GY50.hpp

Go to the documentation of this file.

 
#pragma once
 
#include <stdint.h> // NOLINT(modernize-deprecated-headers)
 
#include "../../../runtime/Runtime.hpp"
#include "../HeadingSensor.hpp"
 
namespace smartcarlib
{
namespace constants
{
namespace gy50
{
const uint8_t kDefaultSamplingInterval    = 100;
const int kError                          = -32767;
const int kDefaultCalibrationMeasurements = 100;
} // namespace gy50
} // namespace constants
} // namespace smartcarlib
 
class GY50 : public HeadingSensor
{
public:
    GY50(Runtime& runtime,
         int offset,
         unsigned long samplingInterval = smartcarlib::constants::gy50::kDefaultSamplingInterval);
 
    /* Check `HeadingSensor` interface for documentation */
    int getHeading() override;
 
    /* Check `HeadingSensor` interface for documentation */
    void update() override;
 
    int getOffset(int measurements = smartcarlib::constants::gy50::kDefaultCalibrationMeasurements);
 
private:
    const int kOffset;
    const unsigned long kSamplingInterval;
    Runtime& mRuntime;
    unsigned long mPreviousSample;
    bool mAttached;
    float mAngularDisplacement;
 
    void attach();
    int getAngularVelocity();
    int readL3G4200DRegister(uint8_t registerAddress);
    void writeL3G4200DRegister(uint8_t registerAddress, uint8_t value);
};