Pedro Enrique Vidal Peñas
/
quadcopter
Gestion de imu y arranque de motores cuadcopter primera fase
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?
User | Revision | Line number | New 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 */ |