Diff: AHRS.h

Revision:

3:6811c0ce95f6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AHRS.h	Tue Dec 04 15:49:48 2018 +0000
@@ -0,0 +1,45 @@
+#include "Mahony.h"
+#include "MadgwickAHRS.h"
+#include "LinearCharacteristics.h"
+#include "LSM9DS1.h"
+#include "Signal.h"
+
+class AHRS{
+public:
+    AHRS(uint8_t,float);
+    virtual ~AHRS();
+    
+    float getRollRadians() {
+        if (!RPY_filter.anglesComputed) RPY_filter.computeAngles();
+        return RPY_filter.getRoll();
+    }
+    float getPitchRadians() {
+        if (!RPY_filter.anglesComputed) RPY_filter.computeAngles();
+        return RPY_filter.getPitch();
+    }
+    float getYawRadians() {
+        if (!RPY_filter.anglesComputed) RPY_filter.computeAngles();
+        return RPY_filter.getYaw();
+    }
+    LSM9DS1 imu;
+    Mahony RPY_filter;
+    LinearCharacteristics raw_gx2gx;
+    LinearCharacteristics raw_gy2gy;
+    LinearCharacteristics raw_gz2gz;
+private:
+    Signal signal;
+    Thread thread;
+    Ticker ticker;
+    Mutex mutex;      // mutex to lock critical sections 
+    void sendSignal();
+    void update();
+    LinearCharacteristics raw_ax2ax;
+    LinearCharacteristics raw_ay2ay;
+    LinearCharacteristics raw_az2az;
+    LinearCharacteristics int2magx;     
+    LinearCharacteristics int2magy;
+    LinearCharacteristics int2magz;
+    SPI spi;
+    DigitalOut csAG;         // for spi
+    DigitalOut csM;           //  "
+};