diff --git a/src/driver.cpp b/src/driver.cpp
index 6889f085a71cb5725aee5b7f9ad9444985f32ec0..6117ad30220c06287504515d1a7a00ccc99870a2 100644
--- a/src/driver.cpp
+++ b/src/driver.cpp
@@ -6,6 +6,7 @@
#include <cmath>
#include <limits>
+// CONSTRUCTORS
driver::driver()
{
@@ -21,6 +22,7 @@ void driver::set_data_callback(std::function<void (data)> callback)
driver::m_data_callback = callback;
}
+// INITIALIZATION
void driver::initialize(unsigned int i2c_bus, unsigned int i2c_address, unsigned int interrupt_gpio_pin)
{
// Initialize I2C:
@@ -91,6 +93,7 @@ void driver::deinitialize()
deinitialize_i2c();
}
+// PROPERTIES
float driver::p_dlpf_frequencies(gyro_dlpf_frequency_type gyro_frequency, accel_dlpf_frequency_type accel_frequency, float max_sample_rate)
{
// Read the current configuration for gyro/temp.
@@ -288,6 +291,7 @@ void driver::p_accel_fsr(accel_fsr_type fsr)
}
}
+// METHODS
void driver::read_data()
{
// Create data storage structure.
diff --git a/src/driver.h b/src/driver.h
index 11d2ac2f3c7fb4d26fba006c9021840e2bfe6e88..8b28595348183a0d066381195bc29d67932b3459 100644
--- a/src/driver.h
+++ b/src/driver.h
@@ -5,16 +5,12 @@
#include <functional>
-///
/// \brief The base driver class for the MPU9250.
-///
class driver
{
public:
// ENUMERATIONS
- ///
/// \brief Enumerates the digital low-pass filter (DLPF) cutoff frequencies for the accelerometers.
- ///
enum class accel_dlpf_frequency_type
{
F_460HZ = 0x00,
@@ -25,9 +21,7 @@ public:
F_10HZ = 0x05,
F_5HZ = 0x06
};
- ///
/// \brief Enumerates the digital low-pass filter (DLPF) cutoff frequencies for the gyros.
- ///
enum class gyro_dlpf_frequency_type
{
F_250HZ = 0x00,
@@ -38,9 +32,7 @@ public:
F_10Hz = 0x05,
F_5HZ = 0x06
};
- ///
/// \brief Enumerates the full scale ranges (FSR) available for the accelerometers in g.
- ///
enum class accel_fsr_type
{
G_2 = 0x00,
@@ -48,9 +40,7 @@ public:
G_8 = 0x02,
G_16 = 0x03
};
- ///
/// \brief Enumerates the full scale ranges (FSR) available for the gyros in degress/second.
- ///
enum class gyro_fsr_type
{
DPS_250 = 0x00,
@@ -60,9 +50,7 @@ public:
};
// CLASSES
- ///
/// \brief A structure for storing IMU data.
- ///
struct data
{
float accel_x, accel_y, accel_z;
@@ -72,61 +60,46 @@ public:
};
// CONSTRUCTORS
- ///
- /// \brief driver Initializes a new driver instance.
- ///
+ /// \brief Initializes a new driver instance.
driver();
virtual ~driver() = 0;
- // METHODS
- ///
- /// \brief set_data_callback Attaches a callback to handle data when it becomes available.
+ // CONFIGURATION
+ /// \brief Attaches a callback to handle data when it becomes available.
/// \param callback The callback function to execute.
- ///
void set_data_callback(std::function<void(driver::data)> callback);
- ///
- /// \brief initialize Initializes the MPU9250.
+ // INITIALIZATION
+ /// \brief Initializes the MPU9250.
/// \param i2c_bus The I2C bus to communicate with the MPU9250 over.
/// \param i2c_address The I2C address of the MPU9250.
/// \param interrupt_gpio_pin The GPIO pin connected to the MPU9250's interrupt pin.
- ///
void initialize(unsigned int i2c_bus, unsigned int i2c_address, unsigned int interrupt_gpio_pin);
- ///
- /// \brief deinitialize Deinitializes the MPU9250.
- ///
+ /// \brief Deinitializes the MPU9250.
void deinitialize();
- ///
- /// \brief p_dlpf_frequencies Sets the digital low-pass filter (DLPF) cutoff frequencies for the accelerometers and gyroscopes.
+ // PROPERTIES
+ /// \brief Sets the digital low-pass filter (DLPF) cutoff frequencies for the accelerometers and gyroscopes.
/// \param gyro_frequency The cut-off frequency for the gyroscopes and temperature sensor.
/// \param accel_frequency The cut-off frequency for the accelerometers.
/// \param max_sample_rate The maximum sample rate to use. Defaults to unlimited.
/// \returns The configured data sample rate (Hz)
/// \note The data rate is set to the nearest minimum value of lpf/2.5 or max_sample_rate.
- ///
float p_dlpf_frequencies(gyro_dlpf_frequency_type gyro_frequency, accel_dlpf_frequency_type accel_frequency, float max_sample_rate = 8000.0F);
- ///
- /// \brief p_gyro_fsr Sets the full scale range (FSR) of the gyroscopes.
+ /// \brief Sets the full scale range (FSR) of the gyroscopes.
/// \param fsr The FSR to set.
- ///
void p_gyro_fsr(gyro_fsr_type fsr);
- ///
- /// \brief p_accel_fsr Sets the full scale range (FSR) of the accelerometers.
+ /// \brief Sets the full scale range (FSR) of the accelerometers.
/// \param fsr The FSR to set.
- ///
void p_accel_fsr(accel_fsr_type fsr);
- ///
- /// \brief read_data Reads all IMU data directly from the MPU9250 and AK8963 and raises the data callback.
- ///
+ // METHODS
+ /// \brief Reads all IMU data directly from the MPU9250 and AK8963 and raises the data callback.
void read_data();
protected:
// ENUMERATIONS
- ///
/// \brief Enumerates the MPU9250 register addresses.
- ///
enum class register_mpu9250_type
{
SAMPLE_RATE_DIVIDER = 0x19,
@@ -154,9 +127,7 @@ protected:
PWR_MGMT_1 = 0x6B,
WHO_AM_I = 0x75
};
- ///
/// \brief Enumerates the AK8963 register addresses.
- ///
enum class register_ak8963_type
{
WHO_AM_I = 0x00,
@@ -171,73 +142,51 @@ protected:
};
// METHODS
- ///
- /// \brief initialize_i2c Initializes the I2C and GPIO interface of the driver.
+ /// \brief Initializes the I2C and GPIO interface of the driver.
/// \param i2c_bus The I2C bus to interface with the MPU9250 over.
/// \param i2c_address The I2C address of the MPU9250.
/// \param interrupt_gpio_pin The GPIO input pin that is connected to the MPU9250 interrupt pin.
- ///
virtual void initialize_i2c(unsigned int i2c_bus, unsigned int i2c_address, unsigned int interrupt_gpio_pin) = 0;
- ///
- /// \brief deinitialize_i2c Deinitialies the I2C interface of the driver.
- ///
+ /// \brief Deinitialies the I2C interface of the driver.
virtual void deinitialize_i2c() = 0;
- ///
- /// \brief write_mpu9250_register Writes data to a register on the MPU9250.
+ /// \brief Writes data to a register on the MPU9250.
/// \param address The address of the register to write to.
/// \param value The data to write to the register.
- ///
virtual void write_mpu9250_register(register_mpu9250_type address, unsigned char value) = 0;
- ///
- /// \brief read_mpu9250_register Reads data from a register on the MPU9250.
+ /// \brief Reads data from a register on the MPU9250.
/// \param address The address of the register to read from.
/// \return The data from the register.
- ///
virtual unsigned char read_mpu9250_register(register_mpu9250_type address) = 0;
- ///
- /// \brief read_mpu9250_registers Block reads data from several registers on the MPU9250.
+ /// \brief Block reads data from several registers on the MPU9250.
/// \param address The starting register address of the block read.
/// \param n_bytes The number of bytes/registers to block read.
/// \param buffer The buffer to store the read data in.
- ///
virtual void read_mpu9250_registers(register_mpu9250_type address, unsigned int n_bytes, char* buffer) = 0;
- ///
- /// \brief write_ak8963_register Writes data to a register on the AK8963.
+ /// \brief Writes data to a register on the AK8963.
/// \param address The address of the register to write to.
/// \param value The data to write to the register.
- ///
virtual void write_ak8963_register(register_ak8963_type address, unsigned char value) = 0;
- ///
- /// \brief read_ak8963_register Reads data from a register on the AK8963.
+ /// \brief Reads data from a register on the AK8963.
/// \param address The address of the register to read from.
/// \return The data from the register.
- ///
virtual unsigned char read_ak8963_register(register_ak8963_type address) = 0;
- ///
- /// \brief read_ak8963_registers Block reads data from several registers on the AK8963.
+ /// \brief Block reads data from several registers on the AK8963.
/// \param address The starting register address of the block read.
/// \param n_bytes The number of bytes/registers to block read.
/// \param buffer The buffer to store the read data in.
- ///
virtual void read_ak8963_registers(register_ak8963_type address, unsigned int n_bytes, char* buffer) = 0;
private:
- // VARIABLES
- ///
+ // FULL SCALE RANGE
/// \brief m_gyro_fsr Stores the full scale range of the gyroscopes for ADC conversion.
- ///
float m_gyro_fsr;
- ///
/// \brief m_accel_fsr Stores the full scale range of the accelerometers for ADC conversion.
- ///
float m_accel_fsr;
// CALLBACKS
- ///
/// \brief m_data_callback The callback function to execute when IMU data is read.
- ///
std::function<void(driver::data)> m_data_callback;
};