99 lines
3.7 KiB
C++
99 lines
3.7 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 _RTIMUGD20HM303DLHC_H
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#define _RTIMUGD20HM303DLHC_H
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#include "RTIMU.h"
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// Define this symbol to use cache mode
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//#define GD20M303DLHC_CACHE_MODE // not reliable at the moment
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#ifdef GD20M303DLHC_CACHE_MODE
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// Cache defs
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#define GD20M303DLHC_FIFO_CHUNK_SIZE 6 // 6 bytes of gyro data
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#define GD20M303DLHC_FIFO_THRESH 16 // threshold point in fifo
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#define GD20M303DLHC_CACHE_BLOCK_COUNT 16 // number of cache blocks
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typedef struct
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{
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unsigned char data[GD20M303DLHC_FIFO_THRESH * GD20M303DLHC_FIFO_CHUNK_SIZE];
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int count; // number of chunks in the cache block
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int index; // current index into the cache
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unsigned char accel[6]; // the raw accel readings for the block
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unsigned char compass[6]; // the raw compass readings for the block
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} GD20M303DLHC_CACHE_BLOCK;
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#endif
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class RTIMUGD20HM303DLHC : public RTIMU
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{
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public:
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RTIMUGD20HM303DLHC(RTIMUSettings *settings);
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~RTIMUGD20HM303DLHC();
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virtual const char *IMUName() { return "L3GD20H + LSM303DLHC"; }
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virtual int IMUType() { return RTIMU_TYPE_GD20HM303DLHC; }
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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 setGyroCTRL2();
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bool setGyroCTRL4();
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bool setGyroCTRL5();
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bool setAccelCTRL1();
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bool setAccelCTRL4();
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bool setCompassCRA();
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bool setCompassCRB();
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bool setCompassCRM();
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unsigned char m_gyroSlaveAddr; // I2C address of L3GD20
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unsigned char m_accelSlaveAddr; // I2C address of LSM303DLHC accel
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unsigned char m_compassSlaveAddr; // I2C address of LSM303DLHC compass
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RTFLOAT m_gyroScale;
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RTFLOAT m_accelScale;
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RTFLOAT m_compassScaleXY;
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RTFLOAT m_compassScaleZ;
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#ifdef GD20M303DLHC_CACHE_MODE
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bool m_firstTime; // if first sample
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GD20M303DLHC_CACHE_BLOCK m_cache[GD20M303DLHC_CACHE_BLOCK_COUNT]; // the cache itself
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int m_cacheIn; // the in index
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int m_cacheOut; // the out index
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int m_cacheCount; // number of used cache blocks
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#endif
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};
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#endif // _RTIMUGD20HM303DLHC_H
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