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38 lines
515 B
38 lines
515 B
6 years ago
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#pragma once
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#include <freertos/FreeRTOS.h>
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#include <stdint.h>
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#include <MPU.hpp>
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namespace ugv {
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namespace io {
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using mpud::float_axes_t;
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struct MpuData {
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// G's
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float_axes_t accel;
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// degrees/s
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float_axes_t gyro_rate;
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// flux density uT
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float_axes_t mag;
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};
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class MPU {
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public:
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explicit MPU();
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~MPU();
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void Init();
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void GetData(MpuData &data);
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private:
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mpud::MPU * mpu_;
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mpud::raw_axes_t accel_, gyro_, mag_;
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MpuData mpu_data_;
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};
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} // namespace io
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} // namespace ugv
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