jaewon lee / Mbed 2 deprecated 4180finalproject

4180 final project

Dependencies:   LSM9DS0 USBDevice mbed

Quaternion/Quaternion.h@0:ebbc3cd3a61e, 2015-12-05 (annotated)

Committer:
jlee887
Date:
Sat Dec 05 18:39:33 2015 +0000
Revision:
0:ebbc3cd3a61e
d

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jlee887 0:ebbc3cd3a61e 1 #ifndef Quaternion_h
jlee887 0:ebbc3cd3a61e 2 #define Quaternion_h
jlee887 0:ebbc3cd3a61e 3 #include "mbed.h"
jlee887 0:ebbc3cd3a61e 4
jlee887 0:ebbc3cd3a61e 5
jlee887 0:ebbc3cd3a61e 6 #define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
jlee887 0:ebbc3cd3a61e 7 #define twoKiDef (2.0f * 0.0f) // 2 * integral gain
jlee887 0:ebbc3cd3a61e 8
jlee887 0:ebbc3cd3a61e 9 class Quaternion {
jlee887 0:ebbc3cd3a61e 10
jlee887 0:ebbc3cd3a61e 11 public:
jlee887 0:ebbc3cd3a61e 12 Quaternion();
jlee887 0:ebbc3cd3a61e 13 void update6DOF(float gx, float gy, float gz, float ax, float ay, float az);
jlee887 0:ebbc3cd3a61e 14 void update9DOF(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
jlee887 0:ebbc3cd3a61e 15 void getQ(float * q);
jlee887 0:ebbc3cd3a61e 16 void getEulerAngles(float * angles);
jlee887 0:ebbc3cd3a61e 17 void getYawPitchRoll(double * ypr);
jlee887 0:ebbc3cd3a61e 18 void getGravity(float * gravity);
jlee887 0:ebbc3cd3a61e 19 void getLinearAcceleration(float * linearAccel, float ax, float ay, float az);
jlee887 0:ebbc3cd3a61e 20
jlee887 0:ebbc3cd3a61e 21 private:
jlee887 0:ebbc3cd3a61e 22 float invSqrt(float x);
jlee887 0:ebbc3cd3a61e 23 volatile float q0, q1, q2, q3;
jlee887 0:ebbc3cd3a61e 24 volatile float twoKp; // 2 * proportional gain (Kp)
jlee887 0:ebbc3cd3a61e 25 volatile float twoKi; // 2 * integral gain (Ki)
jlee887 0:ebbc3cd3a61e 26 volatile float integralFBx, integralFBy, integralFBz;
jlee887 0:ebbc3cd3a61e 27 unsigned long lastUpdate, now;
jlee887 0:ebbc3cd3a61e 28 float sampleFreq;
jlee887 0:ebbc3cd3a61e 29 void updateSampleFrequency();
jlee887 0:ebbc3cd3a61e 30 };
jlee887 0:ebbc3cd3a61e 31
jlee887 0:ebbc3cd3a61e 32 #endif