Diff: Sensors/Sensors.h

Revision:

2:969dfa4f2436

Parent:

0:c6a85bb2a827

Child:

3:4823d6750629

--- a/Sensors/Sensors.h	Wed Mar 04 18:53:43 2015 +0000
+++ b/Sensors/Sensors.h	Wed Apr 01 11:19:21 2015 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+#include "Global.h"
+#include "rtos.h"
+#include "Gps.h"
+#include "Imu.h"
+#include "Status.h"
+#include "LidarLitePwm.h"
+#include "Kalman.h"
+
+#ifndef Sensors_H
+#define Sensors_H
+
+#define PI 3.14159265
+
+class Sensors                
+{
+  public:             
+    Sensors(Status& status, ConfigFileWrapper& configFileWrapper, PinName gpsPinTx, PinName gpsPinRx, PinName i2cSda, PinName i2cScl, PinName lidarInterrupt);    
+    ~Sensors();
+    
+    struct Position
+    {
+        double accelX;
+        double accelY;
+        double accelZ;
+        double latitude;
+        double longitude;
+        double computedX;
+        double computedY;  
+    };
+    
+    struct Altitude
+    {
+        double lidar;
+        double barometer;
+        double gps;
+        double computed;
+    };
+    
+    void update();
+    Imu::Rate getRate();
+    Imu::Angle getAngle();
+    Gps::Value getGpsValues();
+    double getZVelocity();
+    Sensors::Altitude getAltitude();
+    Sensors::Position getPosition();
+    void enable(bool enable);
+    void zeroBarometer();
+    void updateImu();
+    void zeroAccel();
+    
+  private:
+    void zeroGyro();
+    void updateGpsValues();
+    void updateAltitude();
+    void updateVelocity();
+    void updatePosition();
+    int getLidarAltitude();
+    
+    Status& _status;
+    Imu::Rate _rate;
+    Imu::Angle _angle;
+    Position _position;
+    Altitude _altitude;
+    Gps::Value _gpsValues;
+    Imu* _imu;
+    Gps* _gps;
+    LidarLitePwm* _lidar;
+    Kalman* _altitudeKalmanFilter;
+};
+
+#endif
\ No newline at end of file