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#ifndef calcul_h
#define calcul_h
/* calcul.h */
/* Accelerometre {{{
 *
 * Copyright (C) 2004 Thomas Burg
 *
 * Robot APB Team/Efrei 2005.
 *        Web: http://assos.efrei.fr/robot/
 *      Email: robot AT efrei DOT fr
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * }}} */

/* +AutoDec */
/* -AutoDec */

/* Variable globale, propre au calcul
 */
#include <inttypes.h>

#define BIT_SCALE_FACTOR 4096

enum T_etat {strt_at_Ta, rd_at_Tb, rd_at_Tc, rd_at_Td, calcul };

extern uint16_t T2_cal;
extern uint16_t T1x_cal;
extern uint16_t T1y_cal;
extern uint32_t K;
extern int16_t G0x;
extern int16_t G0y;
extern int16_t Vx;
extern int16_t Vy;

extern volatile uint16_t Tb,Td,Tc;

extern volatile enum T_etat etat;

/* Fonction
 */
void calibration(void);
int16_t calculG(uint16_t T1, uint16_t T2,int16_t Zcal);
int16_t calculGb(uint16_t T1, uint16_t T2,uint16_t T1cal);

#endif /* calcul_h */