diff options
Diffstat (limited to 'src/sensor.hpp')
| -rw-r--r-- | src/sensor.hpp | 137 |
1 files changed, 33 insertions, 104 deletions
diff --git a/src/sensor.hpp b/src/sensor.hpp index 3fbc544..07b8f95 100644 --- a/src/sensor.hpp +++ b/src/sensor.hpp @@ -3,15 +3,7 @@ #include "Arduino.h" #include "Wire.h" - -#define DEFAULT_THROTTLE_TIME 10 // milliseconds - -// Status codes -#define SENSOR_OK 0 -#define SENSOR_THROTTLED 1 -#define SENSOR_ERR_READ -1 -#define SENSOR_ERR_WRITE -2 -#define SENSOR_ERR_NOT_CONNECTED -3 +#include "time_utils.hpp" #define SENSOR_WAKEUP 0x00 @@ -19,35 +11,33 @@ #define RAW_TO_DPS_FACTOR (1.0 / 131.0) #define RAW_TO_G_FACTOR (1.0 / 16384.0) -// Automatic calibration precision -#define ACCEL_CAL_X_MAX 0.002 -#define ACCEL_CAL_X_MIN -0.002 - -#define ACCEL_CAL_Y_MAX 0.002 -#define ACCEL_CAL_Y_MIN -0.002 - -#define ACCEL_CAL_Z_MAX 0.002 -#define ACCEL_CAL_Z_MIN -0.002 - -#define GYRO_CAL_X_MAX 0.2 -#define GYRO_CAL_X_MIN -0.2 - -#define GYRO_CAL_Y_MAX 0.02 -#define GYRO_CAL_Y_MIN -0.02 - -#define GYRO_CAL_Z_MAX 0.08 -#define GYRO_CAL_Z_MIN -0.08 - -#define CALIBRATION_TIMEOUT 120000 // Milliseconds +enum class SensorStatus +{ + OK = 0, + THROTTLED = 1, + ERR_READ = -1, + ERR_WRITE = -2, + ERR_NOT_CONNECTED = -3 +}; +/** + * A GY521 gyro and accelerometer sensor. + */ class Sensor { public: - Sensor(uint8_t address, TwoWire *wire); + /** + * A GY521 gyro and accelerometer sensor. + * + * @param address The address of the sensor + * @param wire A Wire instance + * @param throttle_time A minumum time between sensor reads for the sensor to throttle + */ + Sensor(uint8_t address, TwoWire *wire, unsigned int throttle_time); /** * Initializes communication with the sensor. - * + * * @returns Whether or not the sensor can be communicated with. */ bool begin(); @@ -63,59 +53,21 @@ public: void reset(); /** - * Returns whether or not throttling is enabled. - */ - bool getThrottleEnabled(); - - /** - * Sets whether or not throttling is enabled. - * - * @param throttle Throttling enable/disable - */ - void setThrottleEnabled(bool throttle); - - /** - * Returns the throttle time. - */ - uint16_t getThrottleTime(); - - /** - * Sets the throttle time. - * - * @param time_ms Time in milliseconds to throttle - */ - void setThrottleTime(uint16_t time_ms); - - /** * Reads from the sensor. - * - * @returns The sensor status. - */ - int16_t read(); - - /** - * Returns the accelerometer sensitivity. - * - * 0,1,2,3 ==> 2g 4g 8g 16g + * + * @returns Whether or not it succeeded. */ - uint8_t getAccelSensitivity(); + bool read(); /** * Sets the accelerometer sensitivity. - * + * * @param sensitivity Accelerometer sensitivity. 0, 1, 2, 3 => 2g 4g 8g 16g * @returns Whether or not it succeeded. */ bool setAccelSensitivity(uint8_t sensitivity); /** - * Returns the gyro sensitivity. - * - * 0, 1, 2, 3 => 250, 500, 1000, 2000 degrees/s - */ - uint8_t getGyroSensitivity(); - - /** * Sets the gyro sensitivity. * * @param sensitivity Gyro sensitivity. @@ -150,11 +102,6 @@ public: float getAngleY(); /** - * Returns the current temperature. - */ - float getTemperature(); - - /** * Returns the current X axis in degrees/s. */ float getGyroX(); @@ -180,22 +127,17 @@ public: float getRoll(); /** - * Returns the last time the sensor was read. - */ - uint32_t lastTime(); - - /** * Sets the value of a key in the sensor's register. - * + * * @param reg The address of a registry key * @param value A new value - * @returns The sensor status + * @returns Whether or not it succeeded. */ - uint8_t setRegister(uint8_t reg, uint8_t value); + bool setRegister(uint8_t reg, uint8_t value); /** * Returns the value of a key in the sensor's registry. - * + * * @param reg The address of a registry key */ uint8_t getRegister(uint8_t reg); @@ -203,17 +145,7 @@ public: /** * Returns the last sensor status. */ - int16_t getStatus(); - - /** - * Automatically calibrates the sensor. - * - * @returns Whether or not the calibration succeeded. - * Will return false if it times out. - */ - bool autoCalibrate(); - - bool is_calibrated; + SensorStatus getStatus(); // Accelerometer calibration values float accel_cal_x; @@ -229,12 +161,11 @@ private: uint8_t _address; bool _throttle_enabled; - uint16_t _throttleTime; + unsigned int _throttle_time; - uint32_t _lastTime; - uint32_t _lastMicros; + Time _last_time; - int16_t _status; + SensorStatus _status; uint8_t _accel_sensitivity; float _accel_to_g_force; @@ -250,8 +181,6 @@ private: float _pitch, _roll, _yaw; - float _temperature; - int16_t _readTwoBytes(); TwoWire *_wire; |