GyroSensor.h

00001 /**
00002  *****************************************************************************
00003  * File Name    : GyroSensor.h
00004  *
00005  * Title        : Gyro Sensor Class Header File
00006  * Revision     : 0.1
00007  * Notes        :
00008  * Target Board : mbed NXP LPC1768
00009  * Tool Chain   : ????
00010  *
00011  * Revision History:
00012  * When         Who         Description of change
00013  * -----------  ----------- -----------------------
00014  * 2012/07/10    Hiroshi M   init
00015  *****************************************************************************
00016  *
00017  * Copyright (C) 2012 Hiroshi M, MIT License
00018  *
00019  * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
00020  * and associated documentation files (the "Software"), to deal in the Software without restriction,
00021  * including without limitation the rights to use, copy, modify, merge, publish, distribute,
00022  * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
00023  * furnished to do so, subject to the following conditions:
00024  *
00025  * The above copyright notice and this permission notice shall be included in all copies or
00026  * substantial portions of the Software.
00027  *
00028  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
00029  * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00030  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
00031  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00032  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00033  *
00034  **/
00035 
00036 #ifndef MBED_GYRO_SENSOR_H
00037 #define MBED_GYRO_SENSOR_H
00038 
00039 /* Includes ----------------------------------------------------------------- */
00040 #include "mbed.h"
00041 
00042 /* typedef ------------------------------------------------------------------ */
00043 typedef enum {CLEAR,INI,IDLE,READY} GyroState;
00044 
00045 typedef GyroState (*GYRO_CALLBACK_FUNC)(int gyv, int gyv, int offset);
00046 typedef int (*GET_DISTANCE_GAIN_FUNC)(void);
00047 typedef int (*GET_DISTANCE_FEEDBACK_FUNC)(void);
00048 
00049 /* define ------------------------------------------------------------------- */
00050 #define INI_COUNT 16
00051 #define AV_COUNT 32
00052 
00053 /* macro -------------------------------------------------------------------- */
00054 /* variables ---------------------------------------------------------------- */
00055 
00056 /* class define --------------------------------------------------------------*/
00057 class GyroSensor
00058 {
00059 public:
00060     GyroSensor(PinName _pin_no, GYRO_CALLBACK_FUNC _p_callack, GET_DISTANCE_FEEDBACK_FUNC _p_feedback, GET_DISTANCE_GAIN_FUNC _p_disatnce_gain);
00061     ~GyroSensor();
00062     
00063     void Enable(void);
00064     void Disable(void);
00065     
00066     GyroState getState(void);
00067     int getAngle(void);
00068     int getVelocity(void);
00069     int getOffset(void);
00070     
00071     void setReady(void);
00072     void setIdle(void);
00073     
00074 
00075 private:
00076     int gya;            //
00077     int gyv;            //
00078     int offset;         //
00079 
00080     int adcav;
00081     int offset_count;
00082     int offset_ini_count;
00083     long int offset_sum;
00084     long int offset_sum_old;
00085     long int offset_sum_ini;
00086     long int offset_sum_old_ini;
00087     long int gyaa;
00088     
00089     int d_fb;
00090     int d_gain;
00091 
00092     GyroState state;
00093     
00094     GYRO_CALLBACK_FUNC          callback;
00095     GET_DISTANCE_FEEDBACK_FUNC  getDistanceFeedback;
00096     GET_DISTANCE_GAIN_FUNC      getDisatnceGain;
00097    
00098     void getParameter(void); 
00099     
00100     AnalogIn    gyro_adc_in;
00101     Ticker      Pulse;
00102     
00103     void ad_conv(void);
00104     void gyro_control(void);
00105 
00106 };
00107 
00108 #endif