Zbigniew Druzbacki / Mbed 2 deprecated SPI_Slave

SPI slave program to enable communication between the FPGA and the STM32L432 board.

Dependencies:   mbed

IMUs.h@13:c7e8e277f884, 2019-04-19 (annotated)

Committer:
Zbyszek
Date:
Fri Apr 19 18:43:39 2019 +0000
Revision:
13:c7e8e277f884
Parent:
11:366f1186c121 
Added IMU data transmission handling

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Zbyszek 13:c7e8e277f884 1 #include "CustomDatatypes.h"
Zbyszek 6:0ebecfecadc9 2 #include "mbed.h"
Zbyszek 6:0ebecfecadc9 3
Zbyszek 6:0ebecfecadc9 4
Zbyszek 6:0ebecfecadc9 5 class IMU {
Zbyszek 6:0ebecfecadc9 6
Zbyszek 6:0ebecfecadc9 7 private :
Zbyszek 6:0ebecfecadc9 8 //Variables
Zbyszek 6:0ebecfecadc9 9 vector GyroscopeOffset;
Zbyszek 6:0ebecfecadc9 10 vector AccelerometerOffset;
Zbyszek 6:0ebecfecadc9 11 char IMU_Identifier;
Zbyszek 7:0e9af5986488 12 double accelSSF, gyroSSF;
Zbyszek 11:366f1186c121 13 Timer t;
Zbyszek 11:366f1186c121 14 vector CFAngle;
Zbyszek 6:0ebecfecadc9 15 //Functions
Zbyszek 6:0ebecfecadc9 16
Zbyszek 6:0ebecfecadc9 17
Zbyszek 6:0ebecfecadc9 18 public :
Zbyszek 6:0ebecfecadc9 19 //Variables-----------------------------------------------------------------
Zbyszek 6:0ebecfecadc9 20 vector AcceAngle;
Zbyszek 6:0ebecfecadc9 21 vector GyroAngle;
Zbyszek 6:0ebecfecadc9 22 vector RawAccel;
Zbyszek 6:0ebecfecadc9 23 vector SSFRawAccel;
Zbyszek 6:0ebecfecadc9 24 vector RawGyro;
Zbyszek 6:0ebecfecadc9 25 vector SSFRawGyro;
Zbyszek 6:0ebecfecadc9 26 vector CFQuaternion;
Zbyszek 13:c7e8e277f884 27 volatile char busyFlag;
Zbyszek 6:0ebecfecadc9 28 //Variables-----------------------------------------------------------------
Zbyszek 6:0ebecfecadc9 29
Zbyszek 6:0ebecfecadc9 30
Zbyszek 6:0ebecfecadc9 31 //Functions-----------------------------------------------------------------
Zbyszek 6:0ebecfecadc9 32 IMU(char IMU_ID, double OffsetAX, double OffsetAY, double OffsetAZ, double OffsetGX, double OffsetGY, double OffsetGZ, char SSFA, char SSFG);
Zbyszek 6:0ebecfecadc9 33 IMU_Data concatenateData(int16_t SamplesPieces[12]);
Zbyszek 6:0ebecfecadc9 34 IMU_Data SSFmultiply(IMU_Data RawData);
Zbyszek 7:0e9af5986488 35 IMU_Data getAngles(IMU_Data SSF_Format_Values, float dt);
Zbyszek 7:0e9af5986488 36
Zbyszek 7:0e9af5986488 37 IMU_Data CalculateAngles(int16_t SamplesPieces[12]);
Zbyszek 7:0e9af5986488 38 vector CalculateCFAngles(int16_t SamplesPieces[12]);
Zbyszek 7:0e9af5986488 39 vector CalculateQCFAngles(int16_t SamplesPieces[12]);
Zbyszek 7:0e9af5986488 40 vector getAccelAngles(vector SSF_Accel);
Zbyszek 6:0ebecfecadc9 41 //void CFAngle();
Zbyszek 6:0ebecfecadc9 42 //Functions-----------------------------------------------------------------
Zbyszek 6:0ebecfecadc9 43 };