Diff: mma7361.h

Revision:

6:ca882e5e2686

Parent:

5:83a3021f51f8

--- a/mma7361.h	Fri Sep 30 04:44:48 2016 +0000
+++ b/mma7361.h	Fri Sep 30 06:50:24 2016 +0000
@@ -32,11 +32,6 @@
     DigitalOut GS;
     Serial pcdev;
     int range; //0 : 1.5G  1 : 6.0G
-    
-    /** matrix
-     *
-     * the matrix which use to calcurate the gravity
-     */
     int mat[4][3];
 public:
     
@@ -56,28 +51,141 @@
      * do the calibration, you need to conect terminal (ex.TeraTerm) by USB\n
      * the serial port is set in this class, but it's private\n
      * please follow the sentence on the terminal\n
-     * this function set the matrix\n
+     * this function set the matrix which use to calculate the gravity\n
      * if you don't want to do this or know the data, you can use set_each_num() or set_num() to set matrix
      */
     void calibration();
     
     /** function
      *
-     * 
+     * this function set the matrix which use to calculate the gravity and the range of sensitivity\n
+     * the matrix's paramater is this\n
+     * | A00 A10 A20 | : middle bits (=0G) of each axes when range is 1.5G\n
+     * | A01 A11 A21 | : middle bits (=0G) of each axes when range is 6.0G\n
+     * | G00 G10 G20 | : bits/G of each axes when range is 1.5G\n
+     * | G01 G11 G21 | : bits/G of each axes when range is 6.0G
+     * @param ax_0_0 A00 in the matrix (=-1:use default = 31356)
+     * @param ay_0_0 A10 in the matrix (=-1:use default = 34040)
+     * @param az_0_0 A20 in the matrix (=-1:use default = 28639)
+     * @param ax_1_0 A01 in the matrix (=-1:use default = 32717)
+     * @param ay_1_0 A11 in the matrix (=-1:use default = 33388)
+     * @param az_1_0 A21 in the matrix (=-1:use default = 31475)
+     * @param gx_0_0 G00 in the matrix (=-1:use default = 15633)
+     * @param gy_0_0 G10 in the matrix (=-1:use default = 15797)
+     * @param gz_0_0 G20 in the matrix (=-1:use default = 15187)
+     * @param gx_1_0 G01 in the matrix (=-1:use default = 5416)
+     * @param gy_1_0 G11 in the matrix (=-1:use default = 3220)
+     * @param gz_1_0 G21 in the matrix (=-1:use default = 7131)
+     * @param new_range range of sensitivity (0:1.5G 1:6.0G default = 0)
      */
-    void set_each_num(int ax_0_0,int ay_0_0,int az_0_0,int ax_1_0,int ay_1_0,int az_1_0,int gx_0_0,int gy_0_0,int gz_0_0,int gx_1_0,int gy_1_0,int gz_1_0,int new_range);
-    void set_num(int (*new_mat)[3],int new_range);
-    void set_range(int new_range);
+    void set_each_num(int ax_0_0,int ay_0_0,int az_0_0,int ax_1_0,int ay_1_0,int az_1_0,int gx_0_0,int gy_0_0,int gz_0_0,int gx_1_0,int gy_1_0,int gz_1_0,int new_range = 0);
+    
+    /** function
+     *
+     * this function set the matrix which use to calculate the gravity and the range of sensitivity\n
+     * the matrix's paramater is this\n
+     * | A00 A10 A20 | : middle bits (=0G) of each axes when range is 1.5G\n
+     * | A01 A11 A21 | : middle bits (=0G) of each axes when range is 6.0G\n
+     * | G00 G10 G20 | : bits/G of each axes when range is 1.5G\n
+     * | G01 G11 G21 | : bits/G of each axes when range is 6.0G
+     * @param new_mat this matrix means {{A00,A10,A20},{A01,A11,A21},{G00,G10,G20},{G01,G11,G21}}, if elements have the value of -1 then it's value is default
+     * @param new_range range of sensitivity (0:1.5G 1:6.0G default = 0)
+     */
+    void set_num(int (*new_mat)[3],int new_range = 0);
+    
+    /** function
+     *
+     * this function set the range of sensitivity
+     * @param new_range range of sensitivity (0:1.5G 1:6.0G default = 0)
+     */
+    void set_range(int new_range = 0);
+    
+    /** function
+     *
+     * this function set the matrix to default
+     */
     void clear_mat();
+    
+    /** function
+     *
+     * this function read the bit data (the result of ADC) of axis (x:x_axis y:y_axis z:z_axis)
+     * @param axis select what you want to read (x:x_axis y:y_axis z:z_axis)
+     * @return same as Analog class' read_u16()
+     */
     int read_bit(int axis);
+    
+    /** function
+     *
+     * this function read the bit data (the result of ADC) and remove the effect of the gravity of axis (x:x_axis y:y_axis z:z_axis)
+     * @param axis select what you want to read (x:x_axis y:y_axis z:z_axis)
+     * @return do Analog class' read_u16() and remove the effect of gravity, data is from matrix
+     */
     int read_bit_0(int axis);
+    
+    /** function
+     *
+     * this function read the acceleration by G
+     * @param axis select what you want to read (x:x_axis y:y_axis z:z_axis)
+     * @return the acceleration by G
+     */
     float read_by_g(int axis);
+    
+    /** function
+     *
+     * this function do the low pass filter by program\n
+     * this filter use the last bit data and get new bit data when this function is done\n
+     * so when you use this, do loop if you want to use data from LPF\n
+     * before you use this function, you should use set_1st_bit() to be short the time which the data be convergence\n
+     * if you don't use set_1st_bit(), you must through about 300 data
+     * @param int_bit the pointer of the variable which has acceleration
+     * @param axis select what you want to do (x:x_axis y:y_axis z:z_axis)
+     */
     void low_pass_filter(int *int_bit,int axis);
+    
+    /** function
+     *
+     * show the matrix on terminal
+     */
     void show_mat();
+    
+    /** function
+     *
+     * change the acceleration data from bit to G
+     * @param bit original bit data
+     * @param axis select what you want to change (x:x_axis y:y_axis z:z_axis)
+     * @return the acceleration by G
+     */
     float bit_to_g(int bit,int axis);
+    
+    /** function
+     *
+     * use before low_pass_filter()\n
+     * set direction_G to the unti direction of gravity from -1 to be short the time which the data be convergence\n
+     * read the description of low_pass_filter()
+     * @param variable the pointer of the variable which will have acceleration
+     * @param axis select what you want to do (x:x_axis y:y_axis z:z_axis)
+     * @param direction_G the unti direction of gravity from -1 to be short the time which the data be convergence (no need to be set completely)
+     */
     void set_1st_bit(int *variable,int axis,float direction_G);
     
+    /** function
+     *
+     * calculate the rotation acceleration from a_axis to b_axis\n
+     * if the acceleration is smoller than THHO (0.01G), then the acceleration is 0G
+     * @param a_value the pointer of the variable which will have acceleration
+     * @param a_axis select what you want to do (x:x_axis y:y_axis z:z_axis)
+     * @param b_value the pointer of the variable which will have acceleration
+     * @param b_axis select what you want to do (x:x_axis y:y_axis z:z_axis)
+     * @return the rotation acceleration by radian
+     */
     float rotate(int *a_value,int a_axis,int *b_value,int b_axis);
+    
+    /** function
+     *
+     * change the radian to degree
+     * @param rad radian which you want to change
+     * @return return changed degree
+     */
     float rad_to_deg(float rad);
 };