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Dependencies:   mbed FreeRTOS

Imu.h@25:f3a6e7eec9c3, 2018-12-12 (annotated)

Committer:
MasashiNomura
Date:
Wed Dec 12 23:52:22 2018 +0000
Revision:
25:f3a6e7eec9c3
Parent:
19:4b0fe9a5ec38
Child:
58:fb7876549148
2018/12/11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 18:5aa48aec9cae 1 #ifndef __IMU_H__
takeru0x1103 18:5aa48aec9cae 2 #define __IMU_H__
takeru0x1103 8:1ca49cb18290 3
takeru0x1103 9:557628b373ea 4 #include <iostream>
takeru0x1103 9:557628b373ea 5 #include <vector>
takeru0x1103 9:557628b373ea 6 #include <string>
takeru0x1103 9:557628b373ea 7 #include <sstream>
takeru0x1103 9:557628b373ea 8 using namespace std;
MasashiNomura 14:76a56d517103 9 #include "mbed.h"
takeru0x1103 9:557628b373ea 10 #include "typedef.h"
takeru0x1103 9:557628b373ea 11
takeru0x1103 19:4b0fe9a5ec38 12 const float cGYRO_RESO=131.0;
takeru0x1103 19:4b0fe9a5ec38 13
takeru0x1103 19:4b0fe9a5ec38 14
takeru0x1103 19:4b0fe9a5ec38 15 class Imu {
takeru0x1103 17:f9610f3cfa1b 16 private:
takeru0x1103 18:5aa48aec9cae 17 Serial sp46Axis; //
takeru0x1103 16:05b9e44889f1 18 INT16 gyroZ;
takeru0x1103 18:5aa48aec9cae 19 INT16 gyro_ref;
takeru0x1103 9:557628b373ea 20 float yaw;
takeru0x1103 9:557628b373ea 21 float yaw_ref;
takeru0x1103 18:5aa48aec9cae 22 float yawOfset;
takeru0x1103 18:5aa48aec9cae 23
takeru0x1103 17:f9610f3cfa1b 24 //
takeru0x1103 9:557628b373ea 25 void PushBuf(UCHAR rxChar);
takeru0x1103 9:557628b373ea 26 void uartRxIntHndler46Axis();
takeru0x1103 18:5aa48aec9cae 27 float wrapAroungGuard(float iYaw);
takeru0x1103 9:557628b373ea 28 public:
takeru0x1103 18:5aa48aec9cae 29 Imu(PinName pinTx, PinName pinRx);
takeru0x1103 18:5aa48aec9cae 30 virtual ~Imu();
takeru0x1103 18:5aa48aec9cae 31 float GetGyroZ();
takeru0x1103 18:5aa48aec9cae 32 float GetYaw();
MasashiNomura 25:f3a6e7eec9c3 33 float GetYawRef();
MasashiNomura 25:f3a6e7eec9c3 34 INT16 GetGyroRef();
takeru0x1103 18:5aa48aec9cae 35 void CalYaw();
takeru0x1103 18:5aa48aec9cae 36 void CalGyro();
takeru0x1103 8:1ca49cb18290 37 };
takeru0x1103 8:1ca49cb18290 38
takeru0x1103 17:f9610f3cfa1b 39 #endif
takeru0x1103 8:1ca49cb18290 40
takeru0x1103 8:1ca49cb18290 41