c2-utopia/lib/RTIMULib/RTIMUSettings.h

125 lines
6.2 KiB
C++

////////////////////////////////////////////////////////////////////////////
//
// 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 _RTIMUSETTINGS_H
#define _RTIMUSETTINGS_H
#include "RTMath.h"
#include "RTIMULibDefs.h"
class RTIMUSettings
{
public:
RTIMUSettings();
// These are the local variables
int m_imuType; // type code of imu in use
unsigned char m_I2CSlaveAddress; // I2C slave address of the imu
int m_pressureType; // type code of pressure sensor in use
unsigned char m_I2CPressureAddress; // I2C slave address of the pressure sensor
// IMU-specific vars
#if defined(MPU9150_68) || defined(MPU9150_69)
// MPU9150
int m_MPU9150GyroAccelSampleRate; // the sample rate (samples per second) for gyro and accel
int m_MPU9150CompassSampleRate; // same for the compass
int m_MPU9150GyroAccelLpf; // low pass filter code for the gyro and accel
int m_MPU9150GyroFsr; // FSR code for the gyro
int m_MPU9150AccelFsr; // FSR code for the accel
#endif
#if defined(MPU9250_68) || defined(MPU9250_69)
// MPU9250
int m_MPU9250GyroAccelSampleRate; // the sample rate (samples per second) for gyro and accel
int m_MPU9250CompassSampleRate; // same for the compass
int m_MPU9250GyroLpf; // low pass filter code for the gyro
int m_MPU9250AccelLpf; // low pass filter code for the accel
int m_MPU9250GyroFsr; // FSR code for the gyro
int m_MPU9250AccelFsr; // FSR code for the accel
#endif
#if defined(LSM9DS0_6a) || defined(LSM9DS0_6b)
// LSM9DS0
int m_LSM9DS0GyroSampleRate; // the gyro sample rate
int m_LSM9DS0GyroBW; // the gyro bandwidth code
int m_LSM9DS0GyroHpf; // the gyro high pass filter cutoff code
int m_LSM9DS0GyroFsr; // the gyro full scale range
int m_LSM9DS0AccelSampleRate; // the accel sample rate
int m_LSM9DS0AccelFsr; // the accel full scale range
int m_LSM9DS0AccelLpf; // the accel low pass filter
int m_LSM9DS0CompassSampleRate; // the compass sample rate
int m_LSM9DS0CompassFsr; // the compass full scale range
#endif
#if defined(GD20HM303D_6a) || defined(GD20HM303D_6b)
int m_GD20HM303DGyroSampleRate; // the gyro sample rate
int m_GD20HM303DGyroBW; // the gyro bandwidth code
int m_GD20HM303DGyroHpf; // the gyro high pass filter cutoff code
int m_GD20HM303DGyroFsr; // the gyro full scale range
int m_GD20HM303DAccelSampleRate; // the accel sample rate
int m_GD20HM303DAccelFsr; // the accel full scale range
int m_GD20HM303DAccelLpf; // the accel low pass filter
int m_GD20HM303DCompassSampleRate; // the compass sample rate
int m_GD20HM303DCompassFsr; // the compass full scale range
#endif
#if defined(GD20M303DLHC_6a) || defined(GD20M303DLHC_6b)
int m_GD20M303DLHCGyroSampleRate; // the gyro sample rate
int m_GD20M303DLHCGyroBW; // the gyro bandwidth code
int m_GD20M303DLHCGyroHpf; // the gyro high pass filter cutoff code
int m_GD20M303DLHCGyroFsr; // the gyro full scale range
int m_GD20M303DLHCAccelSampleRate; // the accel sample rate
int m_GD20M303DLHCAccelFsr; // the accel full scale range
int m_GD20M303DLHCCompassSampleRate; // the compass sample rate
int m_GD20M303DLHCCompassFsr; // the compass full scale range
#endif
#if defined(GD20HM303DLHC_6a) || defined(GD20HM303DLHC_6b)
int m_GD20HM303DLHCGyroSampleRate; // the gyro sample rate
int m_GD20HM303DLHCGyroBW; // the gyro bandwidth code
int m_GD20HM303DLHCGyroHpf; // the gyro high pass filter cutoff code
int m_GD20HM303DLHCGyroFsr; // the gyro full scale range
int m_GD20HM303DLHCAccelSampleRate; // the accel sample rate
int m_GD20HM303DLHCAccelFsr; // the accel full scale range
int m_GD20HM303DLHCCompassSampleRate; // the compass sample rate
int m_GD20HM303DLHCCompassFsr; // the compass full scale range
#endif
};
#endif // _RTIMUSETTINGS_H