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RTHumidity.h
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RTHumidityHTS221.h
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RTHumidityHTU21D.h
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RTIMU.h
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RTIMULSM9DS0.h
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RTPressureDefs.h
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Code Editor : RTIMULSM9DS1.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 _RTIMULSM9DS1_H #define _RTIMULSM9DS1_H #include "RTIMU.h" // Define this symbol to use cache mode //#define LSM9DS1_CACHE_MODE // not reliable at the moment #ifdef LSM9DS1_CACHE_MODE // Cache defs #define LSM9DS1_FIFO_CHUNK_SIZE 6 // 6 bytes of gyro data #define LSM9DS1_FIFO_THRESH 16 // threshold point in fifo #define LSM9DS1_CACHE_BLOCK_COUNT 16 // number of cache blocks typedef struct { unsigned char data[LSM9DS1_FIFO_THRESH * LSM9DS1_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 } LSM9DS1_CACHE_BLOCK; #endif class RTIMULSM9DS1 : public RTIMU { public: RTIMULSM9DS1(RTIMUSettings *settings); ~RTIMULSM9DS1(); virtual const char *IMUName() { return "LSM9DS1"; } virtual int IMUType() { return RTIMU_TYPE_LSM9DS1; } virtual bool IMUInit(); virtual int IMUGetPollInterval(); virtual bool IMURead(); private: bool setGyroSampleRate(); bool setGyroCTRL3(); bool setAccelCTRL6(); bool setAccelCTRL7(); bool setCompassCTRL1(); bool setCompassCTRL2(); bool setCompassCTRL3(); unsigned char m_accelGyroSlaveAddr; // I2C address of accel andgyro unsigned char m_magSlaveAddr; // I2C address of mag RTFLOAT m_gyroScale; RTFLOAT m_accelScale; RTFLOAT m_compassScale; #ifdef LSM9DS1_CACHE_MODE bool m_firstTime; // if first sample LSM9DS1_CACHE_BLOCK m_cache[LSM9DS1_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 // _RTIMULSM9DS1_H
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