98 lines
3.6 KiB
C++
98 lines
3.6 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Teensy
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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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// The MPU-9250 driver code is based on code generously supplied by
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// staslock@gmail.com (www.clickdrive.io)
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#ifndef _RTIMUHAL_H
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#define _RTIMUHAL_H
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#include <math.h>
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#include <stdint.h>
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#include <Arduino.h>
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#include <SPI.h>
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#define HAL_QUIET
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#ifndef HAL_QUIET
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#define HAL_INFO(m) Serial.printf(m);
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#define HAL_INFO1(m, x) Serial.printf(m, x);
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#define HAL_INFO2(m, x, y) Serial.printf(m, x, y);
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#define HAL_INFO3(m, x, y, z) Serial.printf(m, x, y, z);
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#define HAL_INFO4(m, x, y, z, a) Serial.printf(m, x, y, z, a);
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#define HAL_INFO5(m, x, y, z, a, b) Serial.printf(m, x, y, z, a, b);
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#define HAL_ERROR(m) Serial.printf(m);
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#define HAL_ERROR1(m, x) Serial.printf(m, x);
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#define HAL_ERROR2(m, x, y) Serial.printf(m, x, y);
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#define HAL_ERROR3(m, x, y, z) Serial.printf(m, x, y, z);
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#define HAL_ERROR4(m, x, y, z, a) Serial.printf(m, x, y, z, a);
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#else
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#define HAL_INFO(m)
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#define HAL_INFO1(m, x)
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#define HAL_INFO2(m, x, y)
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#define HAL_INFO3(m, x, y, z)
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#define HAL_INFO4(m, x, y, z, a)
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#define HAL_INFO5(m, x, y, z, a, b)
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#define HAL_ERROR(m) Serial.printf(m);
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#define HAL_ERROR1(m, x) Serial.printf(m, x);
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#define HAL_ERROR2(m, x, y) Serial.printf(m, x, y);
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#define HAL_ERROR3(m, x, y, z) Serial.printf(m, x, y, z);
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#define HAL_ERROR4(m, x, y, z, a) Serial.printf(m, x, y, z, a);
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#endif
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class RTIMUHal
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{
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public:
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RTIMUHal();
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virtual ~RTIMUHal();
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bool m_busIsI2C; // true if I2C bus in use, false if SPI in use
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unsigned char m_I2CBus; // I2C bus of the imu
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unsigned char m_SPIBus; // SPI bus of the imu
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unsigned char m_SPISelect; // SPI select line
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unsigned int m_SPISpeed; // speed of interface
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bool HALOpen();
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void HALClose();
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bool HALRead(unsigned char slaveAddr, unsigned char regAddr, unsigned char length,
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unsigned char *data, const char *errorMsg);
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bool HALWrite(unsigned char slaveAddr, unsigned char regAddr,
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unsigned char length, unsigned char const *data, const char *errorMsg);
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bool HALWrite(unsigned char slaveAddr, unsigned char regAddr,
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unsigned char const data, const char *errorMsg);
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void delayMs(int milliSeconds);
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private:
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void I2CClose();
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void SPIClose();
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SPISettings m_SPISettings;
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};
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#endif // _RTIMUHAL_H
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