Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

RemovedSources/IMUManager.h.txt@100:ffbeefc9e218, 2017-04-20 (annotated)

Committer:
hazheng
Date:
Thu Apr 20 21:04:10 2017 +0000
Revision:
100:ffbeefc9e218
Parent:
87:15fcf7891bf9 
Better version of Intersection detection.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 64:43ab429a37e0 1 #if 0
hazheng 64:43ab429a37e0 2
hazheng 59:b709711bc566 3 #pragma once
hazheng 59:b709711bc566 4 #ifndef IMU_MANAGER_H
hazheng 59:b709711bc566 5 #define IMU_MANAGER_H
hazheng 59:b709711bc566 6
hazheng 59:b709711bc566 7 #define ACCEL_MAG_SA0_0
hazheng 59:b709711bc566 8 //#define ACCEL_MAG_SA0_1
hazheng 59:b709711bc566 9 #define ACCEL_MAG_SA1_0
hazheng 59:b709711bc566 10 //#define ACCEL_MAG_SA1_1
hazheng 59:b709711bc566 11
hazheng 59:b709711bc566 12 #if defined(ACCEL_MAG_SA1_0) && defined(ACCEL_MAG_SA0_0)
hazheng 59:b709711bc566 13 #define ACCEL_MAG_SA1 0
hazheng 59:b709711bc566 14 #define ACCEL_MAG_SA0 0
hazheng 59:b709711bc566 15 #define FXOS8700CQ_SLAVE_ADDR 0x1E
hazheng 59:b709711bc566 16 #elif defined(ACCEL_MAG_SA1_0) && defined(ACCEL_MAG_SA0_1)
hazheng 59:b709711bc566 17 #define ACCEL_MAG_SA1 0
hazheng 59:b709711bc566 18 #define ACCEL_MAG_SA0 1
hazheng 59:b709711bc566 19 #define FXOS8700CQ_SLAVE_ADDR 0x1D
hazheng 59:b709711bc566 20 #elif defined(ACCEL_MAG_SA1_1) && defined(ACCEL_MAG_SA0_0)
hazheng 59:b709711bc566 21 #define ACCEL_MAG_SA1 1
hazheng 59:b709711bc566 22 #define ACCEL_MAG_SA0 0
hazheng 59:b709711bc566 23 #define FXOS8700CQ_SLAVE_ADDR 0x1C
hazheng 59:b709711bc566 24 #elif defined(ACCEL_MAG_SA1_1) && defined(ACCEL_MAG_SA0_1)
hazheng 59:b709711bc566 25 #define ACCEL_MAG_SA1 1
hazheng 59:b709711bc566 26 #define ACCEL_MAG_SA0 1
hazheng 59:b709711bc566 27 #define FXOS8700CQ_SLAVE_ADDR 0x1F
hazheng 59:b709711bc566 28 #else
hazheng 59:b709711bc566 29 #error Must choose a SA0 and SA1 value for Accel and Mag
hazheng 59:b709711bc566 30 #endif
hazheng 59:b709711bc566 31
hazheng 62:bc5caf59fe39 32 #define FXOS8700CQ_STATUS 0x00
hazheng 62:bc5caf59fe39 33
hazheng 62:bc5caf59fe39 34 #define FXOS8700CQ_F_SETUP 0x09
hazheng 59:b709711bc566 35
hazheng 62:bc5caf59fe39 36 #define FXOS8700CQ_SYSMOD 0x0B
hazheng 62:bc5caf59fe39 37
hazheng 62:bc5caf59fe39 38 #define FXOS8700CQ_WHOAMI 0x0D
hazheng 62:bc5caf59fe39 39 #define FXOS8700CQ_WHOAMI_VAL 0xC7
hazheng 59:b709711bc566 40
hazheng 59:b709711bc566 41 #define FXOS8700CQ_XYZ_DATA_CFG 0x0E
hazheng 62:bc5caf59fe39 42 #define FXOS8700CQ_XYZ_DATA_2G 0x00
hazheng 62:bc5caf59fe39 43 #define FXOS8700CQ_XYZ_DATA_4G 0x01
hazheng 62:bc5caf59fe39 44 #define FXOS8700CQ_XYZ_DATA_8G 0x02
hazheng 59:b709711bc566 45
hazheng 62:bc5caf59fe39 46 #define FXOS8700CQ_XYZ_DATA_SC FXOS8700CQ_XYZ_DATA_2G
hazheng 59:b709711bc566 47
hazheng 62:bc5caf59fe39 48 #if FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_2G
hazheng 63:d9a81b3d69f5 49 #define ACCELER_SCALE_F_MG 0.244f
hazheng 62:bc5caf59fe39 50 #elif FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_4G
hazheng 63:d9a81b3d69f5 51 #define ACCELER_SCALE_F_MG 0.488f
hazheng 62:bc5caf59fe39 52 #elif FXOS8700CQ_XYZ_DATA_SC == FXOS8700CQ_XYZ_DATA_8G
hazheng 63:d9a81b3d69f5 53 #define ACCELER_SCALE_F_MG 0.976f
hazheng 62:bc5caf59fe39 54 #else
hazheng 62:bc5caf59fe39 55 #error Must define a scale for accelerometer!
hazheng 62:bc5caf59fe39 56 #endif
hazheng 59:b709711bc566 57
hazheng 64:43ab429a37e0 58 #define FXOS8700CQ_HP_FILTER_CUTOFF 0x0F
hazheng 64:43ab429a37e0 59
hazheng 62:bc5caf59fe39 60 #define FXOS8700CQ_CTRL_REG1 0x2A
hazheng 63:d9a81b3d69f5 61 #define FXOS8700CQ_CTRL_REG1_v 0x05
hazheng 63:d9a81b3d69f5 62
hazheng 63:d9a81b3d69f5 63 #define FXOS8700CQ_CTRL_REG2 0x2B
hazheng 63:d9a81b3d69f5 64 #define FXOS8700CQ_RESET_MASK 0x40
hazheng 63:d9a81b3d69f5 65
hazheng 63:d9a81b3d69f5 66 #define FXOS8700CQ_OFF_X 0x2F
hazheng 63:d9a81b3d69f5 67
hazheng 63:d9a81b3d69f5 68 #define FXOS8700CQ_OFF_Y 0x30
hazheng 63:d9a81b3d69f5 69
hazheng 63:d9a81b3d69f5 70 #define FXOS8700CQ_OFF_Z 0x31
hazheng 63:d9a81b3d69f5 71 #define OFFSET_SCALE_F 2.0f
hazheng 62:bc5caf59fe39 72
hazheng 64:43ab429a37e0 73 #define FXOS8700CQ_TEMP 0x51
hazheng 64:43ab429a37e0 74
hazheng 62:bc5caf59fe39 75 #define FXOS8700CQ_M_CTRL_REG1 0x5B
hazheng 62:bc5caf59fe39 76
hazheng 62:bc5caf59fe39 77 #define FXOS8700CQ_M_CTRL_REG2 0x5C
hazheng 59:b709711bc566 78
hazheng 64:43ab429a37e0 79 #define FXOS8700CQ_READ_LEN 7 // status plus 6 channels = 13 bytes
hazheng 59:b709711bc566 80
hazheng 63:d9a81b3d69f5 81 #define IMU_UPDATE_TICK_RATE 0.002f
hazheng 63:d9a81b3d69f5 82 #define IMU_DEFAULT_G 9.8f
hazheng 63:d9a81b3d69f5 83
hazheng 59:b709711bc566 84 #include <mbed.h>
hazheng 59:b709711bc566 85
hazheng 59:b709711bc566 86 #ifdef __cplusplus
hazheng 59:b709711bc566 87 extern "C" {
hazheng 59:b709711bc566 88 #endif
hazheng 59:b709711bc566 89
hazheng 59:b709711bc566 90 struct imu_vec3
hazheng 59:b709711bc566 91 {
hazheng 62:bc5caf59fe39 92 float x;
hazheng 62:bc5caf59fe39 93 float y;
hazheng 62:bc5caf59fe39 94 float z;
hazheng 59:b709711bc566 95 };
hazheng 59:b709711bc566 96
hazheng 59:b709711bc566 97 uint8_t imu_manager_init();
hazheng 59:b709711bc566 98
hazheng 63:d9a81b3d69f5 99 void imu_manager_calibrate();
hazheng 63:d9a81b3d69f5 100
hazheng 63:d9a81b3d69f5 101 void imu_manager_begin_tick();
hazheng 63:d9a81b3d69f5 102
hazheng 59:b709711bc566 103 void imu_manager_update();
hazheng 59:b709711bc566 104
hazheng 59:b709711bc566 105 const volatile struct imu_vec3* imu_manager_get_accl();
hazheng 59:b709711bc566 106
hazheng 63:d9a81b3d69f5 107 const volatile struct imu_vec3* imu_manager_get_velocity();
hazheng 63:d9a81b3d69f5 108
hazheng 63:d9a81b3d69f5 109 const volatile struct imu_vec3* imu_manager_get_position();
hazheng 63:d9a81b3d69f5 110
hazheng 64:43ab429a37e0 111 float imu_manager_get_temp();
hazheng 64:43ab429a37e0 112
hazheng 62:bc5caf59fe39 113 //const volatile struct imu_vec3* imu_manager_get_magt();
hazheng 59:b709711bc566 114
hazheng 59:b709711bc566 115 #ifdef __cplusplus
hazheng 59:b709711bc566 116 }
hazheng 59:b709711bc566 117 #endif
hazheng 59:b709711bc566 118
hazheng 64:43ab429a37e0 119 #endif //IMU_MANAGER_H
hazheng 64:43ab429a37e0 120
hazheng 64:43ab429a37e0 121 #endif //if 0