RBCXMpu.h

Go to the documentation of this file.

#pragma once
 
#include <freertos/FreeRTOS.h>
 
#include "rbcx.pb.h"
namespace rb {
 
struct MpuVector {
    MpuVector()
        : x(0)
        , y(0)
        , z(0) {}
    float x;
    float y;
    float z;
};
 
struct MpuMotion9 {
    MpuVector accel;
    MpuVector gyro;
    MpuVector angle;
    MpuVector angleAcc;
};
 
struct MpuMotion6 {
    MpuVector accel;
    MpuVector gyro;
};
 
class Mpu {
    friend class Manager;
 
public:
    void init();
 
    void sendOne();
 
    void sendStart();
 
    void sendStop();
 
    void setCalibrationData();
 
    void clearCalibrationData();
 
    MpuVector getAcc();
 
    float getAccX();
 
    float getAccY();
 
    float getAccZ();
 
    MpuVector getGyro();
 
    float getGyroX();
 
    float getGyroY();
 
    float getGyroZ();
 
    MpuVector getAngle();
 
    float getAngleX();
 
    float getAngleY();
 
    float getAngleZ();
 
    // Reset heading back to 0
    void resetAngleZ();
 
    void setCompressCoef(uint8_t coef);
 
    uint8_t getCompressCoef();
 
private:
    MpuMotion9 m_mpuMotion;
    MpuMotion6 m_mpuMotionOffset;
 
    TickType_t m_lastTicks;
 
    uint8_t m_compressCoef;
 
    Mpu();
    Mpu(const Mpu&) = delete;
    ~Mpu();
 
    void setState(const CoprocStat_MpuStat& msg);
    void calculateAcc(const CoprocStat_MpuVector& accel);
    void calculateGyro(const CoprocStat_MpuVector& gyro);
    void calculateAngle();
 
    float wrap(float angle, float limit);
 
    void sendMpuReq(CoprocReq_MpuReq mpuReq);
};
};