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RTHumidity.h
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RTHumidityHTS221.h
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RTIMUDefs.h
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RTIMUGD20HM303D.h
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RTIMUGD20HM303DLHC.h
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Code Editor : RTIMUGD20HM303DLHC.h
//////////////////////////////////////////////////////////////////////////// // // This file is part of RTIMULib // // Copyright (c) 2014-2015, richards-tech, LLC // // Permission is hereby granted, free of charge, to any person obtaining a copy of // this software and associated documentation files (the "Software"), to deal in // the Software without restriction, including without limitation the rights to use, // copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the // Software, and to permit persons to whom the Software is furnished to do so, // subject to the following conditions: // // The above copyright notice and this permission notice shall be included in all // copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, // INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A // PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT // HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION // OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. #ifndef _RTIMUGD20HM303DLHC_H #define _RTIMUGD20HM303DLHC_H #include "RTIMU.h" // Define this symbol to use cache mode //#define GD20M303DLHC_CACHE_MODE // not reliable at the moment #ifdef GD20M303DLHC_CACHE_MODE // Cache defs #define GD20M303DLHC_FIFO_CHUNK_SIZE 6 // 6 bytes of gyro data #define GD20M303DLHC_FIFO_THRESH 16 // threshold point in fifo #define GD20M303DLHC_CACHE_BLOCK_COUNT 16 // number of cache blocks typedef struct { unsigned char data[GD20M303DLHC_FIFO_THRESH * GD20M303DLHC_FIFO_CHUNK_SIZE]; int count; // number of chunks in the cache block int index; // current index into the cache unsigned char accel[6]; // the raw accel readings for the block unsigned char compass[6]; // the raw compass readings for the block } GD20M303DLHC_CACHE_BLOCK; #endif class RTIMUGD20HM303DLHC : public RTIMU { public: RTIMUGD20HM303DLHC(RTIMUSettings *settings); ~RTIMUGD20HM303DLHC(); virtual const char *IMUName() { return "L3GD20H + LSM303DLHC"; } virtual int IMUType() { return RTIMU_TYPE_GD20HM303DLHC; } virtual bool IMUInit(); virtual int IMUGetPollInterval(); virtual bool IMURead(); private: bool setGyroSampleRate(); bool setGyroCTRL2(); bool setGyroCTRL4(); bool setGyroCTRL5(); bool setAccelCTRL1(); bool setAccelCTRL4(); bool setCompassCRA(); bool setCompassCRB(); bool setCompassCRM(); unsigned char m_gyroSlaveAddr; // I2C address of L3GD20 unsigned char m_accelSlaveAddr; // I2C address of LSM303DLHC accel unsigned char m_compassSlaveAddr; // I2C address of LSM303DLHC compass RTFLOAT m_gyroScale; RTFLOAT m_accelScale; RTFLOAT m_compassScaleXY; RTFLOAT m_compassScaleZ; #ifdef GD20M303DLHC_CACHE_MODE bool m_firstTime; // if first sample GD20M303DLHC_CACHE_BLOCK m_cache[GD20M303DLHC_CACHE_BLOCK_COUNT]; // the cache itself int m_cacheIn; // the in index int m_cacheOut; // the out index int m_cacheCount; // number of used cache blocks #endif }; #endif // _RTIMUGD20HM303DLHC_H
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