From 01ce0af940bd69c94a2fac8b65219262845cca98 Mon Sep 17 00:00:00 2001 From: HampusM Date: Mon, 14 Feb 2022 18:18:38 +0100 Subject: refactor: clean sewage --- src/sensor/registers.hpp | 267 +++++++++++++++++++++++------------------------ src/sensor/sensor.cpp | 174 ++++++++++++++---------------- src/sensor/sensor.hpp | 87 +++++++-------- 3 files changed, 259 insertions(+), 269 deletions(-) (limited to 'src/sensor') diff --git a/src/sensor/registers.hpp b/src/sensor/registers.hpp index c1b19b4..fadb62b 100644 --- a/src/sensor/registers.hpp +++ b/src/sensor/registers.hpp @@ -1,137 +1,136 @@ -#ifndef SENSOR_REGISTERS_HPP -#define SENSOR_REGISTERS_HPP +#pragma once + +#include namespace SensorRegisters { - const uint8_t XG_OFFS_TC = 0x00; - const uint8_t YG_OFFS_TC = 0x01; - const uint8_t ZG_OFFS_TC = 0x02; - - const uint8_t X_FINE_GAIN = 0x03; - const uint8_t Y_FINE_GAIN = 0x04; - const uint8_t Z_FINE_GAIN = 0x05; - - const uint8_t XA_OFFS_H = 0x06; - const uint8_t XA_OFFS_L_TC = 0x07; - const uint8_t YA_OFFS_H = 0x08; - const uint8_t YA_OFFS_L_TC = 0x09; - const uint8_t ZA_OFFS_H = 0x0A; - const uint8_t ZA_OFFS_L_TC = 0x0B; - - const uint8_t SELF_TEST_X = 0x0D; - const uint8_t SELF_TEST_Y = 0x0E; - const uint8_t SELF_TEST_Z = 0x0F; - const uint8_t SELF_TEST_A = 0x10; - - const uint8_t XG_OFFS_USRH = 0x13; - const uint8_t XG_OFFS_USRL = 0x14; - const uint8_t YG_OFFS_USRH = 0x15; - const uint8_t YG_OFFS_USRL = 0x16; - const uint8_t ZG_OFFS_USRH = 0x17; - const uint8_t ZG_OFFS_USRL = 0x18; - - const uint8_t SMPLRT_DIV = 0x19; - const uint8_t CONFIG = 0x1A; - const uint8_t GYRO_CONFIG = 0x1B; - const uint8_t ACCEL_CONFIG = 0x1C; - - const uint8_t FF_THR = 0x1D; - const uint8_t FF_DUR = 0x1E; - const uint8_t MOT_THR = 0x1F; - const uint8_t MOT_DUR = 0x20; - const uint8_t ZRMOT_THR = 0x21; - const uint8_t ZRMOT_DUR = 0x22; - const uint8_t FIFO_EN = 0x23; - - const uint8_t I2C_MST_CTRL = 0x24; - const uint8_t I2C_SLV0_ADDR = 0x25; - const uint8_t I2C_SLV0_REG = 0x26; - const uint8_t I2C_SLV0_CTRL = 0x27; - const uint8_t I2C_SLV1_ADDR = 0x28; - const uint8_t I2C_SLV1_REG = 0x29; - const uint8_t I2C_SLV1_CTRL = 0x2A; - const uint8_t I2C_SLV2_ADDR = 0x2B; - const uint8_t I2C_SLV2_REG = 0x2C; - const uint8_t I2C_SLV2_CTRL = 0x2D; - const uint8_t I2C_SLV3_ADDR = 0x2E; - const uint8_t I2C_SLV3_REG = 0x2F; - const uint8_t I2C_SLV3_CTRL = 0x30; - const uint8_t I2C_SLV4_ADDR = 0x31; - const uint8_t I2C_SLV4_REG = 0x32; - const uint8_t I2C_SLV4_DO = 0x33; - const uint8_t I2C_SLV4_CTRL = 0x34; - const uint8_t I2C_SLV4_DI = 0x35; - const uint8_t I2C_MST_STATUS = 0x36; - - const uint8_t INT_PIN_CFG = 0x37; - const uint8_t INT_ENABLE = 0x38; - const uint8_t DMP_INT_STATUS = 0x39; - const uint8_t INT_STATUS = 0x3A; - - const uint8_t ACCEL_XOUT_H = 0x3B; - const uint8_t ACCEL_XOUT_L = 0x3C; - const uint8_t ACCEL_YOUT_H = 0x3D; - const uint8_t ACCEL_YOUT_L = 0x3E; - const uint8_t ACCEL_ZOUT_H = 0x3F; - const uint8_t ACCEL_ZOUT_L = 0x40; - const uint8_t TEMP_OUT_H = 0x41; - const uint8_t TEMP_OUT_L = 0x42; - const uint8_t GYRO_XOUT_H = 0x43; - const uint8_t GYRO_XOUT_L = 0x44; - const uint8_t GYRO_YOUT_H = 0x45; - const uint8_t GYRO_YOUT_L = 0x46; - const uint8_t GYRO_ZOUT_H = 0x47; - const uint8_t GYRO_ZOUT_L = 0x48; - - const uint8_t EXT_SENS_DATA_00 = 0x49; - const uint8_t EXT_SENS_DATA_01 = 0x4A; - const uint8_t EXT_SENS_DATA_02 = 0x4B; - const uint8_t EXT_SENS_DATA_03 = 0x4C; - const uint8_t EXT_SENS_DATA_04 = 0x4D; - const uint8_t EXT_SENS_DATA_05 = 0x4E; - const uint8_t EXT_SENS_DATA_06 = 0x4F; - const uint8_t EXT_SENS_DATA_07 = 0x50; - const uint8_t EXT_SENS_DATA_08 = 0x51; - const uint8_t EXT_SENS_DATA_09 = 0x52; - const uint8_t EXT_SENS_DATA_10 = 0x53; - const uint8_t EXT_SENS_DATA_11 = 0x54; - const uint8_t EXT_SENS_DATA_12 = 0x55; - const uint8_t EXT_SENS_DATA_13 = 0x56; - const uint8_t EXT_SENS_DATA_14 = 0x57; - const uint8_t EXT_SENS_DATA_15 = 0x58; - const uint8_t EXT_SENS_DATA_16 = 0x59; - const uint8_t EXT_SENS_DATA_17 = 0x5A; - const uint8_t EXT_SENS_DATA_18 = 0x5B; - const uint8_t EXT_SENS_DATA_19 = 0x5C; - const uint8_t EXT_SENS_DATA_20 = 0x5D; - const uint8_t EXT_SENS_DATA_21 = 0x5E; - const uint8_t EXT_SENS_DATA_22 = 0x5F; - const uint8_t EXT_SENS_DATA_23 = 0x60; - - const uint8_t MOT_DETECT_STATUS = 0x61; - - const uint8_t I2C_SLV0_DO = 0x63; - const uint8_t I2C_SLV1_DO = 0x64; - const uint8_t I2C_SLV2_DO = 0x65; - const uint8_t I2C_SLV3_DO = 0x66; - const uint8_t I2C_MST_DELAY_CTRL = 0x67; - - const uint8_t SIGNAL_PATH_RESET = 0x68; - const uint8_t MOT_DETECT_CTRL = 0x69; - const uint8_t USER_CTRL = 0x6A; - - const uint8_t PWR_MGMT_1 = 0x6B; - const uint8_t PWR_MGMT_2 = 0x6C; - const uint8_t BANK_SEL = 0x6D; - const uint8_t MEM_START_ADDR = 0x6E; - const uint8_t MEM_R_W = 0x6F; - - const uint8_t DMP_CFG_1 = 0x70; - const uint8_t DMP_CFG_2 = 0x71; - const uint8_t FIFO_COUNTH = 0x72; - const uint8_t FIFO_COUNTL = 0x73; - const uint8_t FIFO_R_W = 0x74; - const uint8_t WHO_AM_I = 0x75; -} - -#endif + const uint8_t XG_OFFS_TC = 0x00U; + const uint8_t YG_OFFS_TC = 0x01U; + const uint8_t ZG_OFFS_TC = 0x02U; + + const uint8_t X_FINE_GAIN = 0x03U; + const uint8_t Y_FINE_GAIN = 0x04U; + const uint8_t Z_FINE_GAIN = 0x05U; + + const uint8_t XA_OFFS_H = 0x06U; + const uint8_t XA_OFFS_L_TC = 0x07U; + const uint8_t YA_OFFS_H = 0x08U; + const uint8_t YA_OFFS_L_TC = 0x09U; + const uint8_t ZA_OFFS_H = 0x0AU; + const uint8_t ZA_OFFS_L_TC = 0x0BU; + + const uint8_t SELF_TEST_X = 0x0DU; + const uint8_t SELF_TEST_Y = 0x0EU; + const uint8_t SELF_TEST_Z = 0x0FU; + const uint8_t SELF_TEST_A = 0x10U; + + const uint8_t XG_OFFS_USRH = 0x13U; + const uint8_t XG_OFFS_USRL = 0x14U; + const uint8_t YG_OFFS_USRH = 0x15U; + const uint8_t YG_OFFS_USRL = 0x16U; + const uint8_t ZG_OFFS_USRH = 0x17U; + const uint8_t ZG_OFFS_USRL = 0x18U; + + const uint8_t SMPLRT_DIV = 0x19U; + const uint8_t CONFIG = 0x1AU; + const uint8_t GYRO_CONFIG = 0x1BU; + const uint8_t ACCEL_CONFIG = 0x1CU; + + const uint8_t FF_THR = 0x1DU; + const uint8_t FF_DUR = 0x1EU; + const uint8_t MOT_THR = 0x1FU; + const uint8_t MOT_DUR = 0x20U; + const uint8_t ZRMOT_THR = 0x21U; + const uint8_t ZRMOT_DUR = 0x22U; + const uint8_t FIFO_EN = 0x23U; + + const uint8_t I2C_MST_CTRL = 0x24U; + const uint8_t I2C_SLV0_ADDR = 0x25U; + const uint8_t I2C_SLV0_REG = 0x26U; + const uint8_t I2C_SLV0_CTRL = 0x27U; + const uint8_t I2C_SLV1_ADDR = 0x28U; + const uint8_t I2C_SLV1_REG = 0x29U; + const uint8_t I2C_SLV1_CTRL = 0x2AU; + const uint8_t I2C_SLV2_ADDR = 0x2BU; + const uint8_t I2C_SLV2_REG = 0x2CU; + const uint8_t I2C_SLV2_CTRL = 0x2DU; + const uint8_t I2C_SLV3_ADDR = 0x2EU; + const uint8_t I2C_SLV3_REG = 0x2FU; + const uint8_t I2C_SLV3_CTRL = 0x30U; + const uint8_t I2C_SLV4_ADDR = 0x31U; + const uint8_t I2C_SLV4_REG = 0x32U; + const uint8_t I2C_SLV4_DO = 0x33U; + const uint8_t I2C_SLV4_CTRL = 0x34U; + const uint8_t I2C_SLV4_DI = 0x35U; + const uint8_t I2C_MST_STATUS = 0x36U; + + const uint8_t INT_PIN_CFG = 0x37U; + const uint8_t INT_ENABLE = 0x38U; + const uint8_t DMP_INT_STATUS = 0x39U; + const uint8_t INT_STATUS = 0x3AU; + + const uint8_t ACCEL_XOUT_H = 0x3BU; + const uint8_t ACCEL_XOUT_L = 0x3CU; + const uint8_t ACCEL_YOUT_H = 0x3DU; + const uint8_t ACCEL_YOUT_L = 0x3EU; + const uint8_t ACCEL_ZOUT_H = 0x3FU; + const uint8_t ACCEL_ZOUT_L = 0x40U; + const uint8_t TEMP_OUT_H = 0x41U; + const uint8_t TEMP_OUT_L = 0x42U; + const uint8_t GYRO_XOUT_H = 0x43U; + const uint8_t GYRO_XOUT_L = 0x44U; + const uint8_t GYRO_YOUT_H = 0x45U; + const uint8_t GYRO_YOUT_L = 0x46U; + const uint8_t GYRO_ZOUT_H = 0x47U; + const uint8_t GYRO_ZOUT_L = 0x48U; + + const uint8_t EXT_SENS_DATA_00 = 0x49U; + const uint8_t EXT_SENS_DATA_01 = 0x4AU; + const uint8_t EXT_SENS_DATA_02 = 0x4BU; + const uint8_t EXT_SENS_DATA_03 = 0x4CU; + const uint8_t EXT_SENS_DATA_04 = 0x4DU; + const uint8_t EXT_SENS_DATA_05 = 0x4EU; + const uint8_t EXT_SENS_DATA_06 = 0x4FU; + const uint8_t EXT_SENS_DATA_07 = 0x50U; + const uint8_t EXT_SENS_DATA_08 = 0x51U; + const uint8_t EXT_SENS_DATA_09 = 0x52U; + const uint8_t EXT_SENS_DATA_10 = 0x53U; + const uint8_t EXT_SENS_DATA_11 = 0x54U; + const uint8_t EXT_SENS_DATA_12 = 0x55U; + const uint8_t EXT_SENS_DATA_13 = 0x56U; + const uint8_t EXT_SENS_DATA_14 = 0x57U; + const uint8_t EXT_SENS_DATA_15 = 0x58U; + const uint8_t EXT_SENS_DATA_16 = 0x59U; + const uint8_t EXT_SENS_DATA_17 = 0x5AU; + const uint8_t EXT_SENS_DATA_18 = 0x5BU; + const uint8_t EXT_SENS_DATA_19 = 0x5CU; + const uint8_t EXT_SENS_DATA_20 = 0x5DU; + const uint8_t EXT_SENS_DATA_21 = 0x5EU; + const uint8_t EXT_SENS_DATA_22 = 0x5FU; + const uint8_t EXT_SENS_DATA_23 = 0x60U; + + const uint8_t MOT_DETECT_STATUS = 0x61U; + + const uint8_t I2C_SLV0_DO = 0x63U; + const uint8_t I2C_SLV1_DO = 0x64U; + const uint8_t I2C_SLV2_DO = 0x65U; + const uint8_t I2C_SLV3_DO = 0x66U; + const uint8_t I2C_MST_DELAY_CTRL = 0x67U; + + const uint8_t SIGNAL_PATH_RESET = 0x68U; + const uint8_t MOT_DETECT_CTRL = 0x69U; + const uint8_t USER_CTRL = 0x6AU; + + const uint8_t PWR_MGMT_1 = 0x6BU; + const uint8_t PWR_MGMT_2 = 0x6CU; + const uint8_t BANK_SEL = 0x6DU; + const uint8_t MEM_START_ADDR = 0x6EU; + const uint8_t MEM_R_W = 0x6FU; + + const uint8_t DMP_CFG_1 = 0x70U; + const uint8_t DMP_CFG_2 = 0x71U; + const uint8_t FIFO_COUNTH = 0x72U; + const uint8_t FIFO_COUNTL = 0x73U; + const uint8_t FIFO_R_W = 0x74U; + const uint8_t WHO_AM_I = 0x75U; +} // namespace SensorRegisters diff --git a/src/sensor/sensor.cpp b/src/sensor/sensor.cpp index e11a74b..a3b9a5c 100644 --- a/src/sensor/sensor.cpp +++ b/src/sensor/sensor.cpp @@ -1,50 +1,34 @@ #include "sensor.hpp" -#include "../utils/serial.hpp" -#include "../utils/time.hpp" + #include "registers.hpp" +#include "utils/serial.hpp" +#include "utils/time.hpp" -Sensor::Sensor(uint8_t address, TwoWire *wire, SerialStream sout, +Sensor::Sensor(uint8_t address, TwoWire wire, SerialStream sout, unsigned int throttle_time) - : _last_time(0), _sout(sout) + : _wire(wire), + _address(address), + _throttle_enabled(true), + _throttle_time(throttle_time), + _last_time(0), + _status(SensorStatus::OK), + _accel_to_g_force(RAW_TO_G_FACTOR), + _ang_rate_to_dps(RAW_TO_DPS_FACTOR), + _sout(sout) { - _address = address; - _wire = wire; - - // Set default values - accel_cal_x = 0; - accel_cal_y = 0; - accel_cal_z = 0; - - gyro_cal_x = 0; - gyro_cal_y = 0; - gyro_cal_z = 0; - - _throttle_enabled = true; - _throttle_time = throttle_time; - - _status = SensorStatus::OK; - - _accel_sensitivity = 0; - _accel_to_g_force = 1.0 / 16384.0; - - _gyro_sensitivity = 0; - _ang_rate_to_dps = 1.0 / 131.0; - - // Reset the sensor - reset(); } bool Sensor::begin() { - _wire->begin(); + _wire.begin(); if (isConnected()) { - _wire->beginTransmission(_address); - _wire->write(SensorRegisters::PWR_MGMT_1); - _wire->write(SENSOR_WAKEUP); + _wire.beginTransmission(_address); + _wire.write(SensorRegisters::PWR_MGMT_1); + _wire.write(SENSOR_WAKEUP); - return (_wire->endTransmission() == 0); + return (_wire.endTransmission() == 0); } return false; @@ -52,31 +36,13 @@ bool Sensor::begin() bool Sensor::isConnected() { - _wire->beginTransmission(_address); - return (_wire->endTransmission() == 0); -} - -void Sensor::reset() -{ - _accel_raw_x = 0; - _accel_raw_y = 0; - _accel_raw_z = 0; - - _gyro_raw_x = 0; - _gyro_raw_y = 0; - _gyro_raw_z = 0; - - _accel_x = 0; - _accel_y = 0; - - _pitch = 0; - _roll = 0; - _yaw = 0; + _wire.beginTransmission(_address); + return (_wire.endTransmission() == 0); } bool Sensor::read() { - Time now = time_now(); + auto now = time_now(); if (_throttle_enabled && now.diff(_last_time).millisecs() < _throttle_time) { @@ -84,18 +50,20 @@ bool Sensor::read() return false; } - _wire->beginTransmission(_address); - _wire->write(SensorRegisters::ACCEL_XOUT_H); + _wire.beginTransmission(_address); + _wire.write(SensorRegisters::ACCEL_XOUT_H); - if (_wire->endTransmission() != 0) + if (_wire.endTransmission() != 0U) { _status = SensorStatus::ERR_WRITE; return false; } - int8_t response_length = _wire->requestFrom(_address, (uint8_t)14); + uint8_t response_length = _wire.requestFrom(_address, SensorRegisters::SELF_TEST_Y); + + const uint8_t self_test_success = 14U; - if (response_length != 14) + if (response_length != self_test_success) { _status = SensorStatus::ERR_READ; return false; @@ -123,7 +91,7 @@ bool Sensor::read() // Duration interval now.update(); - float duration = now.diff(_last_time).secs(); + auto duration = now.diff(_last_time).secs(); _last_time = now; // Convert raw acceleration to g:s (g-force) @@ -147,12 +115,13 @@ bool Sensor::read() << endl; // Prepare for Pitch Roll Yaw - float accel_y_pow_two = pow(_accel_raw_y, 2); - float accel_z_pow_two = pow(_accel_raw_z, 2); + auto accel_y_pow_two = pow(_accel_raw_y, 2); + auto accel_z_pow_two = pow(_accel_raw_z, 2); - _accel_x = atan2(_accel_raw_y, _accel_raw_z) * 180 / PI; + _accel_x = atan2(_accel_raw_y, _accel_raw_z) * ONE_EIGHTY / PI; - _accel_y = atan2(-_accel_raw_x, sqrt(accel_y_pow_two + accel_z_pow_two)) * 180 / PI; + _accel_y = + atan2(-_accel_raw_x, sqrt(accel_y_pow_two + accel_z_pow_two)) * ONE_EIGHTY / PI; /* _accel_x = @@ -191,8 +160,11 @@ bool Sensor::read() << "Gyro raw z w/o time: " << _gyro_raw_z << "\n" << endl; - _pitch = 0.96 * _gyro_y + 0.04 * _accel_y; - _roll = 0.96 * _gyro_x + 0.04 * _accel_x; + const float gyro_balance = 0.96F; + const float accel_balance = 0.04F; + + _pitch = gyro_balance * _gyro_y + accel_balance * _accel_y; + _roll = gyro_balance * _gyro_x + accel_balance * _accel_x; _yaw = _gyro_z; return true; @@ -201,23 +173,31 @@ bool Sensor::read() bool Sensor::setAccelSensitivity(uint8_t sensitivity) { if (sensitivity > 3) + { sensitivity = 3; + } _accel_sensitivity = sensitivity; uint8_t accel_config = getRegister(SensorRegisters::ACCEL_CONFIG); if (_status != SensorStatus::OK) + { return false; + } // No need to write same value if (((accel_config >> 3) & 3) != _accel_sensitivity) { - accel_config &= 0xE7; + const uint8_t magic = 0xE7U; + + accel_config &= magic; accel_config |= (_accel_sensitivity << 3); if (!setRegister(SensorRegisters::ACCEL_CONFIG, accel_config)) + { return false; + } } // Calculate conversion factor. @@ -229,7 +209,9 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity) bool Sensor::setGyroSensitivity(uint8_t sensitivity) { if (sensitivity > 3) + { sensitivity = 3; + } _gyro_sensitivity = sensitivity; @@ -243,7 +225,9 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity) // No need to write same value if (((gyro_config >> 3) & 3) != _gyro_sensitivity) { - gyro_config &= 0xE7; + const uint8_t magic = 0xE7U; + + gyro_config &= magic; gyro_config |= (_gyro_sensitivity << 3); if (!setRegister(SensorRegisters::GYRO_CONFIG, gyro_config)) @@ -257,63 +241,63 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity) return true; } -float Sensor::getAccelX() +double Sensor::getAccelX() { return _accel_raw_x; } -float Sensor::getAccelY() +double Sensor::getAccelY() { return _accel_raw_y; } -float Sensor::getAccelZ() +double Sensor::getAccelZ() { return _accel_raw_z; } -float Sensor::getAngleX() +double Sensor::getAngleX() { return _accel_x; } -float Sensor::getAngleY() +double Sensor::getAngleY() { return _accel_y; } -float Sensor::getGyroX() +double Sensor::getGyroX() { return _gyro_raw_x; } -float Sensor::getGyroY() +double Sensor::getGyroY() { return _gyro_raw_y; } -float Sensor::getGyroZ() +double Sensor::getGyroZ() { return _gyro_raw_z; } -float Sensor::getPitch() +double Sensor::getPitch() { return _pitch; } -float Sensor::getRoll() +double Sensor::getRoll() { return _roll; } bool Sensor::setRegister(uint8_t reg, uint8_t value) { - _wire->beginTransmission(_address); - _wire->write(reg); - _wire->write(value); + _wire.beginTransmission(_address); + _wire.write(reg); + _wire.write(value); - if (_wire->endTransmission() != 0) + if (_wire.endTransmission() != 0) { _status = SensorStatus::ERR_WRITE; return false; @@ -324,23 +308,23 @@ bool Sensor::setRegister(uint8_t reg, uint8_t value) uint8_t Sensor::getRegister(uint8_t reg) { - _wire->beginTransmission(_address); - _wire->write(reg); + _wire.beginTransmission(_address); + _wire.write(reg); - if (_wire->endTransmission() != 0) + if (_wire.endTransmission() != 0U) { _status = SensorStatus::ERR_WRITE; - return 0; + return 0U; } - uint8_t response_length = _wire->requestFrom(_address, (uint8_t)1); - if (response_length != 1) + uint8_t response_length = _wire.requestFrom(_address, 1U); + if (response_length != 1U) { _status = SensorStatus::ERR_READ; - return 0; + return 0U; } - return _wire->read(); + return _wire.read(); } SensorStatus Sensor::getStatus() @@ -353,8 +337,10 @@ SensorStatus Sensor::getStatus() int16_t Sensor::_readHighLow() { - int16_t high = _wire->read(); - int16_t low = _wire->read(); + const int16_t high = _wire.read(); + const int16_t low = _wire.read(); + + const int8_t bits_in_byte = 8; - return high << 8 | low; + return high << bits_in_byte | low; } 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 +#include -#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. @@ -49,11 +50,6 @@ public: */ bool isConnected(); - /** - * Resets the sensor. - */ - void reset(); - /** * Reads from the sensor. * @@ -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 -- cgit v1.2.3-18-g5258