NIT Fukui / Serial6050Yaw

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Dependents:   R1Arobo_Maika_B 2021Arobo_UMAPYOI 2021Arobo_YUMIPYOI

Serial6050.h@0:c3d09c97649b, 2018-09-20 (annotated)

Committer:
yopcyuuu
Date:
Thu Sep 20 01:13:45 2018 +0000
Revision:
0:c3d09c97649b
Child:
1:97a3a91ce950
yaw only

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yopcyuuu 0:c3d09c97649b 1 #pragma once
yopcyuuu 0:c3d09c97649b 2 #include "mbed.h"
yopcyuuu 0:c3d09c97649b 3
yopcyuuu 0:c3d09c97649b 4 #define ERROR -10000
yopcyuuu 0:c3d09c97649b 5
yopcyuuu 0:c3d09c97649b 6 enum axis {
yopcyuuu 0:c3d09c97649b 7 YAW,
yopcyuuu 0:c3d09c97649b 8 PITCH,
yopcyuuu 0:c3d09c97649b 9 ROLL
yopcyuuu 0:c3d09c97649b 10 };
yopcyuuu 0:c3d09c97649b 11
yopcyuuu 0:c3d09c97649b 12 class Serial6050
yopcyuuu 0:c3d09c97649b 13 {
yopcyuuu 0:c3d09c97649b 14 private:
yopcyuuu 0:c3d09c97649b 15 RawSerial serial;
yopcyuuu 0:c3d09c97649b 16 DigitalOut rst;
yopcyuuu 0:c3d09c97649b 17 int resetValue;
yopcyuuu 0:c3d09c97649b 18 void intReceive() {
yopcyuuu 0:c3d09c97649b 19 char data = serial.getc();
yopcyuuu 0:c3d09c97649b 20 if(data >= 0x80)
yopcyuuu 0:c3d09c97649b 21 higher = data & 0x7f;
yopcyuuu 0:c3d09c97649b 22 else
yopcyuuu 0:c3d09c97649b 23 lower = data & 0x7f;
yopcyuuu 0:c3d09c97649b 24 }
yopcyuuu 0:c3d09c97649b 25 public:
yopcyuuu 0:c3d09c97649b 26 Serial6050(PinName tx, PinName rx, PinName reset);
yopcyuuu 0:c3d09c97649b 27 void init();
yopcyuuu 0:c3d09c97649b 28 void reset();
yopcyuuu 0:c3d09c97649b 29 volatile char lower;
yopcyuuu 0:c3d09c97649b 30 volatile char higher;
yopcyuuu 0:c3d09c97649b 31 float read();
yopcyuuu 0:c3d09c97649b 32 };