| //////////////////////////////////////////////////////////////////////////// |
| // |
| // This file is part of RTIMULib |
| // |
| // Copyright (c) 2014-2015, richards-tech, LLC |
| // |
| // 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. |
| |
| // The MPU-9250 and SPI driver code is based on code generously supplied by |
| // staslock@gmail.com (www.clickdrive.io) |
| |
| #ifndef _RTIMUSETTINGS_H |
| #define _RTIMUSETTINGS_H |
| |
| #include "RTMath.h" |
| #include "RTIMUHal.h" |
| |
| // Settings keys |
| |
| #define RTIMULIB_IMU_TYPE "IMUType" |
| #define RTIMULIB_FUSION_TYPE "FusionType" |
| #define RTIMULIB_BUS_IS_I2C "BusIsI2C" |
| #define RTIMULIB_I2C_SLAVEADDRESS "I2CSlaveAddress" |
| #define RTIMULIB_I2C_BUS "I2CBus" |
| #define RTIMULIB_SPI_BUS "SPIBus" |
| #define RTIMULIB_SPI_SELECT "SPISelect" |
| #define RTIMULIB_SPI_SPEED "SPISpeed" |
| #define RTIMULIB_AXIS_ROTATION "AxisRotation" |
| #define RTIMULIB_PRESSURE_TYPE "PressureType" |
| #define RTIMULIB_I2C_PRESSUREADDRESS "I2CPressureAddress" |
| #define RTIMULIB_HUMIDITY_TYPE "HumidityType" |
| #define RTIMULIB_I2C_HUMIDITYADDRESS "I2CHumidityAddress" |
| |
| // MPU9150 settings keys |
| |
| #define RTIMULIB_MPU9150_GYROACCEL_SAMPLERATE "MPU9150GyroAccelSampleRate" |
| #define RTIMULIB_MPU9150_COMPASS_SAMPLERATE "MPU9150CompassSampleRate" |
| #define RTIMULIB_MPU9150_GYROACCEL_LPF "MPU9150GyroAccelLpf" |
| #define RTIMULIB_MPU9150_GYRO_FSR "MPU9150GyroFSR" |
| #define RTIMULIB_MPU9150_ACCEL_FSR "MPU9150AccelFSR" |
| |
| // MPU9250 settings keys |
| |
| #define RTIMULIB_MPU9250_GYROACCEL_SAMPLERATE "MPU9250GyroAccelSampleRate" |
| #define RTIMULIB_MPU9250_COMPASS_SAMPLERATE "MPU9250CompassSampleRate" |
| #define RTIMULIB_MPU9250_GYRO_LPF "MPU9250GyroLpf" |
| #define RTIMULIB_MPU9250_ACCEL_LPF "MPU9250AccelLpf" |
| #define RTIMULIB_MPU9250_GYRO_FSR "MPU9250GyroFSR" |
| #define RTIMULIB_MPU9250_ACCEL_FSR "MPU9250AccelFSR" |
| |
| // GD20HM303D settings keys |
| |
| #define RTIMULIB_GD20HM303D_GYRO_SAMPLERATE "GD20HM303DGyroSampleRate" |
| #define RTIMULIB_GD20HM303D_GYRO_BW "GD20HM303DGyroBW" |
| #define RTIMULIB_GD20HM303D_GYRO_HPF "GD20HM303DGyroHpf" |
| #define RTIMULIB_GD20HM303D_GYRO_FSR "GD20HM303DGyroFsr" |
| |
| #define RTIMULIB_GD20HM303D_ACCEL_SAMPLERATE "GD20HM303DAccelSampleRate" |
| #define RTIMULIB_GD20HM303D_ACCEL_FSR "GD20HM303DAccelFsr" |
| #define RTIMULIB_GD20HM303D_ACCEL_LPF "GD20HM303DAccelLpf" |
| |
| #define RTIMULIB_GD20HM303D_COMPASS_SAMPLERATE "GD20HM303DCompassSampleRate" |
| #define RTIMULIB_GD20HM303D_COMPASS_FSR "GD20HM303DCompassFsr" |
| |
| |
| // GD20M303DLHC settings keys |
| |
| #define RTIMULIB_GD20M303DLHC_GYRO_SAMPLERATE "GD20M303DLHCGyroSampleRate" |
| #define RTIMULIB_GD20M303DLHC_GYRO_BW "GD20M303DLHCGyroBW" |
| #define RTIMULIB_GD20M303DLHC_GYRO_HPF "GD20M303DLHCGyroHpf" |
| #define RTIMULIB_GD20M303DLHC_GYRO_FSR "GD20M303DLHCGyroFsr" |
| |
| #define RTIMULIB_GD20M303DLHC_ACCEL_SAMPLERATE "GD20M303DLHCAccelSampleRate" |
| #define RTIMULIB_GD20M303DLHC_ACCEL_FSR "GD20M303DLHCAccelFsr" |
| |
| #define RTIMULIB_GD20M303DLHC_COMPASS_SAMPLERATE "GD20M303DLHCCompassSampleRate" |
| #define RTIMULIB_GD20M303DLHC_COMPASS_FSR "GD20M303DLHCCompassFsr" |
| |
| // GD20HM303DLHC settings keys |
| |
| #define RTIMULIB_GD20HM303DLHC_GYRO_SAMPLERATE "GD20HM303DLHCGyroSampleRate" |
| #define RTIMULIB_GD20HM303DLHC_GYRO_BW "GD20HM303DLHCGyroBW" |
| #define RTIMULIB_GD20HM303DLHC_GYRO_HPF "GD20HM303DLHCGyroHpf" |
| #define RTIMULIB_GD20HM303DLHC_GYRO_FSR "GD20HM303DLHCGyroFsr" |
| |
| #define RTIMULIB_GD20HM303DLHC_ACCEL_SAMPLERATE "GD20HM303DLHCAccelSampleRate" |
| #define RTIMULIB_GD20HM303DLHC_ACCEL_FSR "GD20HM303DLHCAccelFsr" |
| |
| #define RTIMULIB_GD20HM303DLHC_COMPASS_SAMPLERATE "GD20HM303DLHCCompassSampleRate" |
| #define RTIMULIB_GD20HM303DLHC_COMPASS_FSR "GD20HM303DLHCCompassFsr" |
| |
| |
| // LSM9DS0 settings keys |
| |
| #define RTIMULIB_LSM9DS0_GYRO_SAMPLERATE "LSM9DS0GyroSampleRate" |
| #define RTIMULIB_LSM9DS0_GYRO_BW "LSM9DS0GyroBW" |
| #define RTIMULIB_LSM9DS0_GYRO_HPF "LSM9DS0GyroHpf" |
| #define RTIMULIB_LSM9DS0_GYRO_FSR "LSM9DS0GyroFsr" |
| |
| #define RTIMULIB_LSM9DS0_ACCEL_SAMPLERATE "LSM9DS0AccelSampleRate" |
| #define RTIMULIB_LSM9DS0_ACCEL_FSR "LSM9DS0AccelFsr" |
| #define RTIMULIB_LSM9DS0_ACCEL_LPF "LSM9DS0AccelLpf" |
| |
| #define RTIMULIB_LSM9DS0_COMPASS_SAMPLERATE "LSM9DS0CompassSampleRate" |
| #define RTIMULIB_LSM9DS0_COMPASS_FSR "LSM9DS0CompassFsr" |
| |
| // LSM9DS1 settings keys |
| |
| #define RTIMULIB_LSM9DS1_GYRO_SAMPLERATE "LSM9DS1GyroSampleRate" |
| #define RTIMULIB_LSM9DS1_GYRO_BW "LSM9DS1GyroBW" |
| #define RTIMULIB_LSM9DS1_GYRO_HPF "LSM9DS1GyroHpf" |
| #define RTIMULIB_LSM9DS1_GYRO_FSR "LSM9DS1GyroFsr" |
| |
| #define RTIMULIB_LSM9DS1_ACCEL_SAMPLERATE "LSM9DS1AccelSampleRate" |
| #define RTIMULIB_LSM9DS1_ACCEL_FSR "LSM9DS1AccelFsr" |
| #define RTIMULIB_LSM9DS1_ACCEL_LPF "LSM9DS1AccelLpf" |
| |
| #define RTIMULIB_LSM9DS1_COMPASS_SAMPLERATE "LSM9DS1CompassSampleRate" |
| #define RTIMULIB_LSM9DS1_COMPASS_FSR "LSM9DS1CompassFsr" |
| |
| // BMX055 settings keys |
| |
| #define RTIMULIB_BMX055_GYRO_SAMPLERATE "BMX055GyroSampleRate" |
| #define RTIMULIB_BMX055_GYRO_FSR "BMX055GyroFsr" |
| |
| #define RTIMULIB_BMX055_ACCEL_SAMPLERATE "BMX055AccelSampleRate" |
| #define RTIMULIB_BMX055_ACCEL_FSR "BMX055AccelFsr" |
| |
| #define RTIMULIB_BMX055_MAG_PRESET "BMX055MagPreset" |
| |
| // Gyro bias keys |
| |
| #define RTIMULIB_GYRO_BIAS_VALID "GyroBiasValid" |
| #define RTIMULIB_GYRO_BIAS_X "GyroBiasX" |
| #define RTIMULIB_GYRO_BIAS_Y "GyroBiasY" |
| #define RTIMULIB_GYRO_BIAS_Z "GyroBiasZ" |
| |
| // Compass calibration and adjustment settings keys |
| |
| #define RTIMULIB_COMPASSCAL_VALID "CompassCalValid" |
| #define RTIMULIB_COMPASSCAL_MINX "CompassCalMinX" |
| #define RTIMULIB_COMPASSCAL_MAXX "CompassCalMaxX" |
| #define RTIMULIB_COMPASSCAL_MINY "CompassCalMinY" |
| #define RTIMULIB_COMPASSCAL_MAXY "CompassCalMaxY" |
| #define RTIMULIB_COMPASSCAL_MINZ "CompassCalMinZ" |
| #define RTIMULIB_COMPASSCAL_MAXZ "CompassCalMaxZ" |
| |
| #define RTIMULIB_COMPASSCAL_ELLIPSOID_VALID "compassCalEllipsoidValid" |
| #define RTIMULIB_COMPASSCAL_OFFSET_X "compassCalOffsetX" |
| #define RTIMULIB_COMPASSCAL_OFFSET_Y "compassCalOffsetY" |
| #define RTIMULIB_COMPASSCAL_OFFSET_Z "compassCalOffsetZ" |
| #define RTIMULIB_COMPASSCAL_CORR11 "compassCalCorr11" |
| #define RTIMULIB_COMPASSCAL_CORR12 "compassCalCorr12" |
| #define RTIMULIB_COMPASSCAL_CORR13 "compassCalCorr13" |
| #define RTIMULIB_COMPASSCAL_CORR21 "compassCalCorr21" |
| #define RTIMULIB_COMPASSCAL_CORR22 "compassCalCorr22" |
| #define RTIMULIB_COMPASSCAL_CORR23 "compassCalCorr23" |
| #define RTIMULIB_COMPASSCAL_CORR31 "compassCalCorr31" |
| #define RTIMULIB_COMPASSCAL_CORR32 "compassCalCorr32" |
| #define RTIMULIB_COMPASSCAL_CORR33 "compassCalCorr33" |
| |
| #define RTIMULIB_COMPASSADJ_DECLINATION "compassAdjDeclination" |
| |
| // Accel calibration settings keys |
| |
| #define RTIMULIB_ACCELCAL_VALID "AccelCalValid" |
| #define RTIMULIB_ACCELCAL_MINX "AccelCalMinX" |
| #define RTIMULIB_ACCELCAL_MAXX "AccelCalMaxX" |
| #define RTIMULIB_ACCELCAL_MINY "AccelCalMinY" |
| #define RTIMULIB_ACCELCAL_MAXY "AccelCalMaxY" |
| #define RTIMULIB_ACCELCAL_MINZ "AccelCalMinZ" |
| #define RTIMULIB_ACCELCAL_MAXZ "AccelCalMaxZ" |
| |
| |
| class RTIMUSettings : public RTIMUHal |
| { |
| public: |
| |
| // Standard constructor sets up for ini file in working directory |
| |
| RTIMUSettings(const char *productType = "RTIMULib"); |
| |
| // Alternate constructor allow ini file to be in any directory |
| |
| RTIMUSettings(const char *settingsDirectory, const char *productType); |
| |
| // This function tries to find an IMU. It stops at the first valid one |
| // and returns true or else false |
| |
| bool discoverIMU(int& imuType, bool& busIsI2C, unsigned char& slaveAddress); |
| |
| // This function tries to find a pressure sensor. It stops at the first valid one |
| // and returns true or else false |
| |
| bool discoverPressure(int& pressureType, unsigned char& pressureAddress); |
| |
| // This function tries to find a humidity sensor. It stops at the first valid one |
| // and returns true or else false |
| |
| bool discoverHumidity(int& humidityType, unsigned char& humidityAddress); |
| |
| // This function sets the settings to default values. |
| |
| void setDefaults(); |
| |
| // This function loads the local variables from the settings file or uses defaults |
| |
| virtual bool loadSettings(); |
| |
| // This function saves the local variables to the settings file |
| |
| virtual bool saveSettings(); |
| |
| // These are the local variables |
| |
| int m_imuType; // type code of imu in use |
| int m_fusionType; // fusion algorithm type code |
| unsigned char m_I2CSlaveAddress; // I2C slave address of the imu |
| int m_axisRotation; // axis rotation code |
| int m_pressureType; // type code of pressure sensor in use |
| unsigned char m_I2CPressureAddress; // I2C slave address of the pressure sensor |
| int m_humidityType; // type code of humidity sensor in use |
| unsigned char m_I2CHumidityAddress; // I2C slave address of the humidity sensor |
| |
| bool m_compassCalValid; // true if there is valid compass calibration data |
| RTVector3 m_compassCalMin; // the minimum values |
| RTVector3 m_compassCalMax; // the maximum values |
| |
| bool m_compassCalEllipsoidValid; // true if the ellipsoid calibration data is valid |
| RTVector3 m_compassCalEllipsoidOffset; // the ellipsoid offset |
| float m_compassCalEllipsoidCorr[3][3]; // the correction matrix |
| |
| float m_compassAdjDeclination; // magnetic declination adjustment - subtracted from measured |
| |
| bool m_accelCalValid; // true if there is valid accel calibration data |
| RTVector3 m_accelCalMin; // the minimum values |
| RTVector3 m_accelCalMax; // the maximum values |
| |
| bool m_gyroBiasValid; // true if the recorded gyro bias is valid |
| RTVector3 m_gyroBias; // the recorded gyro bias |
| |
| // IMU-specific vars |
| |
| // MPU9150 |
| |
| int m_MPU9150GyroAccelSampleRate; // the sample rate (samples per second) for gyro and accel |
| int m_MPU9150CompassSampleRate; // same for the compass |
| int m_MPU9150GyroAccelLpf; // low pass filter code for the gyro and accel |
| int m_MPU9150GyroFsr; // FSR code for the gyro |
| int m_MPU9150AccelFsr; // FSR code for the accel |
| |
| // MPU9250 |
| |
| int m_MPU9250GyroAccelSampleRate; // the sample rate (samples per second) for gyro and accel |
| int m_MPU9250CompassSampleRate; // same for the compass |
| int m_MPU9250GyroLpf; // low pass filter code for the gyro |
| int m_MPU9250AccelLpf; // low pass filter code for the accel |
| int m_MPU9250GyroFsr; // FSR code for the gyro |
| int m_MPU9250AccelFsr; // FSR code for the accel |
| |
| // GD20HM303D |
| |
| int m_GD20HM303DGyroSampleRate; // the gyro sample rate |
| int m_GD20HM303DGyroBW; // the gyro bandwidth code |
| int m_GD20HM303DGyroHpf; // the gyro high pass filter cutoff code |
| int m_GD20HM303DGyroFsr; // the gyro full scale range |
| |
| int m_GD20HM303DAccelSampleRate; // the accel sample rate |
| int m_GD20HM303DAccelFsr; // the accel full scale range |
| int m_GD20HM303DAccelLpf; // the accel low pass filter |
| |
| int m_GD20HM303DCompassSampleRate; // the compass sample rate |
| int m_GD20HM303DCompassFsr; // the compass full scale range |
| |
| // GD20M303DLHC |
| |
| int m_GD20M303DLHCGyroSampleRate; // the gyro sample rate |
| int m_GD20M303DLHCGyroBW; // the gyro bandwidth code |
| int m_GD20M303DLHCGyroHpf; // the gyro high pass filter cutoff code |
| int m_GD20M303DLHCGyroFsr; // the gyro full scale range |
| |
| int m_GD20M303DLHCAccelSampleRate; // the accel sample rate |
| int m_GD20M303DLHCAccelFsr; // the accel full scale range |
| |
| int m_GD20M303DLHCCompassSampleRate; // the compass sample rate |
| int m_GD20M303DLHCCompassFsr; // the compass full scale range |
| |
| // GD20HM303DLHC |
| |
| int m_GD20HM303DLHCGyroSampleRate; // the gyro sample rate |
| int m_GD20HM303DLHCGyroBW; // the gyro bandwidth code |
| int m_GD20HM303DLHCGyroHpf; // the gyro high pass filter cutoff code |
| int m_GD20HM303DLHCGyroFsr; // the gyro full scale range |
| |
| int m_GD20HM303DLHCAccelSampleRate; // the accel sample rate |
| int m_GD20HM303DLHCAccelFsr; // the accel full scale range |
| |
| int m_GD20HM303DLHCCompassSampleRate; // the compass sample rate |
| int m_GD20HM303DLHCCompassFsr; // the compass full scale range |
| |
| // LSM9DS0 |
| |
| int m_LSM9DS0GyroSampleRate; // the gyro sample rate |
| int m_LSM9DS0GyroBW; // the gyro bandwidth code |
| int m_LSM9DS0GyroHpf; // the gyro high pass filter cutoff code |
| int m_LSM9DS0GyroFsr; // the gyro full scale range |
| |
| int m_LSM9DS0AccelSampleRate; // the accel sample rate |
| int m_LSM9DS0AccelFsr; // the accel full scale range |
| int m_LSM9DS0AccelLpf; // the accel low pass filter |
| |
| int m_LSM9DS0CompassSampleRate; // the compass sample rate |
| int m_LSM9DS0CompassFsr; // the compass full scale range |
| |
| // LSM9DS1 |
| |
| int m_LSM9DS1GyroSampleRate; // the gyro sample rate |
| int m_LSM9DS1GyroBW; // the gyro bandwidth code |
| int m_LSM9DS1GyroHpf; // the gyro high pass filter cutoff code |
| int m_LSM9DS1GyroFsr; // the gyro full scale range |
| |
| int m_LSM9DS1AccelSampleRate; // the accel sample rate |
| int m_LSM9DS1AccelFsr; // the accel full scale range |
| int m_LSM9DS1AccelLpf; // the accel low pass filter |
| |
| int m_LSM9DS1CompassSampleRate; // the compass sample rate |
| int m_LSM9DS1CompassFsr; // the compass full scale range |
| |
| // BMX055 |
| |
| int m_BMX055GyroSampleRate; // the gyro sample rate |
| int m_BMX055GyroFsr; // the gyro full scale range |
| |
| int m_BMX055AccelSampleRate; // the accel sample rate |
| int m_BMX055AccelFsr; // the accel full scale range |
| |
| int m_BMX055MagPreset; // the mag preset code |
| |
| private: |
| void setBlank(); |
| void setComment(const char *comment); |
| void setValue(const char *key, const bool val); |
| void setValue(const char *key, const int val); |
| void setValue(const char *key, const RTFLOAT val); |
| |
| char m_filename[256]; // the settings file name |
| |
| FILE *m_fd; |
| }; |
| |
| #endif // _RTIMUSETTINGS_H |
| |
