AbsoluteIMU.h

// AbsoluteIMU.h
//
// This is a class for reading from AbsoluteIMU, made by Mindsensors.
// See http://www.mindsensors.com/index.php?module=pagemaster&PAGE_user_op=view_page&PAGE_id=169

// Initial version: 2013-01-22 by Michael Giles
// Large parts of the code is ported from the NXC library for the device,
// written by Deepak Patil.Deepak Patil

/*
  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/


#ifndef ABSIMU_H
#define ABSIMU_H

#define IMU_Command    0x41

#include "NXShieldI2C.h"

struct magnetic_field
{
        short mx_h;      
        short mx_l;      
        short my_h;      
        short my_l;      
        short mz_h;      
        short mz_l;      
  int   mx;              
  int   my;              
  int   mz;              
  int   error;           
};

struct gyro
{
        short gx_h;      
        short gx_l;      
        short gy_h;      
        short gy_l;      
        short gz_h;      
        short gz_l;      
  int   gx;             
  int   gy;             
  int   gz;             
  int error;            
};

struct accl
{
        short  tx;       
        short  ty;       
        short  tz;       
        short ax_h;      
        short ax_l;      
        short ay_h;      
        short ay_l;      
        short az_h;      
        short az_l;      
  int   ax;             
  int   ay;             
  int   az;             
  int error;            
};

struct cmps
{
  int heading;          
        short heading_h;        
        short heading_l;        
  int error;            
};

class AbsoluteIMU : public NXShieldI2C
{
public:
  AbsoluteIMU(uint8_t i2c_address = 0x22);

  uint8_t    issueCommand(char command);
        
        void      readGyro(gyro & currGyro);
        
        void      readCompass(cmps & currCompass);
        
        void      readAccelerometer(accl & currAccelerometer);

        void      readMagneticField(magnetic_field & currMagnetic_field);
        bool      beginCompassCalibration();
        bool      endCompassCalibration();
};

#endif