IMUSensor.h

// IMUSensor.h

#ifndef _IMUSENSOR_h
#define _IMUSENSOR_h

#include "Arduino.h"

#define IMU_MAX_PACKET_LEN (256)

class IMUSensor {
private:
    enum status {
        kStatus_Idle,
        kStatus_Cmd,
        kStatus_LenLow,
        kStatus_LenHigh,
        kStatus_CRCLow,
        kStatus_CRCHigh,
        kStatus_Data,
    };

    typedef enum {
        kItemKeyStatus = 0x80,   	/* key status           size: 4 */
        kItemID = 0x90,   			/* user programed ID    size: 1 */
        kItemUID = 0x91,   			/* Unique ID            size: 4 */
        kItemIPAdress = 0x92,   	/* ip address           size: 4 */
        kItemAccRaw = 0xA0,   		/* raw acc              size: 3x2 */
        kItemAccRawFiltered = 0xA1,
        kItemAccLinear = 0xA2,
        kItemAccCalibrated = 0xA3,
        kItemGyoRaw = 0xB0,   		/* raw gyro             size: 3x2 */
        kItemGyoRawFiltered = 0xB1,
        kItemGyoCalibrated = 0xB3,
        kItemMagRaw = 0xC0,   		/* raw mag              size: 3x2 */
        kItemMagRawFiltered = 0xC1,
        kItemMagCalibrated = 0xC3,
        kItemAtdE = 0xD0,   		/* eular angle          size:3x2 */
        kItemAtdQ = 0xD1,   		/* att q,               size:4x4 */
        kItemTemp = 0xE0,
        kItemPressure = 0xF0,   	/* pressure             size:1x4 */
        kItemEnd = 0xFF,
    } ItemID_t;

    typedef struct {
        uint32_t ofs;
        uint8_t buf[IMU_MAX_PACKET_LEN] = {0};
        uint16_t payload_len;
        uint16_t len;
        uint8_t type;
    } Packet_t;

    Packet_t RxPkt;
    uint8_t ID;
    int16_t AccRaw[3] = {0};
    int16_t GyoRaw[3] = {0};
    int16_t MagRaw[3] = {0};
    float Eular[3] = {0.0};
    int32_t Pressure;

    static void crc16_update(uint16_t *currectCrc, const uint8_t *src, uint32_t lengthInBytes);
    uint32_t packetDecode(uint8_t c);
    void updateEuler(Packet_t *pkt);
    bool m_isUpdated;

public:
    static IMUSensor &inst();
    IMUSensor();
    static void init();
    static void update();
    static float getPitch();
    static float getRoll();
    static float getYaw();
    void update_int();
};


#endif