sensor_fusion_class.h

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#ifndef SENSOR_FUSION_CLASS_H_
#define SENSOR_FUSION_CLASS_H_
 
#include <Stream.h>
 
#include "board.h"
#include "build.h"
#include "sensor_fusion/sensor_fusion.h"
#include "sensor_fusion/control.h"
#include "sensor_fusion/status.h"
 
enum class SensorType {
  kMagnetometer,
  kAccelerometer,
  kMagnetometerAccelerometer,
  kGyroscope,
  kBarometer,
  kThermometer
};
 
#define MAX_NUM_SENSORS  4    //TODO can replace with vector for arbitrary num sensors
 
class SensorFusion {
 public:
  SensorFusion();
  bool InstallSensor(uint8_t sensor_i2c_addr, SensorType sensor_type);
  bool InitializeInputOutputSubsystem(const Stream *serial_port = NULL,
                                      const void *tcp_client = NULL);
  void Begin(int pin_i2c_sda = -1, int pin_i2c_scl = -1);
  void UpdateWiFiStream(void *tcp_client);
  void ReadSensors(void);
  void RunFusion(void);
  void ProduceToolboxOutput(void);
  bool SendArbitraryData(const char *buffer, uint16_t data_length);
  void ProcessCommands(void);
  void InjectCommand(const char *command);
  void SaveMagneticCalibration(void);
  bool IsDataValid(void);
  int GetSystemStatus(void);
  float GetHeadingDegrees(void);
  float GetPitchDegrees(void);
  float GetRollDegrees(void);
  float GetHeadingRadians(void);
  float GetPitchRadians(void);
  float GetRollRadians(void);
  float GetAccelXGees(void);
  float GetAccelYGees(void);
  float GetAccelZGees(void);
  float GetAccelXMPerSS(void);
  float GetAccelYMPerSS(void);
  float GetAccelZMPerSS(void);
  float GetTurnRateDegPerS(void);
  float GetPitchRateDegPerS(void);
  float GetRollRateDegPerS(void);
  float GetTurnRateRadPerS(void);
  float GetPitchRateRadPerS(void);
  float GetRollRateRadPerS(void);
  float GetTemperatureC(void);
  float GetTemperatureK(void);
  void  GetOrientationQuaternion(Quaternion *quat);
  float GetMagneticFitError(void);
  float GetMagneticFitErrorTrial(void);
  float GetMagneticBMag(void);
  float GetMagneticBMagTrial(void);
  float GetMagneticInclinationDeg(void);
  float GetMagneticInclinationRad(void);
  float GetMagneticNoiseCovariance(void);
  float GetMagneticCalSolver(void);
 
 private:
  void InitializeStatusSubsystem(void);
  void InitializeSensorFusionGlobals(void);
 
  SensorFusionGlobals *sfg_;  
  ControlSubsystem
      *control_subsystem_;             
  StatusSubsystem *status_subsystem_;  
  PhysicalSensor *sensors_;            
  uint8_t num_sensors_installed_ =
      0;  
 
  const uint8_t kLoopsPerMagRead =
      1;  
  const uint8_t kLoopsPerThermRead =
      1;  
  const uint8_t kLoopsPerAccelRead =
      1;  
  const uint8_t kLoopsPerGyroRead =
      1;  
  const uint8_t kLoopsPerFusionCalc =
      1;  
  uint8_t loops_per_fuse_counter_ =
      0;  
 
};  // end SensorFusion
 
#endif /* SENSOR_FUSION_CLASS_H_ */