81 lines
2.9 KiB
C++
81 lines
2.9 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#ifndef _RTIMUBMX055_H
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#define _RTIMUBMX055_H
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#include "RTIMU.h"
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class RTIMUBMX055 : public RTIMU
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{
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public:
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RTIMUBMX055(RTIMUSettings *settings);
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~RTIMUBMX055();
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virtual const char *IMUName() { return "BMX055"; }
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virtual int IMUType() { return RTIMU_TYPE_BMX055; }
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virtual bool IMUInit();
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virtual int IMUGetPollInterval();
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virtual bool IMURead();
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private:
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bool setGyroSampleRate();
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bool setGyroFSR();
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bool setAccelSampleRate();
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bool setAccelFSR();
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bool magInitTrimRegisters();
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bool setMagPreset();
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void processMagData(unsigned char *v_data_uint8_t, float& magX, float& magY, float& magZ);
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float bmm050_compensate_X_float(int16_t mag_data_x, uint16_t data_r);
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float bmm050_compensate_Y_float(int16_t mag_data_y, uint16_t data_r);
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float bmm050_compensate_Z_float(int16_t mag_data_z, uint16_t data_r);
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unsigned char m_gyroSlaveAddr; // I2C address of gyro
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unsigned char m_accelSlaveAddr; // I2C address of accel
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unsigned char m_magSlaveAddr; // I2C address of mag
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bool m_firstTime; // if first sample
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RTFLOAT m_gyroScale;
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RTFLOAT m_accelScale;
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int8_t m_dig_x1;/**< trim x1 data */
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int8_t m_dig_y1;/**< trim y1 data */
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int8_t m_dig_x2;/**< trim x2 data */
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int8_t m_dig_y2;/**< trim y2 data */
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uint16_t m_dig_z1;/**< trim z1 data */
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int16_t m_dig_z2;/**< trim z2 data */
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int16_t m_dig_z3;/**< trim z3 data */
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int16_t m_dig_z4;/**< trim z4 data */
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uint8_t m_dig_xy1;/**< trim xy1 data */
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int8_t m_dig_xy2;/**< trim xy2 data */
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uint16_t m_dig_xyz1;/**< trim xyz1 data */
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};
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#endif // _RTIMUBMX055_H
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