yal kaiyo / Mbed 2 deprecated hikorobo_2015_quad_2

2015飛行ロボコンマルチコプタ部門

Dependencies:   mbed

MPU6050.h@0:70d405bfdc8b, 2015-10-18 (annotated)

Committer:
yal_kaiyo
Date:
Sun Oct 18 09:58:59 2015 +0000
Revision:
0:70d405bfdc8b
2015??????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yal_kaiyo 0:70d405bfdc8b 1 /*
yal_kaiyo 0:70d405bfdc8b 2 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
yal_kaiyo 0:70d405bfdc8b 3 *
yal_kaiyo 0:70d405bfdc8b 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
yal_kaiyo 0:70d405bfdc8b 5 * of this software and associated documentation files (the "Software"), to deal
yal_kaiyo 0:70d405bfdc8b 6 * in the Software without restriction, including without limitation the rights
yal_kaiyo 0:70d405bfdc8b 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
yal_kaiyo 0:70d405bfdc8b 8 * copies of the Software, and to permit persons to whom the Software is
yal_kaiyo 0:70d405bfdc8b 9 * furnished to do so, subject to the following conditions:
yal_kaiyo 0:70d405bfdc8b 10 *
yal_kaiyo 0:70d405bfdc8b 11 * The above copyright notice and this permission notice shall be included in
yal_kaiyo 0:70d405bfdc8b 12 * all copies or substantial portions of the Software.
yal_kaiyo 0:70d405bfdc8b 13 *
yal_kaiyo 0:70d405bfdc8b 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
yal_kaiyo 0:70d405bfdc8b 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
yal_kaiyo 0:70d405bfdc8b 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
yal_kaiyo 0:70d405bfdc8b 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
yal_kaiyo 0:70d405bfdc8b 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
yal_kaiyo 0:70d405bfdc8b 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
yal_kaiyo 0:70d405bfdc8b 20 * THE SOFTWARE.
yal_kaiyo 0:70d405bfdc8b 21 *
yal_kaiyo 0:70d405bfdc8b 22 */
yal_kaiyo 0:70d405bfdc8b 23
yal_kaiyo 0:70d405bfdc8b 24 // Most of the code is adapted from Kris Winer's MPU6050 library
yal_kaiyo 0:70d405bfdc8b 25
yal_kaiyo 0:70d405bfdc8b 26 #ifndef MPU6050_H
yal_kaiyo 0:70d405bfdc8b 27 #define MPU6050_H
yal_kaiyo 0:70d405bfdc8b 28
yal_kaiyo 0:70d405bfdc8b 29 #include "mbed.h"
yal_kaiyo 0:70d405bfdc8b 30 #include "math.h"
yal_kaiyo 0:70d405bfdc8b 31 #include "MPU6050RegDef.h"
yal_kaiyo 0:70d405bfdc8b 32
yal_kaiyo 0:70d405bfdc8b 33 #define PI 3.14159265359 // This value will be used when calculating angles
yal_kaiyo 0:70d405bfdc8b 34 #define dt 0.005 // 200 Hz sampling period
yal_kaiyo 0:70d405bfdc8b 35
yal_kaiyo 0:70d405bfdc8b 36 extern I2C i2c; // extern the i2c in order to able to use from other files
yal_kaiyo 0:70d405bfdc8b 37 extern float aRes, gRes;
yal_kaiyo 0:70d405bfdc8b 38
yal_kaiyo 0:70d405bfdc8b 39 /* whoAmI func uses this func, variables etc */
yal_kaiyo 0:70d405bfdc8b 40 extern Ticker toggler1;
yal_kaiyo 0:70d405bfdc8b 41 extern Serial pc;
yal_kaiyo 0:70d405bfdc8b 42 extern DigitalOut led2;
yal_kaiyo 0:70d405bfdc8b 43 extern void toggle_led1();
yal_kaiyo 0:70d405bfdc8b 44
yal_kaiyo 0:70d405bfdc8b 45 /* Sensor datas to be used in program */
yal_kaiyo 0:70d405bfdc8b 46 extern float ax,ay,az;
yal_kaiyo 0:70d405bfdc8b 47 extern float gx,gy,gz;
yal_kaiyo 0:70d405bfdc8b 48 extern int16_t accelData[3],gyroData[3],tempData;
yal_kaiyo 0:70d405bfdc8b 49 extern float accelBias[3], gyroBias[3];
yal_kaiyo 0:70d405bfdc8b 50
yal_kaiyo 0:70d405bfdc8b 51 /* Function Prototypes */
yal_kaiyo 0:70d405bfdc8b 52 class MPU6050
yal_kaiyo 0:70d405bfdc8b 53 {
yal_kaiyo 0:70d405bfdc8b 54 protected:
yal_kaiyo 0:70d405bfdc8b 55 public:
yal_kaiyo 0:70d405bfdc8b 56 void getAres();
yal_kaiyo 0:70d405bfdc8b 57 void getGres();
yal_kaiyo 0:70d405bfdc8b 58 void writeByte(uint8_t address, uint8_t subAddress, uint8_t data);
yal_kaiyo 0:70d405bfdc8b 59 char readByte(uint8_t address, uint8_t subAddress);
yal_kaiyo 0:70d405bfdc8b 60 void readBytes(uint8_t address, uint8_t subAddress, uint8_t byteNum, uint8_t* dest);
yal_kaiyo 0:70d405bfdc8b 61 void whoAmI();
yal_kaiyo 0:70d405bfdc8b 62 void init();
yal_kaiyo 0:70d405bfdc8b 63 void reset();
yal_kaiyo 0:70d405bfdc8b 64 void readAccelData(int16_t* dest);
yal_kaiyo 0:70d405bfdc8b 65 void readGyroData(int16_t* dest);
yal_kaiyo 0:70d405bfdc8b 66 int16_t readTempData();
yal_kaiyo 0:70d405bfdc8b 67 void calibrate(float* dest1, float* dest2);
yal_kaiyo 0:70d405bfdc8b 68 void complementaryFilter(double* pitch, double* roll);
yal_kaiyo 0:70d405bfdc8b 69 //void complementaryFilter(float* pitch, float* roll);
yal_kaiyo 0:70d405bfdc8b 70 };
yal_kaiyo 0:70d405bfdc8b 71
yal_kaiyo 0:70d405bfdc8b 72 #endif