Chris LU / Mbed 2 deprecated Nucleo_ZTC_20160607_oldest

code of robot bike

Dependencies:   SDFileSystem mbed

Fork of Robot_Bicycle by Chris LU

SPI_9dSensor.h@12:60593247555d, 2017-02-22 (annotated)

Committer:
cpul5338
Date:
Wed Feb 22 09:49:44 2017 +0000
Revision:
12:60593247555d
Parent:
10:3b952ea7fad4 
robot bike

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YCTung 0:830ddddc129f 1 #ifndef SPI_9DSENSOR_H_INCLUDED
YCTung 0:830ddddc129f 2 #define SPI_9DSENSOR_H_INCLUDED
YCTung 0:830ddddc129f 3
YCTung 0:830ddddc129f 4 #include "mbed.h" // GPIO
YCTung 0:830ddddc129f 5
YCTung 0:830ddddc129f 6 #define sensorG_CTRL_REG1_address 0x20
YCTung 0:830ddddc129f 7 #define sensorXM_CTRL_REG0_address 0x1F
YCTung 0:830ddddc129f 8 #define sensorG_OUT_X_L_address 0x28
YCTung 0:830ddddc129f 9 #define sensorXM_OUT_X_L_A_address 0x28
YCTung 0:830ddddc129f 10 #define sensorXM_OUT_X_L_M_address 0x08
YCTung 0:830ddddc129f 11
YCTung 0:830ddddc129f 12 #define CSG 0
YCTung 0:830ddddc129f 13 #define CSXM 1
YCTung 0:830ddddc129f 14
YCTung 0:830ddddc129f 15 #define INDEX_GYRO_X 1
YCTung 0:830ddddc129f 16 #define INDEX_GYRO_Y 2
YCTung 0:830ddddc129f 17 #define INDEX_GYRO_Z 3
YCTung 0:830ddddc129f 18 #define INDEX_ACCE_X 4
YCTung 0:830ddddc129f 19 #define INDEX_ACCE_Y 5
YCTung 0:830ddddc129f 20 #define INDEX_ACCE_Z 6
YCTung 0:830ddddc129f 21 #define INDEX_MAGN_X 7
YCTung 0:830ddddc129f 22 #define INDEX_MAGN_Y 8
YCTung 0:830ddddc129f 23 #define INDEX_MAGN_Z 9
YCTung 0:830ddddc129f 24
cpul5338 12:60593247555d 25 // sensor correction
cpul5338 12:60593247555d 26 #define GX_offset 50.095//35
cpul5338 12:60593247555d 27 #define GY_offset 56.249//same
cpul5338 12:60593247555d 28 #define GZ_offset 1.862//151
cpul5338 12:60593247555d 29 #define AX_offset -651.6106//-715///-908
cpul5338 12:60593247555d 30 #define AY_offset -697.9139//-501
cpul5338 12:60593247555d 31 #define AZ_offset 218.8919//215
YCTung 0:830ddddc129f 32 #define MX_offset 136
YCTung 0:830ddddc129f 33 #define MY_offset -108
YCTung 0:830ddddc129f 34 #define MZ_offset -102
YCTung 0:830ddddc129f 35
cpul5338 12:60593247555d 36 // Gain of Gyro and Acce
YCTung 0:830ddddc129f 37 #define Mag_backgnd 0.36435f ///gauss, Magnetic field in Hsinchu
cpul5338 12:60593247555d 38 #define Gyro_gainx 0.002422966362920f///2000dps/2^15 = 61 miliDegree/s = 0.001065rad/s
cpul5338 12:60593247555d 39 #define Gyro_gainy 0.002422966362920f///0.001212716
cpul5338 12:60593247555d 40 #define Gyro_gainz 0.002422966362920f///0.0012375596
cpul5338 12:60593247555d 41 #define Acce_gainx -0.002404245422390f///=8*9.81/2^15
cpul5338 12:60593247555d 42 #define Acce_gainy -0.002344293490135f///=8*9.81/2^15
cpul5338 12:60593247555d 43 #define Acce_gainz -0.002307390759185f///=8*9.81/2^15
YCTung 0:830ddddc129f 44 #define Magn_gain 0.000244f ///8gauss/2^15 = 0.000244gauss
YCTung 0:830ddddc129f 45
YCTung 4:b0967990e390 46 extern SPI sensor_LSM9D;
YCTung 1:709be64ca63c 47 extern DigitalOut sensor_CSG;
YCTung 1:709be64ca63c 48 extern DigitalOut sensor_CSXM;
YCTung 1:709be64ca63c 49
YCTung 0:830ddddc129f 50 extern unsigned char sensorG_CTRL_REG[6], sensorXM_CTRL_REG[9];
YCTung 0:830ddddc129f 51
YCTung 0:830ddddc129f 52 extern short int Gyro_axis_data[3], Gyro_axis_zero[3];
YCTung 0:830ddddc129f 53 extern float Gyro_scale[3];
YCTung 0:830ddddc129f 54
YCTung 0:830ddddc129f 55 extern short int Acce_axis_data[3], Acce_axis_zero[3];
YCTung 0:830ddddc129f 56 extern float Acce_scale[3];
YCTung 0:830ddddc129f 57
YCTung 0:830ddddc129f 58 extern short int Magn_axis_data[3], Magn_axis_zero[3];
YCTung 0:830ddddc129f 59 extern float Magn_scale[3];
YCTung 0:830ddddc129f 60
YCTung 0:830ddddc129f 61 extern float B_x, B_y, B_z, B_total;
YCTung 0:830ddddc129f 62 extern float u_cali[9], u_old[9];
YCTung 0:830ddddc129f 63
YCTung 10:3b952ea7fad4 64 extern bool setup_spi_sensor(void);
YCTung 0:830ddddc129f 65
YCTung 0:830ddddc129f 66 extern void init_Sensors(void);
YCTung 0:830ddddc129f 67 extern void sensorG_setup(void);
YCTung 0:830ddddc129f 68 extern void sensorXM_setup(void);
YCTung 0:830ddddc129f 69 extern void sensorG_read_3axis(void);
YCTung 0:830ddddc129f 70 extern void sensorX_read_3axis(void);
YCTung 0:830ddddc129f 71 extern void sensorM_read_3axis(void);
YCTung 0:830ddddc129f 72
YCTung 0:830ddddc129f 73 extern short int filted_sensor_data(unsigned char axis_index, float freq);
YCTung 0:830ddddc129f 74 extern void reset_gyro_offset(void);
YCTung 0:830ddddc129f 75 extern void reset_acceX_offset(void);
YCTung 0:830ddddc129f 76
YCTung 0:830ddddc129f 77 extern void get_9axis_scale(void);
YCTung 0:830ddddc129f 78
YCTung 10:3b952ea7fad4 79 extern unsigned char get_WhoAmI_G(void);
YCTung 10:3b952ea7fad4 80 extern unsigned char get_WhoAmI_XM(void);
YCTung 4:b0967990e390 81
YCTung 0:830ddddc129f 82 #endif // SPI_9DSENSOR_H_INCLUDED