Diff: SensorFusion.h

Revision:

42:160a37bdaa64

Parent:

41:731e3cfac19b

--- a/SensorFusion.h	Wed May 20 10:13:14 2015 +0000
+++ b/SensorFusion.h	Wed May 20 17:20:27 2015 +0000
@@ -10,73 +10,58 @@
 class SensorFusion : public Sensor::Delegate
 {
 public:
-    class Delegate
-    {
+    class Delegate{
     public:
-        virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
+        virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q){};       
+    };
+
+    SensorFusion(I2C &i2c);
+    
+    void setDelegate(Delegate &d);
+    bool start();
+    void stop();
+    void getMagnetometerCalibration(Vector3 &min, Vector3 &max);
+    void enableMagnetometer(); 
+    void disableMagnetometer(); 
+    
+private:
+    void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
+    void updateFilter(float ax, float ay, float az, float gx, float gy, float gz);
+    
+    class NineAxisSensorFusion : public Sensor::Delegate{
+        private:
+            SensorFusion* senFuseRef;
+        public:
+            NineAxisSensorFusion(SensorFusion* _ref);
+            void sensorUpdate(Vector3 gyro_degrees);
     };
     
-    SensorFusion(I2C &i2c);
-    SensorFusion(const SensorFusion& s);
-    virtual ~SensorFusion();
+    class SixAxisSensorFusion : public Sensor::Delegate{
+        private:
+            SensorFusion* senFuseRef;
+        public:
+            SixAxisSensorFusion(SensorFusion* _ref);           
+            void sensorUpdate(Vector3 gyro_degrees);
+    };
     
-    void setDelegate(Delegate &d); 
-    void getMagnetometerCalibration(Vector3 &min, Vector3 &max);
-  
+    //So that these inner classes can acces the private variable of SensorFusion class
+    friend class NineAxisSensorFusion;
+    friend class SixAxisSensorFusion; 
     
-    virtual bool start();
-    virtual void stop();
-    virtual void sensorUpdate(Vector3 gyro_degrees);                 // gyro's callback
+    bool magnetoMeterEnabled;
     
-
-protected:
     Delegate defaultDelegate; // to avoid check for existence every time
     Delegate* delegate;
+    
+    NineAxisSensorFusion gyroDelegateWithMagneto;
+    SixAxisSensorFusion  gyroDelegateWithoutMagneto;
+   
     Accelerometer accel;
-    Gyroscope gyro;
+    Gyroscope gyro;   
     Magnetometer magneto;
     Quaternion q;
     float const deltat, beta;
     Vector3 fused;
-    
-    void startAccelerometer();
-    void startGyrometer();
-    bool startMagnetometer();
-    
-    void stopAccelerometer();
-    void stopGyrometer();
-    void stopMagnetometer();
 };
 
-class NineAxesSensor : public SensorFusion
-{
-public:
-    NineAxesSensor(I2C &i2c);
-    NineAxesSensor(const NineAxesSensor& c);
-    virtual ~NineAxesSensor();
-
-    virtual bool start();
-    virtual void stop();
-    virtual void sensorUpdate(Vector3 gyro_degrees);
-
-private:
-    void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
-};
-
-class SixAxesSensor : public SensorFusion
-{
-public:
-    SixAxesSensor(I2C &i2c);
-    SixAxesSensor(const SixAxesSensor& c);
-    virtual ~SixAxesSensor();
-    
-    virtual bool start();
-    virtual void stop();
-    virtual void sensorUpdate(Vector3 gyro_degrees);
-
-private:
-    void updateFilter(float ax, float ay, float az, float gx, float gy, float gz);
-};
-
-
 #endif
\ No newline at end of file