Federico Luis Pinna Gonzalez / FastECompass

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Dependencies:   CommonTables FastAtan2 FastMathFunctions Magnetic

FastECompass.h@3:5eb51c7b0ca3, 2016-06-20 (annotated)

Committer:
Cotzo
Date:
Mon Jun 20 17:53:52 2016 +0000
Revision:
3:5eb51c7b0ca3
Parent:
0:a3affe6b4fe8 
Bug fixed in the metodo updateSensors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Cotzo 0:a3affe6b4fe8 1 /*
Cotzo 0:a3affe6b4fe8 2 * FastECompass Library
Cotzo 0:a3affe6b4fe8 3 * Autor: Federico Pinna
Cotzo 0:a3affe6b4fe8 4 * Date: 29 de may.de 2016
Cotzo 0:a3affe6b4fe8 5 */
Cotzo 0:a3affe6b4fe8 6 #include "mbed.h"
Cotzo 0:a3affe6b4fe8 7 #include "arm_math.h"
Cotzo 0:a3affe6b4fe8 8 #include "magnetic.h"
Cotzo 0:a3affe6b4fe8 9 #include "MotionSensor.h"
Cotzo 0:a3affe6b4fe8 10 #include "FastAtan2.h"
Cotzo 0:a3affe6b4fe8 11
Cotzo 0:a3affe6b4fe8 12
Cotzo 0:a3affe6b4fe8 13 #ifndef FASTECOMPASS_FASTECOMPASS_H_
Cotzo 0:a3affe6b4fe8 14 #define FASTECOMPASS_FASTECOMPASS_H_
Cotzo 0:a3affe6b4fe8 15
Cotzo 0:a3affe6b4fe8 16 /** FastECompass class.
Cotzo 0:a3affe6b4fe8 17 *
Cotzo 0:a3affe6b4fe8 18 * Example:
Cotzo 0:a3affe6b4fe8 19 * @code
Cotzo 0:a3affe6b4fe8 20 * #include "mbed.h"
Cotzo 0:a3affe6b4fe8 21 * #include "MAG3110.h"
Cotzo 0:a3affe6b4fe8 22 * #include "MMA8451Q.h"
Cotzo 0:a3affe6b4fe8 23 * #include "FastECompass.h"
Cotzo 0:a3affe6b4fe8 24 *
Cotzo 0:a3affe6b4fe8 25 * #define MMA8451_I2C_ADDRESS (0x1d<<1)
Cotzo 0:a3affe6b4fe8 26 *
Cotzo 0:a3affe6b4fe8 27 * MAG3110 mag( PTE25, PTE24);
Cotzo 0:a3affe6b4fe8 28 * MMA8451Q acc( PTE25, PTE24, MMA8451_I2C_ADDRESS);
Cotzo 0:a3affe6b4fe8 29 * DigitalOut lred(LED_RED,1);
Cotzo 0:a3affe6b4fe8 30 *
Cotzo 0:a3affe6b4fe8 31 * FastECompass ec(&mag,&acc);
Cotzo 0:a3affe6b4fe8 32 * Serial pc(USBTX,USBRX);
Cotzo 0:a3affe6b4fe8 33 *
Cotzo 0:a3affe6b4fe8 34 * int main(){
Cotzo 0:a3affe6b4fe8 35 *
Cotzo 0:a3affe6b4fe8 36 * ec.enableSensors();
Cotzo 0:a3affe6b4fe8 37 * ec.calibrateSensors();
Cotzo 0:a3affe6b4fe8 38 *
Cotzo 0:a3affe6b4fe8 39 * lred=0;
Cotzo 0:a3affe6b4fe8 40 *
Cotzo 0:a3affe6b4fe8 41 * while(true){
Cotzo 0:a3affe6b4fe8 42 * ec.updateSensors();
Cotzo 0:a3affe6b4fe8 43 * pc.printf("Pitch: %d Roll: %d Yaw: %d\n",ec.getPitch(),ec.getRoll(),ec.getYaw());
Cotzo 0:a3affe6b4fe8 44 * wait(0.5);
Cotzo 0:a3affe6b4fe8 45 * }
Cotzo 0:a3affe6b4fe8 46 *
Cotzo 0:a3affe6b4fe8 47 * }
Cotzo 0:a3affe6b4fe8 48 * @endcode
Cotzo 0:a3affe6b4fe8 49 **/
Cotzo 0:a3affe6b4fe8 50
Cotzo 0:a3affe6b4fe8 51
Cotzo 0:a3affe6b4fe8 52 class FastECompass{
Cotzo 0:a3affe6b4fe8 53
Cotzo 0:a3affe6b4fe8 54 MotionSensor *magsensor;
Cotzo 0:a3affe6b4fe8 55 MotionSensor *accsensor;
Cotzo 0:a3affe6b4fe8 56 MotionSensorDataCounts mag_raw;
Cotzo 0:a3affe6b4fe8 57 MotionSensorDataCounts acc_raw;
Cotzo 0:a3affe6b4fe8 58 MagCalibration magcal;
Cotzo 0:a3affe6b4fe8 59 i16MagCalibration i16magcal;
Cotzo 0:a3affe6b4fe8 60 MagneticBuffer magbuf;
Cotzo 0:a3affe6b4fe8 61 int32_t pitch;
Cotzo 0:a3affe6b4fe8 62 int32_t roll;
Cotzo 0:a3affe6b4fe8 63 int32_t yaw;
Cotzo 0:a3affe6b4fe8 64
Cotzo 0:a3affe6b4fe8 65 public:
Cotzo 0:a3affe6b4fe8 66 /** Create and Initialize FastEComppas instance
Cotzo 0:a3affe6b4fe8 67 *@param magsensor Pointer to object Magnetometer sensor derived from the MotionSensor class
Cotzo 0:a3affe6b4fe8 68 *@param accsensor Pointer to object Accelerometer sensor derived from the MotionSensor class
Cotzo 0:a3affe6b4fe8 69 */
Cotzo 0:a3affe6b4fe8 70 FastECompass(MotionSensor *magsensor, MotionSensor *accsensor);
Cotzo 0:a3affe6b4fe8 71
Cotzo 0:a3affe6b4fe8 72 /**Calibrates hard-iron magnetometer sensor.
Cotzo 0:a3affe6b4fe8 73 * Takes a sample every 40 milliseconds.
Cotzo 0:a3affe6b4fe8 74 */
Cotzo 0:a3affe6b4fe8 75 void calibrateSensors();
Cotzo 0:a3affe6b4fe8 76 /**
Cotzo 0:a3affe6b4fe8 77 * Enables magnetometer and accelerometer sensors.
Cotzo 0:a3affe6b4fe8 78 */
Cotzo 0:a3affe6b4fe8 79 void enableSensors();
Cotzo 0:a3affe6b4fe8 80 /**
Cotzo 0:a3affe6b4fe8 81 * Update magnetometer and accelerometer sensors.
Cotzo 0:a3affe6b4fe8 82 * Calculates pitch, roll and yaw using the Tilt-Compensated algorithm.
Cotzo 0:a3affe6b4fe8 83 */
Cotzo 0:a3affe6b4fe8 84 void updateSensors();
Cotzo 0:a3affe6b4fe8 85 /** Gets the value of the roll angle
Cotzo 3:5eb51c7b0ca3 86 * @return An integer representing the roll angle in deg the range of -90 to 90.
Cotzo 0:a3affe6b4fe8 87 */
Cotzo 0:a3affe6b4fe8 88 int32_t getRoll();
Cotzo 0:a3affe6b4fe8 89 /** Gets the value of the pitch angle
Cotzo 3:5eb51c7b0ca3 90 * @return An integer representing the pitch angle in deg the range of -90 to 90.
Cotzo 0:a3affe6b4fe8 91 */
Cotzo 0:a3affe6b4fe8 92 int32_t getPitch();
Cotzo 0:a3affe6b4fe8 93 /** Gets the value of the yaw angle
Cotzo 3:5eb51c7b0ca3 94 * @return An integer representing the yaw angle in deg in the range of 0 to 360.
Cotzo 0:a3affe6b4fe8 95 */
Cotzo 0:a3affe6b4fe8 96 int32_t getYaw();
Cotzo 0:a3affe6b4fe8 97
Cotzo 0:a3affe6b4fe8 98 };
Cotzo 0:a3affe6b4fe8 99
Cotzo 0:a3affe6b4fe8 100
Cotzo 0:a3affe6b4fe8 101
Cotzo 0:a3affe6b4fe8 102 #endif /* FASTECOMPASS_FASTECOMPASS_H_ */