57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
/*
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* Copyright (C) EdgeTX
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*
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* Based on code named
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* opentx - https://github.com/opentx/opentx
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include <inttypes.h>
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#include "myeeprom.h"
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#define IMU_VALUES_COUNT 6
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#define IMU_BUFFER_LENGTH (IMU_VALUES_COUNT * sizeof(int16_t))
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#define IMU_MAX_DEFAULT 30
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#define IMU_MAX_RANGE 60
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#define IMU_OFFSET_MIN -30
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#define IMU_OFFSET_MAX 10
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#define IMU_SAMPLES_EXPONENT 3
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#define IMU_SAMPLES_COUNT (2 ^ IMU_SAMPLES_EXPONENT)
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class Gyro
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{
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protected:
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uint8_t errors = 0;
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float roll = 0.0;
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float pitch = 0.0;
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public:
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int16_t outputs[2];
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void wakeup();
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int16_t scaledX();
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int16_t scaledY();
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};
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extern Gyro gyro;
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// Gyro driver
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int gyroInit();
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int gyroRead(uint8_t buffer[IMU_BUFFER_LENGTH]);
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