diff options
Diffstat (limited to 'peripheral/libupm/src/l3gd20/l3gd20.hpp')
| -rw-r--r-- | peripheral/libupm/src/l3gd20/l3gd20.hpp | 214 |
1 files changed, 0 insertions, 214 deletions
diff --git a/peripheral/libupm/src/l3gd20/l3gd20.hpp b/peripheral/libupm/src/l3gd20/l3gd20.hpp deleted file mode 100644 index 9cffeb8..0000000 --- a/peripheral/libupm/src/l3gd20/l3gd20.hpp +++ /dev/null @@ -1,214 +0,0 @@ -/* - * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com> - * Copyright (c) 2016 Intel Corporation. - * - * 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. - * - * Thanks to https://github.com/01org/android-iio-sensors-hal for gyroscope - * calibration and denoise algorithm. - */ -#pragma once - -#include <string> -#include <mraa/iio.h> - -namespace upm -{ -/** - * @brief L3GD20 Tri-axis Digital Gyroscope - * @defgroup l3gd20 libupm-l3gd20 - * @ingroup STMicroelectronics iio i2c tri-axis digital gyroscope - */ - -/** - * @library l3gd20 - * @sensor l3gd20 - * @comname L3GD20 Tri-axis Digital Gyroscope - * @type gyroscope - * @man STMicroelectronics - * @con iio i2c - * - * @brief L3GD20 Tri-axis Digital Gyroscope API - * - * The L3GD20 The L3GD20 is a low-power three-axis angular rate sensor. - * - * @snippet l3gd20.cxx Interesting - */ - -class L3GD20 -{ - public: - typedef struct { - float bias_x, bias_y, bias_z; - int count; - float min_x, min_y, min_z; - float max_x, max_y, max_z; - } gyro_cal_t; - - typedef struct { - float* buff; - unsigned int idx; - unsigned int count; - unsigned int sample_size; - } filter_median_t; - /** - * L3GD20 Tri-axis Digital Gyroscope - * - * @param iio device number - */ - L3GD20(int device); - - /** - * L3GD20 destructor - */ - ~L3GD20(); - - /** - * Installs an interrupt service routine (ISR) to be called when - * an interrupt occurs - * - * @param interrupt channel - * @param fptr Pointer to a function to be called on interrupt - * @param arg Pointer to an object to be supplied as an - * argument to the ISR. - */ - void installISR(void (*isr)(char*), void* arg); - - /** - * Extract the channel value based on channel type - * @param input Channel data - * @param chan MRAA iio-layer channel info - */ - int64_t getChannelValue(unsigned char* input, mraa_iio_channel* chan); - - /** - * Enable trigger buffer - * @param trigger buffer length in integer - */ - bool enableBuffer(int length); - - /** - * Disable trigger buffer - */ - bool disableBuffer(); - - /** - * Set scale - * @param scale in float - * Available scales are 0.000153(250dps), 0.000305(500dps), and 0.001222(2000dps) - * Default scale is 0.000153 - */ - bool setScale(const float scale); - - /** - * Set sampling frequency - * @param sampling frequency in float - * Available sampling frequency are 95, 190, 380, and 760 - * Default sampling frequency is 95 - */ - bool setSamplingFrequency(const float sampling_frequency); - - /** - * Enable 3 axis scan element - */ - bool enable3AxisChannel(); - - /** - * Process enabled channel buffer and return x, y, z axis - * @param data Enabled channel data, 6 bytes, each axis 2 bytes - * @param x X-Axis - * @param y Y-Axis - * @param z Z-Axis - */ - bool extract3Axis(char* data, float* x, float* y, float* z); - - /** - * Reset calibration data and start collect calibration data again - */ - void initCalibrate(); - - /** - * Get calibrated status, return true if calibrate successfully - */ - bool getCalibratedStatus(); - - /** - * Get calibrated data - */ - void getCalibratedData(float* bias_x, float* bias_y, float* bias_z); - - /** - * Load calibrated data - */ - void loadCalibratedData(float bias_x, float bias_y, float bias_z); - - /** - * Calibrate gyro - * @param x X-Axis - * @param y Y-Axis - * @param z Z-Axis - */ - bool gyroCollect(float x, float y, float z); - - /** - * Denoise gyro - * @param x X-Axis - * @param y Y-Axis - * @param z Z-Axis - */ - void gyroDenoiseMedian(float* x, float* y, float* z); - - /** - * median algorithm - * @param queue - * @param size - */ - float median(float* queue, unsigned int size); - - /** - * partition algorithm - * @param list - * @param left - * @param right - * @param pivot_index - */ - unsigned int - partition(float* list, unsigned int left, unsigned int right, unsigned int pivot_index); - - /** - * Clamp Gyro Readings to Zero - * @param x X-Axis - * @param y Y-Axis - * @param z Z-Axis - */ - void clampGyroReadingsToZero(float* x, float* y, float* z); - - private: - mraa_iio_context m_iio; - int m_iio_device_num; - bool m_mount_matrix_exist; // is mount matrix exist - float m_mount_matrix[9]; // mount matrix - float m_scale; // gyroscope data scale - int m_event_count; // sample data arrive - bool m_calibrated; // calibrate state - gyro_cal_t m_cal_data; // calibrate data - filter_median_t m_filter; // filter data -}; -} |