Gyro Sensor Library
Diff: GyroSensor.h
- Revision:
- 0:da10b9c9db7a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GyroSensor.h Mon Jul 16 03:42:01 2012 +0000 @@ -0,0 +1,108 @@ +/** + ***************************************************************************** + * File Name : GyroSensor.h + * + * Title : Gyro Sensor Class Header File + * Revision : 0.1 + * Notes : + * Target Board : mbed NXP LPC1768 + * Tool Chain : ???? + * + * Revision History: + * When Who Description of change + * ----------- ----------- ----------------------- + * 2012/07/10 Hiroshi M init + ***************************************************************************** + * + * Copyright (C) 2012 Hiroshi M, MIT License + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of this software + * and associated documentation files (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, publish, distribute, + * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all copies or + * substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + **/ + +#ifndef MBED_GYRO_SENSOR_H +#define MBED_GYRO_SENSOR_H + +/* Includes ----------------------------------------------------------------- */ +#include "mbed.h" + +/* typedef ------------------------------------------------------------------ */ +typedef enum {CLEAR,INI,IDLE,READY} GyroState; + +typedef GyroState (*GYRO_CALLBACK_FUNC)(int gyv, int gyv, int offset); +typedef int (*GET_DISTANCE_GAIN_FUNC)(void); +typedef int (*GET_DISTANCE_FEEDBACK_FUNC)(void); + +/* define ------------------------------------------------------------------- */ +#define INI_COUNT 16 +#define AV_COUNT 32 + +/* macro -------------------------------------------------------------------- */ +/* variables ---------------------------------------------------------------- */ + +/* class define --------------------------------------------------------------*/ +class GyroSensor +{ +public: + GyroSensor(PinName _pin_no, GYRO_CALLBACK_FUNC _p_callack, GET_DISTANCE_FEEDBACK_FUNC _p_feedback, GET_DISTANCE_GAIN_FUNC _p_disatnce_gain); + ~GyroSensor(); + + void Enable(void); + void Disable(void); + + GyroState getState(void); + int getAngle(void); + int getVelocity(void); + int getOffset(void); + + void setReady(void); + void setIdle(void); + + +private: + int gya; // + int gyv; // + int offset; // + + int adcav; + int offset_count; + int offset_ini_count; + long int offset_sum; + long int offset_sum_old; + long int offset_sum_ini; + long int offset_sum_old_ini; + long int gyaa; + + int d_fb; + int d_gain; + + GyroState state; + + GYRO_CALLBACK_FUNC callback; + GET_DISTANCE_FEEDBACK_FUNC getDistanceFeedback; + GET_DISTANCE_GAIN_FUNC getDisatnceGain; + + void getParameter(void); + + AnalogIn gyro_adc_in; + Ticker Pulse; + + void ad_conv(void); + void gyro_control(void); + +}; + +#endif \ No newline at end of file