TiltAngle.h

00001 /*
00002  * TiltAngle.h
00003  * Copyright (c) 2020, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #ifndef TILT_ANGLE_H_
00008 #define TILT_ANGLE_H_
00009 
00010 #include <cstdlib>
00011 #include <mbed.h>
00012 #include "IMU.h"
00013 #include "ThreadFlag.h"
00014 
00015 /**
00016  * This class determines the IMU's tilt angle around the x-axis.
00017  */
00018 class TiltAngle {
00019 
00020     public:
00021         
00022                     TiltAngle(IMU& imu);
00023         virtual     ~TiltAngle();
00024         float       readTiltAngleA();
00025         float       readTiltAngleG();
00026         float       readTiltAngleK();
00027         float       readTiltAngleC();
00028         
00029     private:
00030         
00031         static const unsigned int   STACK_SIZE = 4096;          // stack size of thread, given in [bytes]
00032         static const float          PERIOD;                     // the period of the timer interrupt, given in [s]
00033         static const float          M_PI;                       // the mathematical constant PI
00034         
00035         static const float          S_Q_ALPHA;
00036         static const float          S_Q_OMEGA;
00037         static const float          S_R_ALPHA;
00038         static const float          S_R_OMEGA;
00039         
00040         static const float          LOWPASS_FILTER_FREQUENCY;   // frequency of the lowpass filter, given in [rad/s]
00041         static const float          HIGHPASS_FILTER_FREQUENCY;  // frequency of the highpass filter, given in [rad/s]
00042         
00043         IMU&            imu;
00044         ThreadFlag      threadFlag;
00045         Thread          thread;
00046         Ticker          ticker;
00047         
00048         float   tiltAngleA;
00049         float   tiltAngleG;
00050         float   tiltAngleK;
00051         float   tiltAngleC;
00052         
00053         float   p11;
00054         float   p12;
00055         float   p21;
00056         float   p22;
00057         float   xAlpha;
00058         float   xOmega;
00059         
00060         float   alphaAccFiltered;
00061         float   alphaGyro;
00062         float   alphaGyroFiltered;
00063         
00064         void    sendThreadFlag();
00065         void    run();
00066 };
00067 
00068 #endif /* TILT_ANGLE_H_ */
00069