dikuei yen / Mbed 2 deprecated MTi_Gss_Motor

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Dependencies:   mbed

MTi2.h

Committer:
dikueiyen
Date:
2021-11-15
Revision:
0:6bee2baac968
Child:
2:636bb157c386

File content as of revision 0:6bee2baac968:

/*
 * MTi2.h
 *
 *  Created on: 2021年7月8日
 *      Author: liwei
 */

#ifndef INC_MTI2_H_
#define INC_MTI2_H_

#include "mbed.h"
/*#include "main.h"*/

//define opcode
#define ProtInfo    0x01
#define ConfigProt  0x02
#define Control     0x03
#define PipeStat    0x04
#define NotiPipe    0x05
#define MeasPipe    0x06

int len;
int ctrl_len;
uint16_t notificationSize;
uint16_t measurementSize;
uint8_t buffer[40];
uint8_t ctrlBuf[20];
uint8_t FW[4];

float euler[3];
float accel[3];
float omega[3];
//float euler_[3];// after process
float accel_[3];// after process
//float omega_[3];// after process

void SendOpcode(uint8_t Opcode);
//uint8_t ReadProtInfo();
void ConfigureProt(_Bool M,_Bool N,_Bool O,_Bool P);
void PipeStatus();
//void NotificationPipe();
void MeasurementPipe();
void ControlPipe();
void ReadData();
void MTi2_Init();

float   lpf(float input, float output_old, float frequency);    //lpf discrete

#endif /* INC_MTI2_H_ */