Diff: Razor_AHRS.h

Revision:

2:5aa75c3d8cc3

Parent:

1:e27c4c0b71d8

--- a/Razor_AHRS.h	Wed Dec 28 17:13:14 2011 +0000
+++ b/Razor_AHRS.h	Wed Dec 28 18:09:14 2011 +0000
@@ -38,6 +38,8 @@
 *       * Improved synching.
 *     * v1.4.0
 *       * Added support for SparkFun "9DOF Sensor Stick" (versions SEN-10183, SEN-10321 and SEN-10724).
+*       * Ported (v1.4.0) to MBED.org by Luke Petre (lpetre@gmail.com)
+*          http://mbed.org/users/lpetre/programs/RazorAHRS/
 *
 * TODOs:
 *   * Allow optional use of EEPROM for storing and reading calibration values.
@@ -328,50 +330,7 @@
     I2C Wire;
     Timer timer;
 
-public:
-    IMU()
-        : gyro_num_samples(0)
-        , yaw(0)
-        , pitch(0)
-        , roll(0)
-        , MAG_Heading(0)
-        , timestamp(0)
-        , timestamp_old(0)
-        , G_Dt(0)
-        , output_mode(-1) // Select your startup output mode here!// Select your startup output mode here!
-        , output_stream_on(false)
-        , output_single_on(true)
-        , curr_calibration_sensor(0)
-        , reset_calibration_session_flag(true)
-        , num_accel_errors(0)
-        , num_magn_errors(0)
-        , num_gyro_errors(0)
-        , output_errors(true)
-        , statusLed(LED1)
-        , pc(USBTX, USBRX)
-        , Wire(p28, p27)
-    {
-        accel[0] = accel_min[0] = accel_max[0] = magnetom[0] = magnetom_min[0] = magnetom_max[0] = gyro[0] = gyro_average[0] = 0;
-        accel[1] = accel_min[1] = accel_max[1] = magnetom[1] = magnetom_min[1] = magnetom_max[1] = gyro[1] = gyro_average[1] = 0;
-        accel[2] = accel_min[2] = accel_max[2] = magnetom[2] = magnetom_min[2] = magnetom_max[2] = gyro[2] = gyro_average[2] = 0;
-
-        Accel_Vector[0] = Gyro_Vector[0] = Omega_Vector[0] = Omega_P[0] = Omega_I[0] = Omega[0] = errorRollPitch[0] = errorYaw[0] = 0;
-        Accel_Vector[1] = Gyro_Vector[1] = Omega_Vector[1] = Omega_P[1] = Omega_I[1] = Omega[1] = errorRollPitch[1] = errorYaw[1] = 0;
-        Accel_Vector[2] = Gyro_Vector[2] = Omega_Vector[2] = Omega_P[2] = Omega_I[2] = Omega[2] = errorRollPitch[2] = errorYaw[2] = 0;
-
-        DCM_Matrix[0][0] = 1; DCM_Matrix[0][1] = 0; DCM_Matrix[0][2] = 0;
-        DCM_Matrix[1][0] = 0; DCM_Matrix[1][1] = 1; DCM_Matrix[1][2] = 0;
-        DCM_Matrix[2][0] = 0; DCM_Matrix[2][1] = 0; DCM_Matrix[2][2] = 1;
-  
-        Update_Matrix[0][0] = 0; Update_Matrix[0][1] = 1; Update_Matrix[0][2] = 2;
-        Update_Matrix[1][0] = 3; Update_Matrix[1][1] = 4; Update_Matrix[1][2] = 5;
-        Update_Matrix[2][0] = 6; Update_Matrix[2][1] = 7; Update_Matrix[2][2] = 8;
-  
-        Temporary_Matrix[0][0] = 0; Temporary_Matrix[0][1] = 0; Temporary_Matrix[0][2] = 0;
-        Temporary_Matrix[1][0] = 0; Temporary_Matrix[1][1] = 0; Temporary_Matrix[1][2] = 0;
-        Temporary_Matrix[2][0] = 0; Temporary_Matrix[2][1] = 0; Temporary_Matrix[2][2] = 0;
-   }
-    
+public:    
     // Compass.cpp
     void Compass_Heading();
  
@@ -395,7 +354,9 @@
     void turn_output_stream_on();
     void turn_output_stream_off();
     char readChar();
-    void setup();
+    void readInput();
+    
+    IMU();
     void loop();