SpaceSensor.h

00001 #ifndef MBED_SpaceSsensor_H
00002 #define MBED_SpaceSsensor_H
00003 //#endif
00004 #include "mbed.h"
00005 #include "iostream"
00006 #include "math.h"
00007 using namespace std;
00008 
00009 class SpaceSensor {
00010 public:
00011     SpaceSensor(PinName p_tx, PinName p_rx);
00012 /**********************************************************************************************************************/    
00013     /*4.3.1 Commands for Reading Filtered Sensor Data
00014     These commands return sensor data which has been filtered using a Kalman filter. None of these commands take any
00015     parameters, they only return data.
00016     */
00017 /**********************************************************************************************************************/
00018     void ReadfilteredtaredQuaternion(float *Quaternion);
00019     void ReadfilteredtaredEulerAngles(float *EulerAngles);
00020     void ReadfilteredtaredRotationMatrix(float *RotationMatrix);
00021     void ReadfilteredtaredAxisAngle(float *Axis,float *Angle);
00022     void ReadfilteredtaredTwoVector(float *Forward,float *Down);
00023     
00024     void Readfilteredgyrorates(float *Quaternion);
00025     
00026     void ReadfiltereduntaredQuaternion(float *Quaternion);
00027     void ReadfiltereduntaredEulerAngles(float *EulerAngles);
00028     void ReadfiltereduntaredRotationMatrix(float *RotationMatrix);
00029     void ReadfiltereduntaredAxisAngle(float *Axis,float *Angle);
00030     void ReadfiltereduntaredTwoVector(float *Forward,float *Down);
00031     
00032     void ReadfilteredtaredForwardandDownVectors(float *Forward,float *Down);
00033     void ReadfilteredNorthEarthVectors(float *North,float *Earth);
00034 /**********************************************************************************************************************/    
00035     /*4.3.2 Commands for Interfacing with Electronic Systems*/
00036 /**********************************************************************************************************************/    
00037     void Setinterrupttype(int mode);
00038     void Readinterrupttype(int *interrupttype);
00039     void Readinterruptstatus(int *interruptstatus);
00040 /**********************************************************************************************************************/    
00041     /*4.3.3 Commands for Reading Normalized Sensor Data
00042     These commands return sensor data which has been converted from a raw form. In the case of the normalized
00043     accelerometer and compass, the data returned are unit vectors, and as such, have no magnitude data associated with
00044     them. For data that represents real world quantities, both the unnormalized accelerometer command and unnormalized
00045     compass command return data in units of g and gauss respectively. Normalized gyro data is returned in radians/sec.
00046     */
00047 /**********************************************************************************************************************/    
00048     void Readall(float *gyro,float *accelerometer,float *compass);
00049     void Readgyros(float *gyro);
00050     void Readaccelerometer(float *accelerometer);
00051     void Readcompass(float *compass);
00052     void ReadtemperatureC(float *temp);
00053     void ReadtemperatureF(float *temp);
00054     void Readconfidencefactor(float *confidencefactor);
00055     void Readaccelerometerunnormalized(float *accelunnormalized);
00056     void Readcompassunnormalized(float *compassunnormalized);
00057 /**********************************************************************************************************************/    
00058     /*4.3.4 Commands for Reading Raw Sensor Data
00059     These commands return sensor data just as it was when it was read from each sensor. None of these commands take any
00060     parameters, they only return data.
00061     */
00062 /**********************************************************************************************************************/    
00063     void Readallraw(float *gyro,float *accelerometer,float *compass);
00064     void Readgyroraw(float *gyro);
00065     void Readaccelerometerraw(float *accelerometer);
00066     void Readcompassraw(float *compass);
00067 /**********************************************************************************************************************/    
00068     /*4.3.5 Commands for Setting Filter Parameters
00069     These commands allow the configuration of parameters associated with the Kalman filter. Most of these commands
00070     take parameters, none return any data.
00071     */
00072 /**********************************************************************************************************************/    
00073     void Tarewithcurrentorientation();
00074     void Tarewithquaternion(float Quaternion[4]);
00075     void Tarewithrotationmatrix(float RotationMatrix[9]);
00076     void SetStaticRhoModeAccelerometer(float rho);
00077     void SetConfidenceRhoModeAccelerometer(float min,float max);
00078     void SetStaticRhoModeCompass(float rho);
00079     void SetConfidenceRhoModeCompass(float min, float max);
00080     void SetDesiredUpdateRate(int t);
00081     void SetMultiReferenceVectorsWithCurrentOrientation();
00082     void SetReferenceVectorMode(int mode);
00083     void SetOversampleRate(int rate);
00084     void EnableDisablegyros(int mode);
00085     void EnableDisableAccelerometer(int mode);
00086     void EnableDisableCompass(int mode);
00087     void ResetMultiReferenceVectorsToZero();
00088     void SetMultiReferenceResolution(int mode);
00089     void SetCompassMultiReferenceVector(int Index,float Vector[3]);
00090     void SetCompassMultiReferenceCheckVector(int Index,float Vector[3]);
00091     void SetAccelMultiReferenceVector(int Index,float Vector[3]);
00092     void SetAccelMultiReferenceCheckVector(int Index,float Vector[3]);
00093     void SetAxisDirections(int direction);
00094     void SetRunningAveragePercent(float Percent);
00095     void SetCompassReferenceVector(float Vector[3]);
00096     void SetAccelerometerReferenceVector(float Vector[3]);
00097     void ResetKalmanFilter();
00098     void SetAccelerometerRange(int Accelrange);
00099     void SetMultiReferenceWeightPower(float WeightPower);
00100     void EnableDisableFilter(int Mode);
00101     void SetRunningAverageMode(int Mode);
00102     void SetGyroscopeRange(int mode);
00103     void SetCompassRange(int mode);
00104 /**********************************************************************************************************************/    
00105     /*4.3.6 Commands for Reading Filter Parameters
00106     These commands allow the reading of parameters associated with the Kalman filter. All these commands return data,
00107     and accept no parameters.
00108     */
00109 /**********************************************************************************************************************/    
00110     void ReadTareOrientationQuaternion(float *Quaternion);
00111     void ReadTareOrientationRotationMatrix(float *RotationMatrix);
00112     void ReadRhoDataAccelerometer(int *Rhomode,float *minroh,float *maxroh);
00113     void ReadRhoDataCompass(int *Rhomode,float *minroh,float *maxroh);
00114     void ReadCurrentUpdateRate(int *rate);
00115     void ReadCompassReferenceVector(float *Vector);
00116     void ReadAccelerometerReferenceVector(float *Vector);
00117     void ReadReferenceVectorMode(int *Mode);
00118     void ReadCompassMultiReferenceVector(int Index,float *Vector);
00119     void ReadCompassMultiReferenceCheckVector(int Index,float *Vector);
00120     void ReadAccelMultiReferenceVector(int Index,float *Vector);
00121     void ReadAccelMultiReferenceCheckVector(int Index,float *Vector);
00122     void ReadGyroEnabledState(int *Mode);
00123     void ReadAccelerometerEnabledState(int *Mode);
00124     void ReadCompassEnabledState(int *Mode);
00125     void ReadAxisDirections(int *direction);
00126     void ReadOversampleRate(int *Rate);
00127     void ReadRunningAveragePercent(float *Percent);
00128     void ReadDesiredUpdateRate(float *rate);
00129     void ReadKalmanFilterCovarianceMatrix(float *CovarianceMatrix);
00130     void ReadAccelerometerRange(int *Accelrange);
00131     void ReadMultiReferenceWeightPower(float *WeightPower);
00132     void ReadMultiReferenceResolution(int *Resolution);
00133     void ReadNumberOfmultiReferenceCells(int *NumberOfCells);
00134     void ReadFilterEnableState(int *Mode);
00135     void ReadRunningAverageMode(int *Mode);
00136     void ReadGyroscopeRange(int *mode);
00137     void ReadCompassRange(int *mode);
00138 /**********************************************************************************************************************/    
00139     /*4.3.7 Commands for Calibration
00140     These commands allow the configuration and reading of calibration parameters and enabling of calibration modes.
00141     */
00142 /**********************************************************************************************************************/    
00143     void SetCompassCalibrationParameters(float Bias[3],float Matrix[9]);
00144     void SetAccelerometerCalibrationParameters(float Bias[3],float Matrix[9]);
00145     void ReadCompassCalibrationParameters(float *Bias,float *Matrix);
00146     void ReadAccelerometerCalibrationParameters(float *Bias,float *Matrix);
00147     void ReadGyroCalibrationParameters(float *Bias, float *range);
00148     void BeginGyroAutocalibration();
00149     void SetGyroCalibrationParameters(float Bias[3], float range[3]);
00150 /**********************************************************************************************************************/    
00151     /*4.3.8 General Commands
00152     These commands are for the configuration of the sensor as a whole as opposed to configuration of the filter or sensors.
00153     */
00154 /**********************************************************************************************************************/    
00155     void ReadSoftwareVersion(char *version);
00156     void RestoreFactorySettings();
00157     void CommitSettings();
00158     void SoftwareReset();
00159     void EnableWatchdogTimer(int timer);
00160     void DisableWatchdogTimer();
00161     void EnterFirmwareUpdateMode();
00162     void ReadHardwareVersion(char *version);
00163     void SetUARTBaudRate(int Baudrate);
00164     void GetUARTBaudRate(int *Baudrate);
00165     void SetUSBmode(int mode);
00166     void GetUSBmode(int *mode);
00167     void SetClockSpeed(int clock);
00168     void GetClockSpeed(int *clock);
00169     void GetSerialnumber(int *serialnum);
00170     void SetLEDColor(float color[3]);
00171     void GetLEDColor(float *color);
00172     void EnableDisableJoystick(int Mode); 
00173     void EnableDisablemouse(int Mode);
00174     void ReadJoystickEnabledState(int *Mode);
00175     void ReadMouseEnabledState(int *Mode);
00176     void SetControlMode(float Controlclass,float controlindex,float handlerindex);
00177     void SetControlData(float Controlclass,float controlindex,float datapointindex,float datapoint );  
00178     void ReadControlMode(float *Handlerindex, float Controlclass,float controlindex);
00179     void ReadControlData(float *Datapoint,float ControlClass,float controlIndex,float dataPointIndex);
00180     void SetMouseAbsoluteRelative(int Mode);
00181     void ReadMouseAbsoluteRelative(int *Mode);
00182     void SetjoystickAndMousePresentRemoved(int Mode);
00183     void ReadjoystickAndMousePresentRemoved(int *Mode);
00184 /**********************************************************************************************************************/    
00185 /*
00186  clases needed to interface with the sensor
00187  */
00188 /**********************************************************************************************************************/    
00189     
00190     
00191     private:
00192     Serial _SpaceSensor;
00193     char *st;
00194     float *vecf;
00195     char var[10];
00196     void begin(long baud);
00197     void read_string(float *vector,char *c);
00198     };
00199     
00200 #endif