nimu.h
00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2006 00004 * Toby Collett 00005 * 00006 * 00007 * This library is free software; you can redistribute it and/or 00008 * modify it under the terms of the GNU Lesser General Public 00009 * License as published by the Free Software Foundation; either 00010 * version 2.1 of the License, or (at your option) any later version. 00011 * 00012 * This library is distributed in the hope that it will be useful, 00013 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00015 * Lesser General Public License for more details. 00016 * 00017 * You should have received a copy of the GNU Lesser General Public 00018 * License along with this library; if not, write to the Free Software 00019 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00020 */ 00021 00022 #include <usb.h> 00023 #include <stdint.h> 00024 #include <stdio.h> 00025 #include <arpa/inet.h> 00026 00027 00028 #define NIMU_VENDORID 0x10c4 00029 #define NIMU_PRODUCTID 0xEA61 00030 00031 #define NIMU_DATA_SIZE 38 00032 00033 typedef unsigned char uint8_t; 00034 typedef unsigned short uint16_t; 00035 00036 00037 00038 class nimu_data 00039 { 00040 public: 00041 uint8_t DeviceID; 00042 uint8_t MessageID; 00043 uint16_t SampleTimer; 00044 short GyroX; 00045 short GyroY; 00046 short GyroZ; 00047 short AccelX; 00048 short AccelY; 00049 short AccelZ; 00050 short MagX; 00051 short MagY; 00052 short MagZ; 00053 short GyroTempX; 00054 short GyroTempY; 00055 short GyroTempZ; 00056 00057 void Print() { 00058 printf("%04X %04X %04X,%04X %04X %04X\n",GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ); 00059 } 00060 }; 00061 00062 class nimu 00063 { 00064 public: 00065 nimu(); 00066 ~nimu(); 00067 00068 int Open(); 00069 int Close(); 00070 00071 nimu_data GetData(); 00072 00073 private: 00074 usb_dev_handle * nimu_dev; 00075 00076 }; 00077