nimu.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2006
4  * Toby Collett
5  *
6  *
7  * This library is free software; you can redistribute it and/or
8  * modify it under the terms of the GNU Lesser General Public
9  * License as published by the Free Software Foundation; either
10  * version 2.1 of the License, or (at your option) any later version.
11  *
12  * This library is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15  * Lesser General Public License for more details.
16  *
17  * You should have received a copy of the GNU Lesser General Public
18  * License along with this library; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  */
21 
22 #include <usb.h>
23 #include <stdint.h>
24 #include <stdio.h>
25 #include <arpa/inet.h>
26 
27 
28 #define NIMU_VENDORID 0x10c4
29 #define NIMU_PRODUCTID 0xEA61
30 
31 #define NIMU_DATA_SIZE 38
32 
33 typedef unsigned char uint8_t;
34 typedef unsigned short uint16_t;
35 
36 
37 
38 class nimu_data
39 {
40  public:
41  uint8_t DeviceID;
42  uint8_t MessageID;
43  uint16_t SampleTimer;
44  short GyroX;
45  short GyroY;
46  short GyroZ;
47  short AccelX;
48  short AccelY;
49  short AccelZ;
50  short MagX;
51  short MagY;
52  short MagZ;
53  short GyroTempX;
54  short GyroTempY;
55  short GyroTempZ;
56 
57  void Print() {
58  printf("%04X %04X %04X,%04X %04X %04X\n",GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ);
59  }
60 };
61 
62 class nimu
63 {
64  public:
65  nimu();
66  ~nimu();
67 
68  int Open();
69  int Close();
70 
71  nimu_data GetData();
72 
73  private:
74  usb_dev_handle * nimu_dev;
75 
76 };
77 
Definition: nimu.h:39
Definition: nimu.h:63