IOTShield.h

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#ifndef __IOTSHIELD_H
#define __IOTSHIELD_H
 
#include <vector>
#if _WITH_MRAA
#include "mraa/common.hpp"
#include "mraa/uart.hpp"
#else
#include <stdint.h>
#include <string.h>
#endif
 
namespace iotbot
{
 
// Common parameters
#define CMD_ENABLE          0x01
#define CMD_DISABLE         0x02
#define CMD_SETTIMEOUT      0x03
#define CMD_SETPWMMAX       0x04
#define CMD_SENDRPM         0x05
#define CMD_SENDPOS         0x06
#define CMD_INVERTENC       0x07
#define CMD_LOWVOLTAGECHECK 0x08
#define CMD_STALLCHECK      0x09
#define CMD_IMURAWDATA      0x0A
#define CMD_FUSEIMUWEIGHT   0x0B
#define CMD_UARTTIMEOUT     0x0C
#define CMD_IMUCALIBRATE    0x0D
#define CMD_IMUFIXZAXIS     0x0E
 
// Operating commands
#define CMD_SETPWM          0x10
#define CMD_SETRPM          0x11
#define CMD_FREQ            0x12
#define CMD_SYNC            0x13
 
// Closed/Open loop controller parameters
#define CMD_CTL_KP          0x20
#define CMD_CTL_KI          0x21
#define CMD_CTL_KD          0x22
#define CMD_CTL_ANTIWINDUP  0x23
#define CMD_CTL_INPUTFILTER 0x24
#define CMD_CTL_ENCLOWPASS  0x25
 
// Platform parameters
#define CMD_GEARRATIO       0x30 // Ratio of motor gears
#define CMD_TICKSPERREV     0x31 // Ticks per motor revolution ((raising + falling edges) x 2 channels)
 
#define CMD_AUX1            0x40 // Enable/Disable auxilary power output 1
#define CMD_AUX2            0x41 // Enable/Disable auxilary power output 2
#define CMD_LIGHTS_OFF      0x42 // Switch lights off
#define CMD_DIM_LIGHT       0x43 // Dimmed headlight
#define CMD_HIGH_BEAM       0x44 // High beam headlight
#define CMD_FLASH_ALL       0x45 // Flash lights
#define CMD_FLASH_LEFT      0x46 // Flash lights
#define CMD_FLASH_RIGHT     0x47 // Flash lights
#define CMD_PULSATION       0x48 // Pulsation
#define CMD_ROTATION        0x49 // Rotation light, e.g. police light in blue
#define CMD_RUNNING         0x4A // Running light
 
enum eLighting {lightsOff    = CMD_LIGHTS_OFF,
                dimLight     = CMD_DIM_LIGHT,
                beamLight    = CMD_HIGH_BEAM,
                warningLight = CMD_FLASH_ALL,
                flashLeft    = CMD_FLASH_LEFT,
                flashRight   = CMD_FLASH_RIGHT,
                pulsation    = CMD_PULSATION,
                rotation     = CMD_ROTATION,
                running      = CMD_RUNNING};
 
class IOTShield
{
public:
   IOTShield();
 
   ~IOTShield();
 
   bool enable();
   
   bool disable();
 
   bool setIMURawFormat(bool rawdata);
 
   bool fixIMUZAxis(bool fix);
 
   bool setTimeout(float timeout);
 
   bool setDriftWeight(float weight);
 
   bool calibrateIMU();
 
   bool setGearRatio(float gearRatio);
   
   bool setTicksPerRev(float ticksPerRev);
 
   bool setKp(float kp);
 
   bool setKi(float ki);
 
   bool setKd(float kd);
 
   bool setControlFrequency(uint32_t freq);
 
   bool setLowPassSetPoint(float weight);
 
   bool setLowPassEncoder(float weight);
 
   bool setPWM(int8_t pwm[4]);
 
   bool setRPM(float rpm[4]);
 
   const std::vector<float> getRPM();
 
   bool setLighting(eLighting light, unsigned char rgb[3]);
   
   bool setAUX1(bool on);
   
   bool setAUX2(bool on);
   
   float getSystemVoltage();
   
   float getLoadCurrent();
   
   const std::vector<float> getRangeMeasurements();
 
   const std::vector<float> getAcceleration();
 
   const std::vector<float> getAngularRate();
   
   const std::vector<float> getOrientation();
   
   const float getTemperature();
   
private:
 
   void sendReceive();
 
#if _WITH_MRAA
   mraa::Uart* _uart;
#endif
 
   char _txBuf[11];
   
   char _rxBuf[32];
   
   float _systemVoltage;
   
   float _loadCurrent;
   
   std::vector<float> _rpm;
      
   std::vector<float> _ranges;
   
   std::vector<float> _acceleration;
 
   std::vector<float> _angularRate;
   
   std::vector<float> _q;
 
   double _timeCom;
   
   bool _rawdata;
   
   float _temperature;
   
};
 
} // namespace
 
#endif //__IOTSHIELD_H