Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

SensorFusion.h@41:731e3cfac19b, 2015-05-20 (annotated)

Committer:
uadhikari
Date:
Wed May 20 10:13:14 2015 +0000
Revision:
41:731e3cfac19b
Parent:
35:fb6e4601adf3
Child:
42:160a37bdaa64
Refactored SensorFusion class

Who changed what in which revision?

UserRevisionLine numberNew 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:
pvaibhav 20:503cbe360419 13 class Delegate
pvaibhav 20:503cbe360419 14 {
pvaibhav 21:5a0c9406e119 15 public:
pvaibhav 34:01dec68de3ed 16 virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
pvaibhav 20:503cbe360419 17 };
pvaibhav 20:503cbe360419 18
pvaibhav 15:4488660e1a3b 19 SensorFusion(I2C &i2c);
uadhikari 41:731e3cfac19b 20 SensorFusion(const SensorFusion& s);
uadhikari 41:731e3cfac19b 21 virtual ~SensorFusion();
uadhikari 41:731e3cfac19b 22
uadhikari 41:731e3cfac19b 23 void setDelegate(Delegate &d);
uadhikari 41:731e3cfac19b 24 void getMagnetometerCalibration(Vector3 &min, Vector3 &max);
uadhikari 41:731e3cfac19b 25
uadhikari 41:731e3cfac19b 26
uadhikari 41:731e3cfac19b 27 virtual bool start();
uadhikari 41:731e3cfac19b 28 virtual void stop();
uadhikari 41:731e3cfac19b 29 virtual void sensorUpdate(Vector3 gyro_degrees); // gyro's callback
uadhikari 41:731e3cfac19b 30
pvaibhav 15:4488660e1a3b 31
uadhikari 41:731e3cfac19b 32 protected:
pvaibhav 21:5a0c9406e119 33 Delegate defaultDelegate; // to avoid check for existence every time
pvaibhav 20:503cbe360419 34 Delegate* delegate;
pvaibhav 15:4488660e1a3b 35 Accelerometer accel;
pvaibhav 15:4488660e1a3b 36 Gyroscope gyro;
pvaibhav 15:4488660e1a3b 37 Magnetometer magneto;
pvaibhav 15:4488660e1a3b 38 Quaternion q;
pvaibhav 21:5a0c9406e119 39 float const deltat, beta;
pvaibhav 34:01dec68de3ed 40 Vector3 fused;
uadhikari 41:731e3cfac19b 41
uadhikari 41:731e3cfac19b 42 void startAccelerometer();
uadhikari 41:731e3cfac19b 43 void startGyrometer();
uadhikari 41:731e3cfac19b 44 bool startMagnetometer();
uadhikari 41:731e3cfac19b 45
uadhikari 41:731e3cfac19b 46 void stopAccelerometer();
uadhikari 41:731e3cfac19b 47 void stopGyrometer();
uadhikari 41:731e3cfac19b 48 void stopMagnetometer();
uadhikari 41:731e3cfac19b 49 };
uadhikari 41:731e3cfac19b 50
uadhikari 41:731e3cfac19b 51 class NineAxesSensor : public SensorFusion
uadhikari 41:731e3cfac19b 52 {
uadhikari 41:731e3cfac19b 53 public:
uadhikari 41:731e3cfac19b 54 NineAxesSensor(I2C &i2c);
uadhikari 41:731e3cfac19b 55 NineAxesSensor(const NineAxesSensor& c);
uadhikari 41:731e3cfac19b 56 virtual ~NineAxesSensor();
uadhikari 41:731e3cfac19b 57
uadhikari 41:731e3cfac19b 58 virtual bool start();
uadhikari 41:731e3cfac19b 59 virtual void stop();
uadhikari 41:731e3cfac19b 60 virtual void sensorUpdate(Vector3 gyro_degrees);
uadhikari 41:731e3cfac19b 61
uadhikari 41:731e3cfac19b 62 private:
pvaibhav 15:4488660e1a3b 63 void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
pvaibhav 15:4488660e1a3b 64 };
pvaibhav 15:4488660e1a3b 65
uadhikari 41:731e3cfac19b 66 class SixAxesSensor : public SensorFusion
uadhikari 41:731e3cfac19b 67 {
uadhikari 41:731e3cfac19b 68 public:
uadhikari 41:731e3cfac19b 69 SixAxesSensor(I2C &i2c);
uadhikari 41:731e3cfac19b 70 SixAxesSensor(const SixAxesSensor& c);
uadhikari 41:731e3cfac19b 71 virtual ~SixAxesSensor();
uadhikari 41:731e3cfac19b 72
uadhikari 41:731e3cfac19b 73 virtual bool start();
uadhikari 41:731e3cfac19b 74 virtual void stop();
uadhikari 41:731e3cfac19b 75 virtual void sensorUpdate(Vector3 gyro_degrees);
uadhikari 41:731e3cfac19b 76
uadhikari 41:731e3cfac19b 77 private:
uadhikari 41:731e3cfac19b 78 void updateFilter(float ax, float ay, float az, float gx, float gy, float gz);
uadhikari 41:731e3cfac19b 79 };
uadhikari 41:731e3cfac19b 80
uadhikari 41:731e3cfac19b 81
pvaibhav 15:4488660e1a3b 82 #endif