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