ydy0615
c3dac34dcc
- Add dm_imu_pkg/__init__.py to dynamically load compiled IMU module during development and installation - Update .vscode/settings.json to ignore missing CMakeLists for flexible builds - Generate egg-info metadata and package structure for distribution
104 lines
2.0 KiB
C++
104 lines
2.0 KiB
C++
#ifndef _IMU_DRIVER_H_
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#define _IMU_DRIVER_H_
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#include <iostream>
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#include <thread>
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#include <initializer_list>
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#include <fstream>
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#include <array>
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#include <mutex>
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#include <atomic>
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#include <math.h>
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#include "bsp_crc.h"
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namespace dmbot_serial
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{
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#pragma pack(1)
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typedef struct
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{
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uint8_t FrameHeader1;
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uint8_t flag1;
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uint8_t slave_id1;
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uint8_t reg_acc;
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uint32_t accx_u32;
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uint32_t accy_u32;
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uint32_t accz_u32;
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uint16_t crc1;
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uint8_t FrameEnd1;
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uint8_t FrameHeader2;
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uint8_t flag2;
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uint8_t slave_id2;
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uint8_t reg_gyro;
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uint32_t gyrox_u32;
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uint32_t gyroy_u32;
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uint32_t gyroz_u32;
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uint16_t crc2;
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uint8_t FrameEnd2;
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uint8_t FrameHeader3;
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uint8_t flag3;
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uint8_t slave_id3;
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uint8_t reg_euler; // r-p-y
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uint32_t roll_u32;
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uint32_t pitch_u32;
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uint32_t yaw_u32;
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uint16_t crc3;
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uint8_t FrameEnd3;
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} IMU_Receive_Frame;
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#pragma pack()
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typedef struct
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{
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float accx;
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float accy;
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float accz;
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float gyrox;
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float gyroy;
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float gyroz;
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float roll;
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float pitch;
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float yaw;
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} IMU_Data;
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class DmImu
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{
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public:
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DmImu(const std::string& port = "/dev/ttyACM1", int baud = 921600);
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~DmImu();
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// Start data acquisition thread; returns true on success
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bool start();
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// Stop acquisition and close serial port
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void stop();
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// Get latest IMU data (thread‑safe copy)
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IMU_Data getData() const;
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private:
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void init_imu_serial();
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void get_imu_data_thread();
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void enter_setting_mode();
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void turn_on_accel();
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void turn_on_gyro();
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void turn_on_euler();
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void turn_off_quat();
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void set_output_1000HZ();
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void save_imu_para();
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void exit_setting_mode();
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void restart_imu();
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int imu_seial_baud;
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std::string imu_serial_port;
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int serial_fd = -1;
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std::thread rec_thread;
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mutable std::mutex data_mutex;
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bool stop_thread_ = false;
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IMU_Receive_Frame receive_data{};
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IMU_Data data{};
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};
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}
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#endif
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