Pedro Enrique Vidal Peñas / Mbed 2 deprecated quadcopter

Gestion de imu y arranque de motores cuadcopter primera fase

Dependencies:   mbed Servo

9dof.h@0:ce49c05e9d73, 2011-02-22 (annotated)

Committer:
cr0n0s20
Date:
Tue Feb 22 22:08:30 2011 +0000
Revision:
0:ce49c05e9d73
cuadcopter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cr0n0s20 0:ce49c05e9d73 1 #ifndef DOF9_RAZOR_IMU_H
cr0n0s20 0:ce49c05e9d73 2 #define DOF9_RAZOR_IMU_H
cr0n0s20 0:ce49c05e9d73 3
cr0n0s20 0:ce49c05e9d73 4 //****************************************************************************/
cr0n0s20 0:ce49c05e9d73 5 // Includes
cr0n0s20 0:ce49c05e9d73 6 //****************************************************************************/
cr0n0s20 0:ce49c05e9d73 7 #include "mbed.h"
cr0n0s20 0:ce49c05e9d73 8
cr0n0s20 0:ce49c05e9d73 9 //****************************************************************************/
cr0n0s20 0:ce49c05e9d73 10 // Defines
cr0n0s20 0:ce49c05e9d73 11 //****************************************************************************/
cr0n0s20 0:ce49c05e9d73 12
cr0n0s20 0:ce49c05e9d73 13 class dof9RazorImu {
cr0n0s20 0:ce49c05e9d73 14 #define BAUD_RATE 38400 //Default in frimware from SparkFun.
cr0n0s20 0:ce49c05e9d73 15 #define DOFFW 0// 1 PARA MODIFICADO
cr0n0s20 0:ce49c05e9d73 16 public:
cr0n0s20 0:ce49c05e9d73 17
cr0n0s20 0:ce49c05e9d73 18 /**
cr0n0s20 0:ce49c05e9d73 19 * Constructor.
cr0n0s20 0:ce49c05e9d73 20 *
cr0n0s20 0:ce49c05e9d73 21 * Parameters:
cr0n0s20 0:ce49c05e9d73 22 *
cr0n0s20 0:ce49c05e9d73 23 * tx - Pin to use for Serial transmission.
cr0n0s20 0:ce49c05e9d73 24 * rx - Pin to use for Serial receive.
cr0n0s20 0:ce49c05e9d73 25 */
cr0n0s20 0:ce49c05e9d73 26 dof9RazorImu(PinName tx, PinName rx);
cr0n0s20 0:ce49c05e9d73 27
cr0n0s20 0:ce49c05e9d73 28 /**
cr0n0s20 0:ce49c05e9d73 29 * Update all of the heading data.
cr0n0s20 0:ce49c05e9d73 30 */
cr0n0s20 0:ce49c05e9d73 31 void update(void);
cr0n0s20 0:ce49c05e9d73 32
cr0n0s20 0:ce49c05e9d73 33 int getGyroX(void);
cr0n0s20 0:ce49c05e9d73 34 int getGyroY(void);
cr0n0s20 0:ce49c05e9d73 35 int getGyroZ(void);
cr0n0s20 0:ce49c05e9d73 36
cr0n0s20 0:ce49c05e9d73 37 int getAccX(void);
cr0n0s20 0:ce49c05e9d73 38 int getAccY(void);
cr0n0s20 0:ce49c05e9d73 39 int getAccZ(void);
cr0n0s20 0:ce49c05e9d73 40
cr0n0s20 0:ce49c05e9d73 41 int getMagX(void);
cr0n0s20 0:ce49c05e9d73 42 int getMagY(void);
cr0n0s20 0:ce49c05e9d73 43 int getMagZ(void);
cr0n0s20 0:ce49c05e9d73 44
cr0n0s20 0:ce49c05e9d73 45 private:
cr0n0s20 0:ce49c05e9d73 46
cr0n0s20 0:ce49c05e9d73 47 Serial* razor;
cr0n0s20 0:ce49c05e9d73 48
cr0n0s20 0:ce49c05e9d73 49 int gyro_x;
cr0n0s20 0:ce49c05e9d73 50 int gyro_y;
cr0n0s20 0:ce49c05e9d73 51 int gyro_z;
cr0n0s20 0:ce49c05e9d73 52
cr0n0s20 0:ce49c05e9d73 53 int acc_x;
cr0n0s20 0:ce49c05e9d73 54 int acc_y;
cr0n0s20 0:ce49c05e9d73 55 int acc_z;
cr0n0s20 0:ce49c05e9d73 56
cr0n0s20 0:ce49c05e9d73 57 int mag_x;
cr0n0s20 0:ce49c05e9d73 58 int mag_y;
cr0n0s20 0:ce49c05e9d73 59 int mag_z;
cr0n0s20 0:ce49c05e9d73 60 };
cr0n0s20 0:ce49c05e9d73 61
cr0n0s20 0:ce49c05e9d73 62 #endif /* DOF9_RAZOR_IMU_H */