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ImuHub.hpp
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1#ifndef OF_LIB_IMU_HUB_HPP
2#define OF_LIB_IMU_HUB_HPP
3
4#include <OF/lib/HubManager/HubBase.hpp>
5
6#include <zephyr/drivers/sensor.h>
7#include <zephyr/kernel.h>
8
9namespace OF
10{
11 struct ImuHubConfig
12 {
13 const device* accel_dev;
14 const device* gyro_dev;
15 };
16
24 struct IMUData
25 {
27 struct Vector3
28 {
29 float x, y, z;
30 };
31
32#ifndef CONFIG_IMU_HUB_RESOLVER_NONE
34 struct Quaternion
35 {
36 float w, x, y, z;
37 } quat;
38
39 struct EulerAngle
40 {
41 float pitch, roll, yaw;
42 } euler_angle;
43
44#endif
45 Vector3 gyro;
46 Vector3 accel;
47 };
48
64 class ImuHub final : public HubBase<ImuHub>
65 {
66 public:
67 ImuHub() = default;
68 ImuHub(const ImuHub&) = delete;
69 ImuHub operator=(const ImuHub&) = delete;
70
71 static constexpr auto name = "ImuHub";
72
73 void configure(const ImuHubConfig& config);
74
82 void setup();
83
89 static void async_worker_thread(void* p1, void* p2, void* p3);
90
91 static IMUData getData();
92
93 private:
102 static void process_imu_data(int result, uint8_t* buf, uint32_t buf_len, void* userdata);
103
110 static void handle_axis_update(sensor_channel channel, const struct sensor_three_axis_data& data);
111
112 const device* m_accel_dev;
113 const device* m_gyro_dev;
114 };
115}
116
117static OF::IMUData getImuData()
118{
119 return OF::ImuHub::getData();
120}
121
122#endif //OF_LIB_IMU_HUB_HPP
getImuData
static OF::IMUData getImuData()
定义 ImuHub.hpp:117
OF::ImuHub::setup
void setup()
Configure and start the asynchronous IMU pipeline.
定义 ImuHub.cpp:187
OF::ImuHub::operator=
ImuHub operator=(const ImuHub &)=delete
OF::ImuHub::name
static constexpr auto name
定义 ImuHub.hpp:71
OF::ImuHub::ImuHub
ImuHub()=default
OF::ImuHub::async_worker_thread
static void async_worker_thread(void *p1, void *p2, void *p3)
RTOS thread entry used for processing the RTIO completion queue.
定义 ImuHub.cpp:214
OF::ImuHub::getData
static IMUData getData()
定义 ImuHub.cpp:225
OF::ImuHub::configure
void configure(const ImuHubConfig &config)
定义 ImuHub.cpp:181
OF::ImuHub::ImuHub
ImuHub(const ImuHub &)=delete
OF
定义 Mecanum.hpp:6
OF::IMUData::EulerAngle
定义 ImuHub.hpp:40
OF::IMUData::EulerAngle::roll
float roll
定义 ImuHub.hpp:41
OF::IMUData::EulerAngle::pitch
float pitch
定义 ImuHub.hpp:41
OF::IMUData::EulerAngle::yaw
float yaw
定义 ImuHub.hpp:41
OF::IMUData::Quaternion
定义 ImuHub.hpp:35
OF::IMUData::Quaternion::w
float w
定义 ImuHub.hpp:36
OF::IMUData::Quaternion::y
float y
定义 ImuHub.hpp:36
OF::IMUData::Quaternion::x
float x
定义 ImuHub.hpp:36
OF::IMUData::Quaternion::z
float z
定义 ImuHub.hpp:36
OF::IMUData::Vector3
定义 ImuHub.hpp:28
OF::IMUData::Vector3::y
float y
定义 ImuHub.hpp:29
OF::IMUData::Vector3::x
float x
定义 ImuHub.hpp:29
OF::IMUData::Vector3::z
float z
定义 ImuHub.hpp:29
OF::IMUData
Container for IMU sample data used by the hub.
定义 ImuHub.hpp:25
OF::IMUData::quat
struct OF::IMUData::Quaternion quat
OF::IMUData::euler_angle
struct OF::IMUData::EulerAngle euler_angle
OF::IMUData::accel
Vector3 accel
定义 ImuHub.hpp:46
OF::IMUData::gyro
Vector3 gyro
定义 ImuHub.hpp:45
OF::ImuHubConfig
定义 ImuHub.hpp:12
OF::ImuHubConfig::accel_dev
const device * accel_dev
定义 ImuHub.hpp:13
OF::ImuHubConfig::gyro_dev
const device * gyro_dev
定义 ImuHub.hpp:14