Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
SensorFusion.h@42:160a37bdaa64, 2015-05-20 (annotated)
- Committer:
- uadhikari
- Date:
- Wed May 20 17:20:27 2015 +0000
- Revision:
- 42:160a37bdaa64
- Parent:
- 41:731e3cfac19b
added runtime enable/disable of Magnetometer, some warnings persist
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pvaibhav | 15:4488660e1a3b | 1 | #ifndef _H_SENSORFUSION_H |
pvaibhav | 15:4488660e1a3b | 2 | #define _H_SENSORFUSION_H |
pvaibhav | 15:4488660e1a3b | 3 | |
pvaibhav | 15:4488660e1a3b | 4 | #include "I2CPeripheral.h" |
pvaibhav | 15:4488660e1a3b | 5 | #include "Magnetometer.h" |
pvaibhav | 15:4488660e1a3b | 6 | #include "Accelerometer.h" |
pvaibhav | 15:4488660e1a3b | 7 | #include "Gyroscope.h" |
pvaibhav | 15:4488660e1a3b | 8 | #include "Quaternion.h" |
pvaibhav | 15:4488660e1a3b | 9 | |
pvaibhav | 15:4488660e1a3b | 10 | class SensorFusion : public Sensor::Delegate |
pvaibhav | 15:4488660e1a3b | 11 | { |
pvaibhav | 15:4488660e1a3b | 12 | public: |
uadhikari | 42:160a37bdaa64 | 13 | class Delegate{ |
pvaibhav | 21:5a0c9406e119 | 14 | public: |
uadhikari | 42:160a37bdaa64 | 15 | virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q){}; |
uadhikari | 42:160a37bdaa64 | 16 | }; |
uadhikari | 42:160a37bdaa64 | 17 | |
uadhikari | 42:160a37bdaa64 | 18 | SensorFusion(I2C &i2c); |
uadhikari | 42:160a37bdaa64 | 19 | |
uadhikari | 42:160a37bdaa64 | 20 | void setDelegate(Delegate &d); |
uadhikari | 42:160a37bdaa64 | 21 | bool start(); |
uadhikari | 42:160a37bdaa64 | 22 | void stop(); |
uadhikari | 42:160a37bdaa64 | 23 | void getMagnetometerCalibration(Vector3 &min, Vector3 &max); |
uadhikari | 42:160a37bdaa64 | 24 | void enableMagnetometer(); |
uadhikari | 42:160a37bdaa64 | 25 | void disableMagnetometer(); |
uadhikari | 42:160a37bdaa64 | 26 | |
uadhikari | 42:160a37bdaa64 | 27 | private: |
uadhikari | 42:160a37bdaa64 | 28 | void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz); |
uadhikari | 42:160a37bdaa64 | 29 | void updateFilter(float ax, float ay, float az, float gx, float gy, float gz); |
uadhikari | 42:160a37bdaa64 | 30 | |
uadhikari | 42:160a37bdaa64 | 31 | class NineAxisSensorFusion : public Sensor::Delegate{ |
uadhikari | 42:160a37bdaa64 | 32 | private: |
uadhikari | 42:160a37bdaa64 | 33 | SensorFusion* senFuseRef; |
uadhikari | 42:160a37bdaa64 | 34 | public: |
uadhikari | 42:160a37bdaa64 | 35 | NineAxisSensorFusion(SensorFusion* _ref); |
uadhikari | 42:160a37bdaa64 | 36 | void sensorUpdate(Vector3 gyro_degrees); |
pvaibhav | 20:503cbe360419 | 37 | }; |
pvaibhav | 20:503cbe360419 | 38 | |
uadhikari | 42:160a37bdaa64 | 39 | class SixAxisSensorFusion : public Sensor::Delegate{ |
uadhikari | 42:160a37bdaa64 | 40 | private: |
uadhikari | 42:160a37bdaa64 | 41 | SensorFusion* senFuseRef; |
uadhikari | 42:160a37bdaa64 | 42 | public: |
uadhikari | 42:160a37bdaa64 | 43 | SixAxisSensorFusion(SensorFusion* _ref); |
uadhikari | 42:160a37bdaa64 | 44 | void sensorUpdate(Vector3 gyro_degrees); |
uadhikari | 42:160a37bdaa64 | 45 | }; |
uadhikari | 41:731e3cfac19b | 46 | |
uadhikari | 42:160a37bdaa64 | 47 | //So that these inner classes can acces the private variable of SensorFusion class |
uadhikari | 42:160a37bdaa64 | 48 | friend class NineAxisSensorFusion; |
uadhikari | 42:160a37bdaa64 | 49 | friend class SixAxisSensorFusion; |
uadhikari | 41:731e3cfac19b | 50 | |
uadhikari | 42:160a37bdaa64 | 51 | bool magnetoMeterEnabled; |
uadhikari | 41:731e3cfac19b | 52 | |
pvaibhav | 21:5a0c9406e119 | 53 | Delegate defaultDelegate; // to avoid check for existence every time |
pvaibhav | 20:503cbe360419 | 54 | Delegate* delegate; |
uadhikari | 42:160a37bdaa64 | 55 | |
uadhikari | 42:160a37bdaa64 | 56 | NineAxisSensorFusion gyroDelegateWithMagneto; |
uadhikari | 42:160a37bdaa64 | 57 | SixAxisSensorFusion gyroDelegateWithoutMagneto; |
uadhikari | 42:160a37bdaa64 | 58 | |
pvaibhav | 15:4488660e1a3b | 59 | Accelerometer accel; |
uadhikari | 42:160a37bdaa64 | 60 | Gyroscope gyro; |
pvaibhav | 15:4488660e1a3b | 61 | Magnetometer magneto; |
pvaibhav | 15:4488660e1a3b | 62 | Quaternion q; |
pvaibhav | 21:5a0c9406e119 | 63 | float const deltat, beta; |
pvaibhav | 34:01dec68de3ed | 64 | Vector3 fused; |
uadhikari | 41:731e3cfac19b | 65 | }; |
uadhikari | 41:731e3cfac19b | 66 | |
pvaibhav | 15:4488660e1a3b | 67 | #endif |