gyro.cpp

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#include "gyro.h"
#include "SimpleGPIO.h"
#include "ICM20948.h"
 
void raw_gyro_auxtask_callback(void* gyro_ptr) {
  Gyro* gyro = static_cast<Gyro*>(gyro_ptr);
  gyro->loop();
}
 
Gyro::Gyro(BelaContext* ctx) {
  // 0x69 is the address of I2C of the Gyro. 1 is the bus.
  _gyro = new ICM20948(1, 0x69);
  _gyro->ResetChip();
  _gyro->WakeUp();
 
  _task = Bela_createAuxiliaryTask(raw_gyro_auxtask_callback,
      50, "Gyro_task", this);
  Bela_scheduleAuxiliaryTask(_task);
}
 
std::array<float, 6> Gyro::get_raw() const {
  Bela_scheduleAuxiliaryTask(_task);
  return { 
    _gyro->getGyroX(),
      _gyro->getGyroY(),
      _gyro->getGyroZ(),
      _gyro->getAccX(),
      _gyro->getAccY(),
      _gyro->getAccZ()
  };
}
 
std::array<float, 2> Gyro::get_abs() const {
  Bela_scheduleAuxiliaryTask(_task);
  return { 
    _gyro->getGyroAbs(),
      _gyro->getAccAbs(),
  };
 
}
 
void Gyro::loop() {
 
  _gyro->readFullSensorState();
 
}
 
 
bool Gyro::error() const {
  return _gyro->error();
}
void Gyro::resetError() {
  _gyro->resetError();
}