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Dependencies: BMP280 BNO055_fusion PowerControl mbed
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LOCALIZE.h@0:96d6eb224379, 2016-03-01 (annotated)
- Committer:
- 12104404
- Date:
- Tue Mar 01 18:20:45 2016 +0000
- Revision:
- 0:96d6eb224379
- Child:
- 1:8966a48ce8d5
ANGLE;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
12104404 | 0:96d6eb224379 | 1 | #ifndef LOCALIZE_H |
12104404 | 0:96d6eb224379 | 2 | #define LOCALIZE_H |
12104404 | 0:96d6eb224379 | 3 | |
12104404 | 0:96d6eb224379 | 4 | #include "mbed.h" |
12104404 | 0:96d6eb224379 | 5 | #include "BNO055.h" |
12104404 | 0:96d6eb224379 | 6 | |
12104404 | 0:96d6eb224379 | 7 | #define ERROR_IMU -1 |
12104404 | 0:96d6eb224379 | 8 | |
12104404 | 0:96d6eb224379 | 9 | typedef struct { |
12104404 | 0:96d6eb224379 | 10 | int x; |
12104404 | 0:96d6eb224379 | 11 | int y; |
12104404 | 0:96d6eb224379 | 12 | int a; |
12104404 | 0:96d6eb224379 | 13 | }LOCALIZE_xya; |
12104404 | 0:96d6eb224379 | 14 | |
12104404 | 0:96d6eb224379 | 15 | class LOCALIZE |
12104404 | 0:96d6eb224379 | 16 | { |
12104404 | 0:96d6eb224379 | 17 | public: |
12104404 | 0:96d6eb224379 | 18 | LOCALIZE(I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset); |
12104404 | 0:96d6eb224379 | 19 | int init(void); |
12104404 | 0:96d6eb224379 | 20 | void get_angle(LOCALIZE_xya *xya); |
12104404 | 0:96d6eb224379 | 21 | |
12104404 | 0:96d6eb224379 | 22 | protected: |
12104404 | 0:96d6eb224379 | 23 | I2C _y_i2c; |
12104404 | 0:96d6eb224379 | 24 | I2C _x_imu_i2c; |
12104404 | 0:96d6eb224379 | 25 | PinName _imu_reset; |
12104404 | 0:96d6eb224379 | 26 | BNO055 _imu; |
12104404 | 0:96d6eb224379 | 27 | BNO055_ID_INF_TypeDef bno055_id_inf; |
12104404 | 0:96d6eb224379 | 28 | BNO055_EULER_TypeDef euler; |
12104404 | 0:96d6eb224379 | 29 | BNO055_GRAVITY_TypeDef gravity; |
12104404 | 0:96d6eb224379 | 30 | BNO055_LIN_ACC_TypeDef accel; |
12104404 | 0:96d6eb224379 | 31 | |
12104404 | 0:96d6eb224379 | 32 | }; |
12104404 | 0:96d6eb224379 | 33 | |
12104404 | 0:96d6eb224379 | 34 | #endif //LOCALIZE_H |