tactigon_IMU.h

#ifndef TACTIGON_IMU_H_
#define TACTIGON_IMU_H_

void setGlobalFreqSampling(uint32_t freq);


/*--------------------------------------------------------------------------------*/
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/*--------------------------------------------------------------------------------*/
/************************************************/
class T_AccData
{
    public:
    T_AccData();
    
    float x;        
    float y;        
    float z;        
};

/************************************************/
class T_ACC
{
    public:
        T_ACC();
        T_AccData   getAxis(void);
        float       getFS(void);
        float       getODR(void);
        uint8_t     setFS(float v);
        uint8_t     setODR(float v);
    
    private:
        T_AccData data;
};


/*--------------------------------------------------------------------------------*/
/*--------------------------------------------------------------------------------*/
/*--------------------------------------------------------------------------------*/
/************************************************/
class T_GyroData
{
    public:
    T_GyroData();
    
    float x;        
    float y;        
    float z;        
};

/************************************************/
class T_GYRO
{
    public:
        T_GYRO();
        T_GyroData  getAxis(void);
        float       getFS(void);
        float       getODR(void);
        uint8_t     setFS(float v);
        uint8_t     setODR(float v);
        void        startCalib(void);
    
    private:
        T_GyroData data;
};


/*--------------------------------------------------------------------------------*/
/*--------------------------------------------------------------------------------*/
/*--------------------------------------------------------------------------------*/
/************************************************/
class T_MagData
{
    public:
    T_MagData();
    
    float x;        
    float y;        
    float z;        
};

/************************************************/
class T_MAG
{
    public:
        T_MAG();
        T_MagData getAxis(void);
        float       getFS(void);
        float       getODR(void);
        uint8_t     setFS(float v);
        uint8_t     setODR(float v);
    
    private:
        T_MagData data;
};


/*--------------------------------------------------------------------------------*/
/*--------------------------------------------------------------------------------*/
/*--------------------------------------------------------------------------------*/
/************************************************/
class T_QData
{
    public:
    T_QData();
    
    float q0f;      
    float q1f;      
    float q2f;      
    float q3f;      
    short q0;       
    short q1;       
    short q2;       
    short q3;       
    float roll;     
    float pitch;    
    float yaw;      
};

/************************************************/
class T_QUAT
{
    public:
        T_QUAT();
        T_QData getQs(void);
        void enable(void);
        void disable(void);
        void useMag(uint8_t val);
    
    private:        
        T_QData data;
};

#endif