Diff: GurvIMU.h

Revision:

6:40ac13ef7290

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GurvIMU.h	Sat Jun 22 11:23:45 2013 +0000
@@ -0,0 +1,40 @@
+#ifndef _GURVIMU_H_
+#define _GURVIMU_H_
+
+#include "mbed.h"
+#include "MPU6050.h"
+
+class GurvIMU {
+    private:
+        //Variables
+        MPU6050 mpu;
+        float twoKp;            // 2 * proportional gain (Kp)
+        float twoKi;            // 2 * integral gain (Ki)
+        float integralFBx, integralFBy, integralFBz; // integral error terms scaled by Ki
+        float q0, q1, q2, q3;   // quaternion of sensor frame relative to auxiliary frame
+        float ax, ay, az, gx, gy, gz;
+        float sample_freq;
+        float offset[6];
+        Timer timer_us;
+        float dt_us;
+        float cycle_nb;
+        
+        
+        //Functions
+        void getOffset();
+        void getValues(float * values);
+        void AHRS_update(float gx, float gy, float gz, float ax, float ay, float az);
+        void getQ(float * q);
+
+    public:
+        GurvIMU();
+        void init();
+        void getYawPitchRollRad(float * ypr);
+        void getVerticalAcceleration(float * av);
+        
+};
+
+//Fast Inverse Square Root
+float invSqrt(float number);
+
+#endif /* _GURVIMU_H_ */
\ No newline at end of file