2_node.cpp
+src/epson_imu_uart_ros2_node.cpp
+
+Original Code Development:
+Copyright (c) 2019, Carnegie Mellon University. All rights reserved.
+
+Additional Code contributed:
+Copyright (c) 2020, 2023 Seiko Epson Corp. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice,
+   this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+
+
+The Epson IMU C driver software is released as public domain:
+all other source files excluding epson_imu_spi_ros2_node.cpp and epson_imu_uart_ros2_node.cpp found in src/
+
+THE SOFTWARE IS RELEASED INTO THE PUBLIC DOMAIN.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+NONINFRINGEMENT, SECURITY, SATISFACTORY QUALITY, AND FITNESS FOR A
+PARTICULAR PURPOSE. IN NO EVENT SHALL EPSON BE LIABLE FOR ANY LOSS, DAMAGE
+OR CLAIM, ARISING FROM OR IN CONNECTION WITH THE SOFTWARE OR THE USE OF THE
+SOFTWARE.