OS5000.h

Go to the documentation of this file.

/***************************************************************

 Intelligent Ground Vehicle Competition 2010
 Pennsylvania State University - Robotics Club
 Learn more at www.psurobotics.org
 Protected by the GNU General Public License

 This source file originally developed by:
 + Rich Mattes rjm5066@psu.edu

 File: OS5000.h
 Desc: Communication protocol for OS5000 compass.
           This class assumes the "$OHPR" output method with
           a bitmask of 1297 (azimuth, pitch, roll, temp, accelerometers, gyros)

***************************************************************/

// Inclusion guard
#ifndef __OS5000_H_
#define __OS5000_H_

// Includes
#include <string.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <sstream>
#include "flexiport/flexiport.h"
#include "flexiport/port.h"
#define DEBUG 0

// Serial Timeout (seconds)
#define SERIAL_TIMEOUT 0.4

struct CompassData{
        char Header[8];
        double Bearing;
        double Roll;
        double Pitch;
        double Temp;
        double Acc[3];
        double Gyro[2];
};

class OS5000
{
public:

        OS5000(char *DevicePath, int UpdateRate);

        ~OS5000();

        int InitCompass();

        int CheckCompass();

        int ResetCompass();

        int GetInfo(CompassData*);

private:

        // Starts the serial port
        int SetupPort(char* PortOpts);

        // Stops the serial port.
        int ShutdownPort();

        // Sets correct compass configuration
        int ConfigureCompass(int UpdateRate);

        // The options to use when configuring the port
        char PortOptions[128];
        int UpdateRate;

        // The Flexiport port object
        flexiport::Port* port;

        clock_t LastReadTime;

        int ErrorCount;
};

// Inclusion guard
#endif

---