File content as of revision 20:10a305298e27:

#include "LOCALIZE.h"

DigitalOut _led1(LED1);
DigitalOut _led2(LED2);
DigitalOut _led3(LED3);
DigitalOut _led4(LED4);

LOCALIZE::LOCALIZE (I2C& y_i2c, I2C& x_imu_i2c, PinName imu_reset, PinName sw1, PinName sw2, PinName sw3, PinName sw4):
    _y_i2c(y_i2c), _x_imu_i2c(x_imu_i2c), _imu(x_imu_i2c, imu_reset), _sw1(sw1), _sw2(sw2), _sw3(sw3), _sw4(sw4)
{
    _sw1.mode(PullUp);
    _sw2.mode(PullUp);
    _sw3.mode(PullUp);
    _sw4.mode(PullUp);
}

int LOCALIZE::init (void)
{
    if(_imu.chip_ready()==0)
        return ERROR_IMU;
    _imu.set_mounting_position(MT_P0);
#if defined (IMU_GROUND)
    _imu.change_fusion_mode(MODE_NDOF);
#else
    _imu.change_fusion_mode(MODE_IMU);
#endif

    char data[]= {0,0,0};
    if(_x_imu_i2c.read(R_P_ADDR<<1, data, 3)!=0)
        return ERROR_RX_P;
    if(_x_imu_i2c.read(R_N_ADDR<<1, data, 3)!=0)
        return ERROR_RX_N;
    if(_y_i2c.read(R_P_ADDR<<1, data, 3)!=0)
        return ERROR_RY_P;
    if(_y_i2c.read(R_N_ADDR<<1, data, 3)!=0)
        return ERROR_RY_N;
    return 0;
}

void LOCALIZE::get_angle(LOCALIZE_xya *xya)
{
    _imu.get_Euler_Angles(&_euler);
    _imu.get_gravity(&_gravity);
    volatile unsigned int quad=0;
    if(_gravity.y>=0)
        quad&=~1;
    else
        quad|=1;
    if(_gravity.x>=0)
        quad&=~(1<<1);
    else
        quad|=(1<<1);
    quad&=3;
    switch(quad) {
        case 0:
            _angle=_euler.p;
            break;
        case 1:
            _angle=180-_euler.p;
            break;
        case 2:
            _angle=360+_euler.p;
            break;
        case 3:
            _angle=180+abs(_euler.p);
            break;
        default:
            _angle=-1;
            break;
    }
#if defined (IMU_GROUND)
    xya->a=_euler.h;
#else
    xya->a=_angle;
#endif
    _xya.a=xya->a;
}

void LOCALIZE::get_xy(LOCALIZE_xya *xya)
{
    int _rx, _ry;
    get_raw_xy();
    get_angle(xya);
    ledSw();
    if(_xya.a<R_ERROR || _xya.a>360-R_ERROR) {
        _rx=_rx_p<_rx_n && _rx_p>UR_DEADZONE ? _rx_p : FRAME_W-RX_OFF-_rx_n;
        _ry=_ry_p<_ry_n && _ry_p>UR_DEADZONE ? _ry_p : FRAME_H-RY_OFF-_ry_n;
        if(!_sw1 && !_sw2)
            _rx=RX_OFF;
        else if(!_sw3 && !_sw4)
            _rx=FRAME_W-RX_OFF;
    } else if(abs(_xya.a-270)<R_ERROR) {
        _rx=_ry_p<_ry_n && _ry_p>UR_DEADZONE ? _ry_p : FRAME_W-RY_OFF-_ry_n;
        _ry=_rx_p<_rx_n && _rx_p>UR_DEADZONE ? FRAME_H-RX_OFF-_rx_p : _rx_n;
        if(!_sw1 && !_sw2)
            _ry=FRAME_H-RY_OFF;
        else if(!_sw3 && !_sw4)
            _ry=RY_OFF;
    } else if(abs(_xya.a-180)<R_ERROR) {
        _rx=_rx_p<_rx_n && _rx_p>UR_DEADZONE ? FRAME_W-RX_OFF-_rx_p : _rx_n;
        _ry=_ry_p<_ry_n && _ry_p>UR_DEADZONE ? FRAME_H-RY_OFF-_ry_p : _ry_n;
        if(!_sw1 && !_sw2)
            _rx=FRAME_W-RX_OFF;
        else if(!_sw3 && !_sw4)
            _rx=RX_OFF;
    } else if(abs(_xya.a-90)<R_ERROR) {
        _rx=_ry_p<_ry_n && _ry_p>UR_DEADZONE ? FRAME_W-RY_OFF-_ry_p : _ry_n;
        _ry=_rx_p<_rx_n && _rx_p>UR_DEADZONE ? _rx_p : FRAME_H-RX_OFF-_rx_n;
        if(!_sw1 && !_sw2)
            _ry=RY_OFF;
        else if(!_sw3 && !_sw4)
            _ry=FRAME_H-RY_OFF;
    } else {
        //error last value
        _rx=_xya.x;
        _ry=_xya.x;
    }
    if(abs(_rx-_xya.x)>UR_JUMP) {
        _rx=_xya.x;
    }
    if(abs(_ry-_xya.y)>UR_JUMP) {
        _ry=_xya.y;
    }
    _xya.x=_rx;
    _xya.y=_ry;
    xya->x=_xya.x;
    xya->y=_xya.y;
}

void LOCALIZE::get_raw_xy(void)
{
    char data[]= {0,0,0};
    _x_imu_i2c.read(R_P_ADDR<<1, data, 3);
    wait(R_WAIT);
    _rx_n=data[1];
    _x_imu_i2c.read(R_N_ADDR<<1, data, 3);
    wait(R_WAIT);
    _rx_p=data[1];
    _y_i2c.read(R_P_ADDR<<1, data, 3);
    wait(R_WAIT);
    _ry_n=data[1];
    _y_i2c.read(R_N_ADDR<<1, data, 3);
    wait(R_WAIT);
    _ry_p=data[1];
}

inline void LOCALIZE::ledSw(void)
{
    _led1=!_sw1;
    _led2=!_sw2;
    _led3=!_sw3;
    _led4=!_sw4;
}