dikuei yen / Mbed 2 deprecated MTI_2_IMU

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Dependencies:   mbed

MTi2.h@1:f2d1cdd67064, 2022-05-16 (annotated)

Committer:
dikueiyen
Date:
Mon May 16 13:20:05 2022 +0000
Revision:
1:f2d1cdd67064
Parent:
0:75b96455c9ac 
40>50;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dikueiyen 0:75b96455c9ac 1 /*
dikueiyen 0:75b96455c9ac 2 * MTi2.h
dikueiyen 0:75b96455c9ac 3 *
dikueiyen 0:75b96455c9ac 4 * Created on: 2021年7月8日
dikueiyen 0:75b96455c9ac 5 * Author: liwei
dikueiyen 0:75b96455c9ac 6 */
dikueiyen 0:75b96455c9ac 7
dikueiyen 0:75b96455c9ac 8 #ifndef INC_MTI2_H_
dikueiyen 0:75b96455c9ac 9 #define INC_MTI2_H_
dikueiyen 0:75b96455c9ac 10
dikueiyen 0:75b96455c9ac 11 #include "mbed.h"
dikueiyen 0:75b96455c9ac 12 /*#include "main.h"*/
dikueiyen 0:75b96455c9ac 13
dikueiyen 0:75b96455c9ac 14 //define opcode
dikueiyen 0:75b96455c9ac 15 #define ProtInfo 0x01
dikueiyen 0:75b96455c9ac 16 #define ConfigProt 0x02
dikueiyen 0:75b96455c9ac 17 #define Control 0x03
dikueiyen 0:75b96455c9ac 18 #define PipeStat 0x04
dikueiyen 0:75b96455c9ac 19 #define NotiPipe 0x05
dikueiyen 0:75b96455c9ac 20 #define MeasPipe 0x06
dikueiyen 0:75b96455c9ac 21
dikueiyen 0:75b96455c9ac 22 int len;
dikueiyen 0:75b96455c9ac 23 int ctrl_len;
dikueiyen 0:75b96455c9ac 24 uint16_t notificationSize;
dikueiyen 0:75b96455c9ac 25 uint16_t measurementSize;
dikueiyen 1:f2d1cdd67064 26 uint8_t buffer[50];
dikueiyen 0:75b96455c9ac 27 uint8_t ctrlBuf[20];
dikueiyen 0:75b96455c9ac 28 uint8_t FW[4];
dikueiyen 0:75b96455c9ac 29
dikueiyen 0:75b96455c9ac 30 float euler[3];
dikueiyen 0:75b96455c9ac 31 float accel[3];
dikueiyen 0:75b96455c9ac 32 float omega[3];
dikueiyen 0:75b96455c9ac 33 //float euler_[3];// after process
dikueiyen 0:75b96455c9ac 34 float accel_[3];// after process
dikueiyen 0:75b96455c9ac 35 //float omega_[3];// after process
dikueiyen 0:75b96455c9ac 36
dikueiyen 0:75b96455c9ac 37 void SendOpcode(uint8_t Opcode);
dikueiyen 0:75b96455c9ac 38 uint8_t ReadProtInfo();
dikueiyen 0:75b96455c9ac 39 void ConfigureProt(_Bool M,_Bool N,_Bool O,_Bool P);
dikueiyen 0:75b96455c9ac 40 void PipeStatus();
dikueiyen 0:75b96455c9ac 41 void NotificationPipe();
dikueiyen 0:75b96455c9ac 42 void MeasurementPipe();
dikueiyen 0:75b96455c9ac 43 void ControlPipe();
dikueiyen 0:75b96455c9ac 44 void ReadData();
dikueiyen 0:75b96455c9ac 45 void MTi2_Init();
dikueiyen 0:75b96455c9ac 46
dikueiyen 0:75b96455c9ac 47 float lpf(float input, float output_old, float frequency); //lpf discrete
dikueiyen 0:75b96455c9ac 48
dikueiyen 0:75b96455c9ac 49 #endif /* INC_MTI2_H_ */