| paul@0 | 1 | /* |
| paul@0 | 2 | * Ben NanoNote communication with the Pololu MinIMU-9 with the L3G4200D 3-axis |
| paul@0 | 3 | * gyroscope and LSM303DLM accelerometer/magnetometer. |
| paul@0 | 4 | * |
| paul@0 | 5 | * http://www.pololu.com/catalog/product/1265 |
| paul@0 | 6 | * |
| paul@0 | 7 | * Copyright (C) 2013 Paul Boddie |
| paul@0 | 8 | * |
| paul@0 | 9 | * This program is free software; you can redistribute it and/or modify |
| paul@0 | 10 | * it under the terms of the GNU General Public License as published by |
| paul@0 | 11 | * the Free Software Foundation; either version 2 of the License, or |
| paul@0 | 12 | * (at your option) any later version. |
| paul@0 | 13 | */ |
| paul@0 | 14 | |
| paul@0 | 15 | #ifndef __MEASURE_H__ |
| paul@0 | 16 | #define __MEASURE_H__ |
| paul@0 | 17 | |
| paul@0 | 18 | #include "geo.h" |
| paul@0 | 19 | |
| paul@0 | 20 | /* Function definitions. */ |
| paul@0 | 21 | |
| paul@0 | 22 | void ui_calibrate(bool using_filter, int (*print)(const char *, ...), void (*flush)()); |
| paul@0 | 23 | void *get_measurements(void *arg); |
| paul@0 | 24 | |
| paul@0 | 25 | #ifdef __MEASURE_H_PRIVATE__ |
| paul@0 | 26 | |
| paul@0 | 27 | /* The raw accelerometer value of 1g. */ |
| paul@0 | 28 | |
| paul@0 | 29 | const double acceleration1g = 1000000.0 / IMU_UG_FACTOR; |
| paul@0 | 30 | |
| paul@0 | 31 | /* The device vectors defined in the chosen coordinate system, together with |
| paul@0 | 32 | the corresponding initial view axes. */ |
| paul@0 | 33 | |
| paul@0 | 34 | const vectorf devicex0 = {{0, 0, -1}}, viewz0 = {{0, 0, 1}}, |
| paul@0 | 35 | devicey0 = {{-1, 0, 0}}, viewx0 = {{1, 0, 0}}, |
| paul@0 | 36 | devicez0 = {{0, -1, 0}}, viewy0 = {{0, 1, 0}}; |
| paul@0 | 37 | |
| paul@0 | 38 | /* Measurements. */ |
| paul@0 | 39 | |
| paul@0 | 40 | vectorf accelerationB[IMU_ACCEL_BUFFER_SIZE], |
| paul@0 | 41 | acceleration, |
| paul@0 | 42 | acceleration0 = {{0, 0, 0}}, |
| paul@0 | 43 | rotation, |
| paul@0 | 44 | rotation0 = {{0, 0, 0}}, |
| paul@0 | 45 | field, |
| paul@0 | 46 | fieldmin = {{-327.0, -355.0, -338.0}}, |
| paul@0 | 47 | fieldmax = {{107.0, 150.0, 205.0}}; |
| paul@0 | 48 | |
| paul@0 | 49 | /* Timekeeping. */ |
| paul@0 | 50 | |
| paul@0 | 51 | struct timeval imu_updated, imu_magnet_updated; |
| paul@0 | 52 | uint32_t imu_period = 0; |
| paul@0 | 53 | |
| paul@0 | 54 | /* Orientation. */ |
| paul@0 | 55 | |
| paul@0 | 56 | vectorf devicex, devicey, devicez, |
| paul@0 | 57 | viewx, viewy, viewz, |
| paul@0 | 58 | accelerationD, |
| paul@0 | 59 | accelerationR = {{0, 0, -1}}, |
| paul@0 | 60 | accelerationRD = {{0, 1, 0}}, |
| paul@0 | 61 | fieldD = {{0, 0, 0}}, |
| paul@0 | 62 | fieldD0 = {{0, 0, 0}}, |
| paul@0 | 63 | field0 = {{0, 0, 0}}, |
| paul@0 | 64 | fieldN = {{0, 0, 0}}, |
| paul@0 | 65 | fieldE = {{0, 0, 0}}; |
| paul@0 | 66 | double direction, elevation, tilt, |
| paul@0 | 67 | elevationA = 0, tiltA = 0, |
| paul@0 | 68 | directionF, elevationF, |
| paul@0 | 69 | directionF0, elevationF0; |
| paul@0 | 70 | |
| paul@0 | 71 | /* Measurement thread. */ |
| paul@0 | 72 | |
| paul@0 | 73 | pthread_t thread; |
| paul@0 | 74 | pthread_mutex_t mutex; |
| paul@0 | 75 | |
| paul@0 | 76 | #else |
| paul@0 | 77 | |
| paul@0 | 78 | extern const double acceleration1g; |
| paul@0 | 79 | extern vectorf devicex0, devicey0, devicez0, |
| paul@0 | 80 | devicex, devicey, devicez, |
| paul@0 | 81 | viewx0, viewy0, viewz0, |
| paul@0 | 82 | viewx, viewy, viewz, |
| paul@0 | 83 | accelerationB[IMU_ACCEL_BUFFER_SIZE], |
| paul@0 | 84 | acceleration, |
| paul@0 | 85 | acceleration0, |
| paul@0 | 86 | accelerationD, |
| paul@0 | 87 | accelerationR, |
| paul@0 | 88 | accelerationRD, |
| paul@0 | 89 | rotation, |
| paul@0 | 90 | rotation0, |
| paul@0 | 91 | field, |
| paul@0 | 92 | fieldmin, fieldmax, |
| paul@0 | 93 | fieldD, fieldD0, field0, fieldN, fieldE; |
| paul@0 | 94 | extern struct timeval imu_updated; |
| paul@0 | 95 | extern uint32_t imu_period; |
| paul@0 | 96 | extern double direction, elevation, tilt, |
| paul@0 | 97 | elevationA, tiltA, |
| paul@0 | 98 | directionF, elevationF, |
| paul@0 | 99 | directionF0, elevationF0; |
| paul@0 | 100 | |
| paul@0 | 101 | /* Measurement thread. */ |
| paul@0 | 102 | |
| paul@0 | 103 | extern pthread_t thread; |
| paul@0 | 104 | extern pthread_mutex_t mutex; |
| paul@0 | 105 | |
| paul@0 | 106 | #endif /* __MEASURE_H_PRIVATE__ */ |
| paul@0 | 107 | |
| paul@0 | 108 | #endif /* __MEASURE_H__ */ |
