g366.hpp

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#ifndef _G366_HPP
#define _G366_HPP
 
#include <cstdint>
#include <memory>
#include <serial/serial.hpp>
 
namespace driver::imu_driver::g366
{
 
struct DATA_META
{
  unsigned char head;
  short flag;
  short gpio;
  short count;
  unsigned char foot;
};
 
struct DATA
{
  DATA_META meta;
  float temp;
  float x_gyro;
  float y_gyro;
  float z_gyro;
  float x_accl;
  float y_accl;
  float z_accl;
  float qtn0;
  float qtn1;
  float qtn2;
  float qtn3;
  float roll;
  float pitch;
  float yaw;
};
 
struct RAW_DATA_T
{
  unsigned char head;
  short flag;
  short temp;
  short x_gyro;
  short y_gyro;
  short z_gyro;
  short x_accl;
  short y_accl;
  short z_accl;
  short qtn0;
  short qtn1;
  short qtn2;
  short qtn3;
  short roll;
  short pitch;
  short yaw;
  short gpio;
  short count;
  unsigned char foot;
};
 
using command = const unsigned char;
command window0_select_wcomm[3] = {0xFE, 0x00, 0x0d};  
command window1_select_wcomm[3] = {0xFE, 0x01, 0x0d};  
 
command burst_request_wcomm0[3] = {0x80, 0x00, 0x0d};   
command config_mode_wcomm0[3] = {0x83, 0x00, 0x0d};     
command sampling_mode_wcomm0[3] = {0x83, 0x01, 0x0d};   
command diag_stat_rcomm0[3] = {0x04, 0x00, 0x0d};       
command self_test_wcomm1[3] = {0x83, 0x04, 0x0d};       
command self_test_rcomm1[3] = {0x02, 0x00, 0x0d};       
command software_reset_wcomm1[3] = {0x8A, 0x80, 0x0d};  
command check_ready_rcomm1[3] = {0x0A, 0x00, 0x0d};     
command filter_ctrl_wcomm1[3] = {0x86, 0x00, 0x0d};     
command filter_ctrl_rcomm1[3] = {0x06, 0x00, 0x0d};     
command atti_motion_wcomm1[3] = {0x96, 0x00, 0x0d};     
command atti_motion_rcomm1[3] = {0x16, 0x00, 0x0d};     
command baud_rate_460_wcomm1[3] = {0x89, 0x00, 0x0d};   
command baud_rate_230_wcomm1[3] = {0x89, 0x01, 0x0d};   
command baud_rate_921_wcomm1[3] = {0x89, 0x02, 0x0d};   
 
command config_comm[33] = {
  0xFE, 0x01, 0x0d,  
  0x85, 0x09, 0x0d,  
  0x88, 0x00, 0x0d,  
  0x8C, 0x06, 0x0d,  
  0x8D, 0xF3, 0x0d,  
  0x8F, 0x00, 0x0d,  
  0x93, 0x00, 0x0d,  
  0x94, 0x00, 0x0d,  
  0x95, 0x0c, 0x0d,  
};
 
const int default_baudrate = 460800;  
 
const double temp_sf = 0.00699411;      
const double gyro_sf = 1.0 / 66.0;      
const double accel_sf = 1.0 / 4.0;      
const double qtn_sf = 1.0 / (1 << 14);  
const double atti_sf = 0.00699411;      
 
class G366
{
public:
  explicit G366(const char * _portname, const int _baudrate);
 
  ~G366();
 
  uint16_t concat_8bit(uint8_t msb, uint8_t lsb);
 
  void set_baud_rate(int baudrate);
 
  void set_filter(uint8_t filter_type = 8);
 
  void set_atti_motion_profile(uint8_t motion_type = 32);
 
  uint16_t self_test();
 
  void software_reset();
 
  bool is_ready();
 
  std::shared_ptr<DATA> get_data();
 
  bool setup();
 
  bool update();
 
private:
  const char * portname_;
  const int baudrate_;
 
  DATA data;
 
  std::shared_ptr<serial::Serial> serial_;
 
  uint16_t diagnostic_status();
 
  void print_diag_status(uint16_t status);
};
 
// class G366HWReseter
// {
// public:
//   /**
//    * @
//   */
//   explicit G366HWReseter(const char * _portname, const int _baudrate);
//
//   void reset();
//
// private:
//   const char * portname;
//   const int baudrate;
//
//   std::shared_ptr<serial::Serial> serial_;
//
//   const unsigned char reset_comm = 'r';
// };
 
}  // namespace driver::imu_driver::g366
 
#endif