Diff: LOCALIZE.h

Revision:

1:8966a48ce8d5

Parent:

0:96d6eb224379

Child:

2:634c1adf89b2

--- a/LOCALIZE.h	Tue Mar 01 18:20:45 2016 +0000
+++ b/LOCALIZE.h	Tue Mar 01 19:26:32 2016 +0000
@@ -4,7 +4,19 @@
 #include "mbed.h"
 #include "BNO055.h"
 
-#define ERROR_IMU -1
+#define R_P_ADDR    0x04
+
+#define FRAME_H     180
+#define FRAME_W     150
+#define RX_OFF 7
+#define RY_OFF 6
+#define R_ERROR     14
+
+#define ERROR_IMU   -1
+#define ERROR_RX_P  -2
+#define ERROR_RX_N  -3
+#define ERROR_RY_P  -4
+#define ERROR_RY_N  -5
 
 typedef struct {
     int x;
@@ -18,17 +30,16 @@
     LOCALIZE(I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset);
     int init(void);
     void get_angle(LOCALIZE_xya *xya);
+    void get_xy(LOCALIZE_xya *xya);
 
 protected:
     I2C _y_i2c;
     I2C _x_imu_i2c;
-    PinName _imu_reset;
     BNO055 _imu;
-    BNO055_ID_INF_TypeDef bno055_id_inf;
-    BNO055_EULER_TypeDef euler;
-    BNO055_GRAVITY_TypeDef gravity;
-    BNO055_LIN_ACC_TypeDef accel;
-
+    BNO055_EULER_TypeDef _euler;
+    BNO055_GRAVITY_TypeDef _gravity;
+    BNO055_LIN_ACC_TypeDef _accel;
+    LOCALIZE_xya _xya;
 };
 
 #endif  //LOCALIZE_H
\ No newline at end of file