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/* mbed L3G4200D Library version 0.1
 * Copyright (c) 2012 Prediluted
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once

#include "L3G4200D.h"
#include "LSM303.h"
#include "mbed.h"
// LSM303 accelerometer: 8 g sensitivity
// 3.8 mg/digit; 1 g = 256
#define GRAVITY 256  //this equivalent to 1G in the raw data coming from the accelerometer 

#define ToRad(x) ((x)*0.01745329252)  // *pi/180
#define ToDeg(x) ((x)*57.2957795131)  // *180/pi

// L3G4200D gyro: 2000 dps full scale
// 70 mdps/digit; 1 dps = 0.07
#define Gyro_Gain_X 0.07 //X axis Gyro gain
#define Gyro_Gain_Y 0.07 //Y axis Gyro gain
#define Gyro_Gain_Z 0.07 //Z axis Gyro gain
#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second
#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second
#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second

    
#define Kp_ROLLPITCH 0.02
#define Ki_ROLLPITCH 0.00002
#define Kp_YAW 1.2
#define Ki_YAW 0.00002
    

#define STATUS_LED 13
typedef unsigned char byte;

class minimu9 {
public:
    minimu9 ( void );
    void get_data ( void );
    void print_data ( void );
    void Gyro_Init();
    void Read_Gyro();
    void Accel_Init();
    void Read_Accel();
    void Compass_Init();
    void Compass_Heading();
    void Read_Compass();
    void Normalize( void );
    void Drift_correction( void );
    void Matrix_update( void) ;
    void Euler_angles( void );
    void Calibrate_compass( void );
    void set_calibration_values( int, int, int, int, int, int );
    void set_print_settings( int, int, int, int, int );

    float get_pitch( void );
    float get_roll( void );
    float get_yaw( void );

private:
    L3G4200D *gyro;
    LSM303 *compass;

    Timer t;

    float G_Dt;    // Integration time (DCM algorithm)  We will run the integration loop at 50Hz if possible
    long timer;   //general purpuse timer
    long timer_old;
    long timer24; //Second timer used to print values
    unsigned int counter;
    int AN[6]; //array that stores the gyro and accelerometer data
    int AN_OFFSET[6]; //Array that stores the Offset of the sensors
    int SENSOR_SIGN[9];

    int gyro_x;
    int gyro_y;
    int gyro_z;
    int accel_x;
    int accel_y;
    int accel_z;
    int magnetom_x;
    int magnetom_y;
    int magnetom_z;
    float c_magnetom_x;
    float c_magnetom_y;
    float c_magnetom_z;
    float MAG_Heading;

    float Accel_Vector[3];  //Store the acceleration in a vector
    float Gyro_Vector[3];   //Store the gyros turn rate in a vector
    float Omega_Vector[3];  //Corrected Gyro_Vector data
    float Omega_P[3];       //Omega Proportional correction
    float Omega_I[3];       //Omega Integrator
    float Omega[3];

    // Euler angles
    float roll;
    float pitch;
    float yaw;

    float errorRollPitch[3];
    float errorYaw[3];

    byte gyro_sat;

    // Gyros here
    float DCM_Matrix[3][3];
    float Update_Matrix[3][3];
    float Temporary_Matrix[3][3];

    // Calibration values
    int M_X_MIN;
    int M_Y_MIN;
    int M_Z_MIN;
    int M_X_MAX;
    int M_Y_MAX;
    int M_Z_MAX;
    
    int OUTPUTMODE;
    int PRINT_ANALOGS; 
    int PRINT_EULER;  
    int PRINT_DCM;
    int PRINT_SERIAL;

};