Diff: FastECompass.h

Revision:

0:a3affe6b4fe8

Child:

2:c14ec86128a6

Child:

3:5eb51c7b0ca3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FastECompass.h	Sat Jun 18 21:16:34 2016 +0000
@@ -0,0 +1,102 @@
+/*
+* 	FastECompass Library
+*   Autor: Federico Pinna
+*   Date: 29 de may.de 2016
+*/
+#include "mbed.h"
+#include "arm_math.h"
+#include "magnetic.h"
+#include "MotionSensor.h"
+#include "FastAtan2.h"
+
+
+#ifndef FASTECOMPASS_FASTECOMPASS_H_
+#define FASTECOMPASS_FASTECOMPASS_H_
+
+/** FastECompass class.
+*
+* Example:
+* @code
+* #include "mbed.h"
+* #include "MAG3110.h"
+* #include "MMA8451Q.h"
+* #include "FastECompass.h" 
+*
+* #define MMA8451_I2C_ADDRESS (0x1d<<1)
+*
+* MAG3110  mag( PTE25, PTE24);
+* MMA8451Q acc( PTE25, PTE24, MMA8451_I2C_ADDRESS);
+* DigitalOut lred(LED_RED,1);
+*
+* FastECompass ec(&mag,&acc);
+* Serial pc(USBTX,USBRX);
+*
+* int main(){
+*    
+*   ec.enableSensors();
+*   ec.calibrateSensors();
+*    
+*   lred=0;
+*   
+*   while(true){
+*     ec.updateSensors();
+*     pc.printf("Pitch: %d  Roll: %d Yaw: %d\n",ec.getPitch(),ec.getRoll(),ec.getYaw()); 
+*     wait(0.5);
+*   }    
+*
+* }
+* @endcode
+**/
+
+
+class FastECompass{
+
+	MotionSensor *magsensor;
+	MotionSensor *accsensor;
+	MotionSensorDataCounts mag_raw;
+	MotionSensorDataCounts acc_raw;
+	MagCalibration magcal;
+	i16MagCalibration i16magcal;
+	MagneticBuffer magbuf;
+	int32_t pitch;
+	int32_t roll;
+	int32_t yaw;
+
+	public:
+  	/** Create and Initialize FastEComppas instance
+   	 *@param magsensor Pointer to object Magnetometer sensor derived from the MotionSensor class
+   	 *@param accsensor Pointer to object Accelerometer sensor derived from the MotionSensor class
+   	 */ 
+	FastECompass(MotionSensor *magsensor, MotionSensor *accsensor);
+	
+	/**Calibrates hard-iron magnetometer sensor.
+	*  Takes a sample every 40 milliseconds.
+	*/
+	void calibrateSensors();
+	/**
+	*	Enables magnetometer and accelerometer sensors.
+	*/
+	void enableSensors();
+	/**
+	*	Update magnetometer and accelerometer sensors.
+	*   Calculates pitch, roll and yaw using the Tilt-Compensated algorithm. 
+	*/
+	void updateSensors();
+	/** Gets the value of the roll angle
+	* @return An integer representing the roll angle in the range of -90 to 90.
+	*/
+	int32_t getRoll();
+	/** Gets the value of the pitch angle
+	* @return An integer representing the pitch angle in the range of -90 to 90.
+	*/
+	int32_t getPitch();
+	/** Gets the value of the yaw angle
+	* @return An integer representing the yaw angle in the range of -180 to 180.
+	*/
+	int32_t getYaw();
+
+};
+
+
+
+#endif /* FASTECOMPASS_FASTECOMPASS_H_ */