Diff: MPU9250/MPU9250.h

Revision:

1:f31e17341659

Parent:

0:92024886c0be

--- a/MPU9250/MPU9250.h	Tue Aug 01 12:27:13 2017 +0000
+++ b/MPU9250/MPU9250.h	Tue Aug 28 07:12:16 2018 +0000
@@ -27,6 +27,8 @@
 #define DECLINATION -7.45f //Declination at Tokyo is -7.45 degree 2017/06/14
 
 const float PI = 3.14159265358979323846f;
+const float LPGAIN_MAG = 0.0;
+
 
 enum Ascale {
   AFS_2G = 0,
@@ -53,13 +55,13 @@
  
 public:
     //MPU9250();
-    MPU9250(PinName sda, PinName scl, Serial* serial_p);
+    MPU9250(PinName sda, PinName scl, RawSerial* serial_p);
     ~MPU9250();
 
     bool Initialize(void);
     bool sensingAcGyMg(void);
     void calculatePostureAngle(float degree[3]);
-
+    float calculateYawByMg(void);
     
     void MPU9250SelfTest(float * destination);
 
@@ -82,7 +84,7 @@
     I2C *i2c_p;
     I2C &i2c;
 
-    Serial* pc_p;
+    RawSerial* pc_p;
 
     Timer timer;
 
@@ -114,6 +116,7 @@
     float q[4];           // vector to hold quaternion
     float eInt[3];              // vector to hold integral error for Mahony method
 
+    float lpmag[3];
 
   void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
   char readByte(uint8_t address, uint8_t subAddress);
@@ -148,6 +151,7 @@
     void translateQuaternionToDeg(float quaternion[4]);
     void calibrateDegree(void);
 
+    void transformCoordinateFromCompassToMPU();
 protected:
 
 };