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IMU.hpp

@@ -8,7 +8,53 @@
 #ifndef AUTOPILOT_SHARED_DATA_IMU_HPP_
 #define AUTOPILOT_SHARED_DATA_IMU_HPP_
 
+#include <stdint.h>
 
+namespace IMU {
+
+
+enum class Orientation {
+	ENU = 0, // +X = East, +Y = North, +Z = up
+	NED = 1, // +X = North, +Y = East, +Z = down
+};
+
+
+struct Data {
+
+	int16_t magX = 0;
+	int16_t magY = 0;
+	int16_t magZ = 0;
+
+	int16_t temp = 0;
+
+	int16_t accX = 0;
+	int16_t accY = 0;
+	int16_t accZ = 0;
+
+	int16_t gyrX = 0;
+	int16_t gyrY = 0;
+	int16_t gyrZ = 0;
+
+	float temperature;
+
+	Orientation orientation = Orientation::ENU;
+
+	uint8_t* imuDataPtr( void ) {
+		return (uint8_t*)&temp;
+	}
+
+	uint8_t* magDataPtr( void ) {
+		return (uint8_t*)&magX;
+	}
+
+	void calcTemperature( void ) {
+		temperature = (((float)temp / 256.0f) + 25.0f);
+	}
+};
+
+
+
+} // namespace IMU