diff options
Diffstat (limited to 'src/sensor/sensor.hpp')
| -rw-r--r-- | src/sensor/sensor.hpp | 87 |
1 files changed, 46 insertions, 41 deletions
diff --git a/src/sensor/sensor.hpp b/src/sensor/sensor.hpp index c982fac..3e56627 100644 --- a/src/sensor/sensor.hpp +++ b/src/sensor/sensor.hpp @@ -1,16 +1,17 @@ -#ifndef SENSOR_HPP -#define SENSOR_HPP +#pragma once -#include "../utils/serial.hpp" -#include "../utils/time.hpp" +#include "utils/serial.hpp" +#include "utils/time.hpp" -#include "Wire.h" #include <Arduino.h> +#include <Wire.h> -#define SENSOR_WAKEUP 0x00 +constexpr uint8_t SENSOR_WAKEUP = 0x00U; -#define RAW_TO_DPS_FACTOR (1.0 / 131.0) -#define RAW_TO_G_FACTOR (1.0 / 16384.0) +constexpr float RAW_TO_DPS_FACTOR = 1.0 / 131.0; +constexpr float RAW_TO_G_FACTOR = 1.0 / 16384.0; + +constexpr unsigned int ONE_EIGHTY = 180; enum class SensorStatus { @@ -35,7 +36,7 @@ public: * @param sout A serial output stream * @param throttle_time A minumum time between sensor reads for the sensor to throttle */ - Sensor(uint8_t address, TwoWire *wire, SerialStream sout, unsigned int throttle_time); + Sensor(uint8_t address, TwoWire wire, SerialStream sout, unsigned int throttle_time); /** * Initializes communication with the sensor. @@ -50,11 +51,6 @@ public: bool isConnected(); /** - * Resets the sensor. - */ - void reset(); - - /** * Reads from the sensor. * * @returns Whether or not it succeeded. @@ -81,52 +77,52 @@ public: /** * Returns the current X axis acceleration in g:s (g-force). */ - float getAccelX(); + double getAccelX(); /** * Returns the current Y axis acceleration in g:s (g-force). */ - float getAccelY(); + double getAccelY(); /** * Returns the current Z axis acceleration in g:s (g-force). */ - float getAccelZ(); + double getAccelZ(); /** * Returns the current X angle. */ - float getAngleX(); + double getAngleX(); /** * Returns the current Y angle. */ - float getAngleY(); + double getAngleY(); /** * Returns the current X axis in degrees/s. */ - float getGyroX(); + double getGyroX(); /** * Returns the current Y axis in degrees/s. */ - float getGyroY(); + double getGyroY(); /** * Returns the current Z axis in degrees/s. */ - float getGyroZ(); + double getGyroZ(); /** * Returns the current pitch angle. */ - float getPitch(); + double getPitch(); /** * Returns the current roll angle. */ - float getRoll(); + double getRoll(); /** * Sets the value of a key in the sensor's register. @@ -150,16 +146,18 @@ public: SensorStatus getStatus(); // Accelerometer calibration values - float accel_cal_x; - float accel_cal_y; - float accel_cal_z; + double accel_cal_x = 0.0F; + double accel_cal_y = 0.0F; + double accel_cal_z = 0.0F; // Gyroscope calibration values - float gyro_cal_x; - float gyro_cal_y; - float gyro_cal_z; + double gyro_cal_x = 0.0F; + double gyro_cal_y = 0.0F; + double gyro_cal_z = 0.0F; private: + TwoWire _wire; + uint8_t _address; bool _throttle_enabled; @@ -169,25 +167,32 @@ private: SensorStatus _status; - uint8_t _accel_sensitivity; + uint8_t _accel_sensitivity = 0U; float _accel_to_g_force; - float _accel_raw_x, _accel_raw_y, _accel_raw_z; - float _accel_x, _accel_y; + double _accel_raw_x = 0; + double _accel_raw_y = 0; + double _accel_raw_z = 0; - uint8_t _gyro_sensitivity; + double _accel_x = 0; + double _accel_y = 0; + + uint8_t _gyro_sensitivity = 0U; float _ang_rate_to_dps; - float _gyro_raw_x, _gyro_raw_y, _gyro_raw_z; - float _gyro_x, _gyro_y, _gyro_z; + double _gyro_raw_x = 0; + double _gyro_raw_y = 0; + double _gyro_raw_z = 0; - float _pitch, _roll, _yaw; + double _gyro_x = 0; + double _gyro_y = 0; + double _gyro_z = 0; - int16_t _readHighLow(); + double _pitch = 0; + double _roll = 0; + double _yaw = 0; - TwoWire *_wire; + int16_t _readHighLow(); SerialStream _sout; }; - -#endif |