Publishing for Biomimetics.
Dependencies: CRC MODDMA MODSERIAL MPU6050IMU PID QEI mbed-rtos mbed-src
sensors.cpp
- Committer:
- abuchan
- Date:
- 2016-05-31
- Revision:
- 0:8cfa73bb68e4
File content as of revision 0:8cfa73bb68e4:
#include "sensors.h" Sensors::Sensors( Timer *system_timer, PinName voltage_pin, PinName l_enc_a_pin, PinName l_enc_b_pin, PinName r_enc_a_pin, PinName r_enc_b_pin, uint32_t tick_per_rev, PinName imu_sda_pin, PinName imu_scl_pin) : system_timer_(system_timer), voltage_pin_(voltage_pin), left_qei_(l_enc_a_pin, l_enc_b_pin, NC, tick_per_rev, QEI::X4_ENCODING), right_qei_(r_enc_a_pin, r_enc_b_pin, NC, tick_per_rev, QEI::X4_ENCODING), mpu6050_(imu_sda_pin, imu_scl_pin) {} float Sensors::get_voltage(void) { return voltage_pin_.read(); } void Sensors::get_encoders(int32_t (&encoders)[2]) { encoders[0] = left_qei_.getPulses(); encoders[1] = -right_qei_.getPulses(); } void Sensors::get_angles(float * angles) { angles[0] = left_qei_.getPulseFraction(); angles[1] = -right_qei_.getPulseFraction(); } bool Sensors::get_imu(sensor_data_t* sensor_data) { sensor_data->time = system_timer_->read_us(); return mpu6050_.readCalibAccelGyroData(sensor_data->accel, sensor_data->gyro); } bool Sensors::fill_sensor_packet(packet_t* pkt) { pkt->header.type = PKT_TYPE_SENSOR; pkt->header.length = sizeof(header_t) + sizeof(sensor_data_t) + 1; sensor_data_t* sensor_data = (sensor_data_t*)pkt->data_crc; sensor_data->voltage = get_voltage(); get_encoders(sensor_data->encoder); bool valid = get_imu(sensor_data); pkt->header.flags = valid ? 0 : 1; return valid; }