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icm20948_utils.cpp
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#include "icm20948_utils.hpp"
#include <stdexcept>
#include <string>
namespace icm20948
{
float accel_scale_factor(accel_scale scale)
{
switch(scale)
{
case ACCEL_2G:
return 1/16384.0f;
break;
case ACCEL_4G:
return 1/8192.0f;
break;
case ACCEL_8G:
return 1/4096.0f;
break;
case ACCEL_16G:
return 1/2048.0f;
break;
default:
throw(std::invalid_argument("Invalid argument in accel_scale_factor(): " + std::to_string(scale)));
}
}
std::string accel_scale_to_str(accel_scale scale)
{
switch(scale)
{
case ACCEL_2G:
return "2G";
break;
case ACCEL_4G:
return "4G";
break;
case ACCEL_8G:
return "8G";
break;
case ACCEL_16G:
return "16G";
break;
default:
return "<invalid accelerometer scale>";
}
}
std::string accel_dlpf_config_to_str(accel_dlpf_config config)
{
switch(config)
{
case ACCEL_DLPF_246HZ:
return "246Hz";
break;
case ACCEL_DLPF_246HZ_2:
return "246Hz";
break;
case ACCEL_DLPF_111_4HZ:
return "111.4Hz";
break;
case ACCEL_DLPF_50_4HZ:
return "50.4Hz";
break;
case ACCEL_DLPF_23_9HZ:
return "23.9Hz";
break;
case ACCEL_DLPF_11_5HZ:
return "11.5Hz";
break;
case ACCEL_DLPF_5_7HZ:
return "5.7Hz";
break;
case ACCEL_DLPF_473HZ:
return "473Hz";
break;
default:
return "<invalid accelerometer DLPF config>";
}
}
float gyro_scale_factor(gyro_scale scale)
{
switch(scale)
{
case GYRO_250DPS:
return 1/131.0f;
break;
case GYRO_500DPS:
return 1/65.5f;
break;
case GYRO_1000DPS:
return 1/32.8f;
break;
case GYRO_2000DPS:
return 1/16.4f;
break;
default:
throw(std::invalid_argument("Invalid argument in accel_scale_factor(): " + std::to_string(scale)));
}
}
std::string gyro_scale_to_str(gyro_scale scale)
{
switch(scale)
{
case GYRO_250DPS:
return "250DPS";
break;
case GYRO_500DPS:
return "500DPS";
break;
case GYRO_1000DPS:
return "1000DPS";
break;
case GYRO_2000DPS:
return "2000DPS";
break;
default:
return "<invalid gyroscope scale>";
}
}
std::string gyro_dlpf_config_to_str(gyro_dlpf_config config)
{
switch(config)
{
case GYRO_DLPF_196_6HZ:
return "196.6Hz";
break;
case GYRO_DLPF_151_8HZ:
return "151.8Hz";
break;
case GYRO_DLPF_119_5HZ:
return "119.5Hz";
break;
case GYRO_DLPF_51_2HZ:
return "51.2Hz";
break;
case GYRO_DLPF_23_9HZ:
return "23.9Hz";
break;
case GYRO_DLPF_11_6HZ:
return "11.6Hz";
break;
case GYRO_DLPF_5_7HZ:
return "5.7Hz";
break;
case GYRO_DLPF_361_4HZ:
return "361.4Hz";
break;
default:
return "<invalid gyroscope DLPF config>";
}
}
std::string magn_mode_to_str(magn_mode mode)
{
switch(mode)
{
case MAGN_SHUTDOWN:
return "Shutdown";
break;
case MAGN_SINGLE:
return "Single";
break;
case MAGN_10HZ:
return "10Hz";
break;
case MAGN_20HZ:
return "20Hz";
break;
case MAGN_50HZ:
return "50Hz";
break;
case MAGN_100HZ:
return "100Hz";
break;
case MAGN_SELF_TEST:
return "Self-test";
break;
default:
return "<invalid magnetometer mode>";
}
}
settings::settings(YAML::Node config_file_node)
{
for(YAML::const_iterator it = config_file_node.begin(); it != config_file_node.end(); ++it)
{
if(it->first.as<std::string>() == "accelerometer")
{
for(YAML::const_iterator accel_it = it->second.begin(); accel_it != it->second.end(); ++accel_it)
{
if(accel_it->first.as<std::string>() == "sample_rate_div")
{
this->accel.sample_rate_div = (uint16_t)accel_it->second.as<unsigned>();
}
else if(accel_it->first.as<std::string>() == "scale")
{
this->accel.scale = (accel_scale)accel_it->second.as<unsigned>();
}
else if(accel_it->first.as<std::string>() == "dlpf")
{
for(YAML::const_iterator accel_dlpf_it = accel_it->second.begin(); accel_dlpf_it != accel_it->second.end(); ++accel_dlpf_it)
{
if(accel_dlpf_it->first.as<std::string>() == "enable")
{
this->accel.dlpf_enable = (bool)accel_dlpf_it->second.as<int>();
}
else if(accel_dlpf_it->first.as<std::string>() == "cutoff")
{
this->accel.dlpf_config = (accel_dlpf_config)accel_dlpf_it->second.as<unsigned>();
}
}
}
}
}
if(it->first.as<std::string>() == "gyroscope")
{
for(YAML::const_iterator gyro_it = it->second.begin(); gyro_it != it->second.end(); ++gyro_it)
{
if(gyro_it->first.as<std::string>() == "sample_rate_div")
{
this->gyro.sample_rate_div = (uint8_t)gyro_it->second.as<unsigned>();
}
else if(gyro_it->first.as<std::string>() == "scale")
{
this->gyro.scale = (gyro_scale)gyro_it->second.as<unsigned>();
}
else if(gyro_it->first.as<std::string>() == "dlpf")
{
for(YAML::const_iterator gyro_dlpf_it = gyro_it->second.begin(); gyro_dlpf_it != gyro_it->second.end(); ++gyro_dlpf_it)
{
if(gyro_dlpf_it->first.as<std::string>() == "enable")
{
this->gyro.dlpf_enable = (bool)gyro_dlpf_it->second.as<int>();
}
else if(gyro_dlpf_it->first.as<std::string>() == "cutoff")
{
this->gyro.dlpf_config = (gyro_dlpf_config)gyro_dlpf_it->second.as<unsigned>();
}
}
}
}
}
if(it->first.as<std::string>() == "magnetometer")
{
for(YAML::const_iterator magn_it = it->second.begin(); magn_it != it->second.end(); ++magn_it)
{
if(magn_it->first.as<std::string>() == "mode")
{
switch(magn_it->second.as<unsigned>())
{
case 0:
this->magn.mode = MAGN_SHUTDOWN;
break;
case 1:
this->magn.mode = MAGN_SINGLE;
break;
case 2:
this->magn.mode = MAGN_10HZ;
break;
case 3:
this->magn.mode = MAGN_20HZ;
break;
case 4:
this->magn.mode = MAGN_50HZ;
break;
case 5:
this->magn.mode = MAGN_100HZ;
break;
case 6:
this->magn.mode = MAGN_SELF_TEST;
break;
default:
throw(std::runtime_error("Invalid mode chosen for magnetometer on YAML config"));
}
}
}
}
}
}
}