111 lines
4.0 KiB
C++
111 lines
4.0 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 _RTIMUMPU9150_H
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#define _RTIMUMPU9150_H
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#include "RTIMU.h"
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// Define this symbol to use cache mode
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#define MPU9150_CACHE_MODE
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// FIFO transfer size
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#define MPU9150_FIFO_CHUNK_SIZE 12 // gyro and accels take 12 bytes
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#ifdef MPU9150_CACHE_MODE
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// Cache mode defines
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#define MPU9150_CACHE_SIZE 8 // number of chunks in a block
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#define MPU9150_CACHE_BLOCK_COUNT 8 // number of cache blocks
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typedef struct
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{
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unsigned char data[MPU9150_FIFO_CHUNK_SIZE * MPU9150_CACHE_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 compass[8]; // the raw compass readings for the block
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} MPU9150_CACHE_BLOCK;
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#endif
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class RTIMUMPU9150 : public RTIMU
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{
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public:
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RTIMUMPU9150(RTIMUSettings *settings);
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~RTIMUMPU9150();
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bool setLpf(unsigned char lpf);
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bool setSampleRate(int rate);
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bool setCompassRate(int rate);
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bool setGyroFsr(unsigned char fsr);
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bool setAccelFsr(unsigned char fsr);
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virtual const char *IMUName() { return "MPU-9150"; }
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virtual int IMUType() { return RTIMU_TYPE_MPU9150; }
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virtual bool IMUInit();
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virtual bool IMURead();
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virtual int IMUGetPollInterval();
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private:
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bool configureCompass(); // configures the compass
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bool bypassOn(); // talk to compass
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bool bypassOff(); // talk to MPU9150
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bool setSampleRate();
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bool setCompassRate();
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bool resetFifo();
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bool m_firstTime; // if first sample
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unsigned char m_slaveAddr; // I2C address of MPU9150
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unsigned char m_lpf; // low pass filter setting
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int m_compassRate; // compass sample rate in Hz
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unsigned char m_gyroFsr;
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unsigned char m_accelFsr;
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RTFLOAT m_gyroScale;
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RTFLOAT m_accelScale;
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bool m_compassIs5883; // if it is an MPU-6050/HMC5883 combo
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int m_compassDataLength; // 8 for MPU-9150, 6 for HMC5883
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RTFLOAT m_compassAdjust[3]; // the compass fuse ROM values converted for use
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#ifdef MPU9150_CACHE_MODE
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MPU9150_CACHE_BLOCK m_cache[MPU9150_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 // _RTIMUMPU9150_H
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