Gyro Sensor Library
GyroSensor.h
- Committer:
- bant62
- Date:
- 2012-07-16
- Revision:
- 0:da10b9c9db7a
File content as of revision 0:da10b9c9db7a:
/** ***************************************************************************** * 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