c2-utopia/lib/RTIMULib/RTIMU.h

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////////////////////////////////////////////////////////////////////////////
//
// This file is part of RTIMULib-Arduino
//
// Copyright (c) 2014-2015, richards-tech
//
// 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 _RTIMU_H
#define _RTIMU_H
#include "RTMath.h"
#include "RTIMULibDefs.h"
#include "I2Cdev.h"
#define I2CWrite(x, y, z) I2Cdev::writeByte(x, y, z)
#define I2CRead(w, x, y, z) I2Cdev::readBytes(w, x, y, z)
class RTIMUSettings;
class RTIMU
{
public:
// IMUs should always be created with the following call
static RTIMU *createIMU(RTIMUSettings *settings);
// Constructor/destructor
RTIMU(RTIMUSettings *settings);
virtual ~RTIMU();
// These functions must be provided by sub classes
virtual const char *IMUName() = 0; // the name of the IMU
virtual int IMUType() = 0; // the type code of the IMU
virtual int IMUInit() = 0; // set up the IMU
virtual int IMUGetPollInterval() = 0; // returns the recommended poll interval in mS
virtual bool IMURead() = 0; // get a sample
// This one wanted a similar name but isn't pure virtual
virtual bool IMUCompassCalValid() { return m_calibrationValid; }
// setCalibrationMode() turns off use of cal data so that raw data can be accumulated
// to derive calibration data
void setCalibrationMode(bool enable) { m_calibrationMode = enable; }
// setCalibrationData configured the cal data and also enables use if valid
void setCalibrationData();
// getCalibrationValid() returns true if the calibration data is being used
bool getCalibrationValid() { return !m_calibrationMode && m_calibrationValid; }
// returns true if enough samples for valid data
virtual bool IMUGyroBiasValid();
inline const RTVector3& getGyro() { return m_gyro; } // gets gyro rates in radians/sec
inline const RTVector3& getAccel() { return m_accel; } // get accel data in gs
inline const RTVector3& getCompass() { return m_compass; } // gets compass data in uT
inline unsigned long getTimestamp() { return m_timestamp; } // and the timestamp for it
protected:
void gyroBiasInit(); // sets up gyro bias calculation
void handleGyroBias(); // adjust gyro for bias
void calibrateAverageCompass(); // calibrate and smooth compass
bool m_calibrationMode; // true if cal mode so don't use cal data!
bool m_calibrationValid; // tru if call data is valid and can be used
RTVector3 m_gyro; // the gyro readings
RTVector3 m_accel; // the accel readings
RTVector3 m_compass; // the compass readings
unsigned long m_timestamp; // the timestamp
RTIMUSettings *m_settings; // the settings object pointer
int m_sampleRate; // samples per second
uint64_t m_sampleInterval; // interval between samples in microseonds
RTFLOAT m_gyroAlpha; // gyro bias learning rate
int m_gyroSampleCount; // number of gyro samples used
bool m_gyroBiasValid; // true if the recorded gyro bias is valid
RTVector3 m_gyroBias; // the recorded gyro bias
RTVector3 m_previousAccel; // previous step accel for gyro learning
RTFLOAT m_compassCalOffset[3];
RTFLOAT m_compassCalScale[3];
RTVector3 m_compassAverage; // a running average to smooth the mag outputs
static RTFLOAT m_axisRotation[9]; // axis rotation matrix
};
#endif // _RTIMU_H