Shih-Ho Hsieh / XYZ_sensor_Platform_SPI

XYZ platform including 3 motors and 8 magnetometers (LIS3MDL).

Fork of XYZ_sensor_Platform by Shih-Ho Hsieh

xyz_sensor_platform.h@15:db753c75e53f, 2018-08-03 (annotated)

Committer:
hober
Date:
Fri Aug 03 01:32:16 2018 +0000
Revision:
15:db753c75e53f
Parent:
14:1363e4b2fbac 
Change AltIMU_10_v5 to magring board, and change transmit interface from I2C to SPI.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hober 0:b9e728e5c47c 1 #ifndef __XYZ_SENSOR_PLATFORM_H
hober 0:b9e728e5c47c 2 #define __XYZ_SENSOR_PLATFORM_H
hober 0:b9e728e5c47c 3
hober 0:b9e728e5c47c 4 /*** Includes ----------------------------------------------------------------- ***/
hober 2:856f03e64695 5 //#include "mbed.h"
hober 15:db753c75e53f 6 #include "mag_ring.h"
hober 0:b9e728e5c47c 7 #include "motor.h"
hober 0:b9e728e5c47c 8 #include "motor_targets.h"
hober 7:0ad7d240be7a 9 #define MOTOR_INITIAL
hober 14:1363e4b2fbac 10 #define CALIBRATION_TIME 100
hober 7:0ad7d240be7a 11
hober 0:b9e728e5c47c 12 /*** Typedefs ----------------------------------------------------------------- ***/
hober 0:b9e728e5c47c 13 typedef struct {
hober 0:b9e728e5c47c 14 int32_t AXIS_X;
hober 0:b9e728e5c47c 15 int32_t AXIS_Y;
hober 0:b9e728e5c47c 16 int32_t AXIS_Z;
hober 0:b9e728e5c47c 17 } AxesRaw_TypeDef;
hober 0:b9e728e5c47c 18
hober 15:db753c75e53f 19 typedef struct {
hober 15:db753c75e53f 20 AxesRaw_TypeDef Magnetic[NUMBER_OF_MAGNETOMETERS];
hober 15:db753c75e53f 21 } MagneticArray_TypeDef;
hober 15:db753c75e53f 22
hober 0:b9e728e5c47c 23 class XYZSensorPlatform
hober 0:b9e728e5c47c 24 {
hober 0:b9e728e5c47c 25 public:
hober 0:b9e728e5c47c 26 XYZSensorPlatform();
hober 0:b9e728e5c47c 27 void init(void);
hober 12:e2b7e030193c 28 void reset(void);
hober 0:b9e728e5c47c 29
hober 8:679a5428d584 30 void go_forward();
hober 8:679a5428d584 31 void go_backward();
hober 8:679a5428d584 32 void go_up();
hober 8:679a5428d584 33 void go_down();
hober 8:679a5428d584 34 void go_right();
hober 8:679a5428d584 35 void go_left();
hober 0:b9e728e5c47c 36
hober 15:db753c75e53f 37 bool isMoving(){ return motorX->moving() || motorY->moving() || motorZ->moving(); }
hober 15:db753c75e53f 38
hober 0:b9e728e5c47c 39 void set_speed(float speed) {
hober 0:b9e728e5c47c 40 motorX->setSpeed(speed);
hober 0:b9e728e5c47c 41 motorY->setSpeed(speed);
hober 0:b9e728e5c47c 42 motorZ->setSpeed(speed);
hober 0:b9e728e5c47c 43 }
hober 0:b9e728e5c47c 44
hober 0:b9e728e5c47c 45 float speed() {
hober 0:b9e728e5c47c 46 return motorX->speed();
hober 0:b9e728e5c47c 47 }
hober 0:b9e728e5c47c 48
hober 0:b9e728e5c47c 49 void position(float* pos) {
hober 0:b9e728e5c47c 50 pos[0] = motorX->position();
hober 0:b9e728e5c47c 51 pos[1] = motorY->position();
hober 0:b9e728e5c47c 52 pos[2] = motorZ->position();
hober 0:b9e728e5c47c 53 }
hober 0:b9e728e5c47c 54
hober 12:e2b7e030193c 55 void setPosition(float x, float y, float z) {
hober 12:e2b7e030193c 56 motorX->setPosition(x);
hober 12:e2b7e030193c 57 motorY->setPosition(y);
hober 12:e2b7e030193c 58 motorZ->setPosition(z);
hober 0:b9e728e5c47c 59 }
hober 12:e2b7e030193c 60
hober 8:679a5428d584 61
hober 8:679a5428d584 62 void to(float x, float y, float z) ;
hober 0:b9e728e5c47c 63
hober 15:db753c75e53f 64 MagneticArray_TypeDef get_mag() {
hober 15:db753c75e53f 65 MagneticArray_TypeDef ret;
hober 0:b9e728e5c47c 66 magnetometer->get_m_axes((int32_t *)&ret);
hober 0:b9e728e5c47c 67 return ret;
hober 0:b9e728e5c47c 68 }
hober 0:b9e728e5c47c 69
hober 15:db753c75e53f 70 int get_mag_raw(int16_t ret[][3]) {
hober 15:db753c75e53f 71 return sensor->get_m_axes_raw(ret);
hober 3:2194b5b4f82a 72 }
hober 3:2194b5b4f82a 73
hober 15:db753c75e53f 74 int get_mag_raw(int magIndex, int16_t *ret) {
hober 15:db753c75e53f 75 return sensor->get_m_axes_raw(magIndex, ret);
hober 15:db753c75e53f 76 }
hober 15:db753c75e53f 77
hober 15:db753c75e53f 78 void resetMagnetometer(int magIndex)
hober 15:db753c75e53f 79 {
hober 15:db753c75e53f 80 sensor->resetMagnetometer(magIndex);
hober 15:db753c75e53f 81 }
hober 15:db753c75e53f 82 /*
hober 0:b9e728e5c47c 83 AxesRaw_TypeDef get_acc() {
hober 0:b9e728e5c47c 84 AxesRaw_TypeDef ret;
hober 0:b9e728e5c47c 85 accelerometer->get_x_axes((int32_t *)&ret);
hober 0:b9e728e5c47c 86 return ret;
hober 0:b9e728e5c47c 87 }
hober 0:b9e728e5c47c 88
hober 0:b9e728e5c47c 89 AxesRaw_TypeDef get_gyr() {
hober 0:b9e728e5c47c 90 AxesRaw_TypeDef ret;
hober 0:b9e728e5c47c 91 gyroscope->get_g_axes((int32_t *)&ret);
hober 0:b9e728e5c47c 92 return ret;
hober 0:b9e728e5c47c 93 }
hober 15:db753c75e53f 94 */
hober 15:db753c75e53f 95 void setSensorSpiFrequency(int hz){ sensor->setSpiFrequency(hz); }
hober 0:b9e728e5c47c 96 private:
hober 15:db753c75e53f 97 void checkMovedTimes();
hober 0:b9e728e5c47c 98 Motor *motorX, *motorY, *motorZ;
hober 3:2194b5b4f82a 99 float x,y,z;
hober 15:db753c75e53f 100 int _movedTimes;
hober 4:229de5852b9e 101 InterruptIn xZero, xEnd, yZero, yEnd, zZero, zEnd;
hober 15:db753c75e53f 102 MagRing *sensor;
hober 15:db753c75e53f 103 //GyroSensor *gyroscope;
hober 15:db753c75e53f 104 //MotionSensor *accelerometer;
hober 0:b9e728e5c47c 105 MagneticSensor *magnetometer;
hober 15:db753c75e53f 106 //TempSensor *temp_sensor;
hober 0:b9e728e5c47c 107 };
hober 0:b9e728e5c47c 108 #endif // __XYZ_SENSOR_PLATFORM_H