Software System Code Manual

1. Change log

2. Codes

• These are our source codes. Some of them are made by ourselves, and some of them are from Github. We edited them to use for our project.

1. IMU.h

#ifndef IMU_h  
#define IMU_h  

#include "Arduino.h"  
#include <Wire.h>  

#define WHO_AM_I 0x01  
#define REV_ID_MAJOR 0x02  
#define REV_ID_MINOR 0x03  
#define STATUS 0x04  
#define I_ACC_X_LOW 0x10  
#define I_ACC_X_HIGH 0x11  
#define I_ACC_Y_LOW 0x12  
#define I_ACC_Y_HIGH 0x13  
#define I_ACC_Z_LOW 0x14  
#define I_ACC_Z_HIGH 0x15  
#define I_GYRO_X_LOW 0x16  
#define I_GYRO_X_HIGH 0x17  
#define I_GYRO_Y_LOW 0x18  
#define I_GYRO_Y_HIGH 0x19  
#define ADDRESS 0x20  
#define I_GYRO_Z_LOW 0x1A  
#define I_GYRO_Z_HIGH 0x1B  
#define I_MAGNET_X_LOW 0x1C  
#define I_MAGNET_X_HIGH 0x1D  
#define I_MAGNET_Y_LOW 0x1E  
#define I_MAGNET_Y_HIGH 0x1F  
#define I_MAGNET_Z_LOW 0x20  
#define I_MAGNET_Z_HIGH 0x21  
#define C_ACC_X_LOW 0x22  
#define C_ACC_X_HIGH 0x23  
#define C_ACC_Y_LOW 0x24  
#define C_ACC_Y_HIGH 0x25  
#define C_ACC_Z_LOW 0x26  
#define C_ACC_Z_HIGH 0x27  
#define C_GYRO_X_LOW 0x28  
#define C_GYRO_X_HIGH 0x29  
#define C_GYRO_Y_LOW 0x2A  
#define C_GYRO_Y_HIGH 0x2B  
#define C_GYRO_Z_LOW 0x2C  
#define C_GYRO_Z_HIGH 0x2D  
#define C_MAGNET_X_LOW 0x2E  
#define C_MAGNET_X_HIGH 0x2F  
#define C_MAGNET_Y_LOW 0x30  
#define C_MAGNET_Y_HIGH 0x31  
#define C_MAGNET_Z_LOW 0x32  
#define C_MAGNET_Z_HIGH 0x33  
#define TEMPERATURE_LOW 0x34  
#define TEMPERATURE_HIGH 0x35  
#define ROLL_LOW 0x36  
#define ROLL_HIGH 0x37  
#define PITCH_LOW 0x38  
#define PITCH_HIGH 0x39  
#define YAW_LOW 0x3A  
#define YAW_HIGH 0x3B  
#define QUATERNION_X_LOW 0x3C  
#define QUATERNION_X_HIGH 0x3D  
#define QUATERNION_Y_LOW 0x3E  
#define QUATERNION_Y_HIGH 0x3F  
#define QUATERNION_Z_LOW 0x40  
#define QUATERNION_Z_HIGH 0x41  
#define QUATERNION_W_LOW 0x42  
#define QUATERNION_W_HIGH 0x43  

class IMU{  
public:  

   IMU();  
   int renew();  
   void initiate();  
   double getWHO_AM_I();  
   double getSTATUS();  

       //double Status();  
       double getRoll();  
       double getPitch();  
       double getYaw();  
       double getGyroX();  
       double getGyroY();  
       double getGyroZ();  
       double getAccX();  
       double getAccY();  
       double getAccZ();  
       double getTem();  
       String getSYaw();  
       String getSGyroZ();  


       uint8_t readRegister8(uint8_t Reg, double ft);  

    private:  

       double status;  
       double who_am_i;  
       double Status;  

       double roll;  
       double rollL;  
    double rollH;  

    double pitch;  
    double pitchL;  
    double pitchH;  

    double yaw;  
    double yawL;  
    double yawH;  

    double gyroX;  
    double gyroXL;  
    double gyroXH;  

    double gyroY;  
    double gyroYL;  
    double gyroYH;  

    double gyroZ;  
    double gyroZL;  
    double gyroZH;  

    double accX;  
    double accXL;  
    double accXH;  

    double accY;  
    double accYL;  
    double accYH;  

    double accZ;  
    double accZL;  
    double accZH;  

    double temperature;  
    double temperatureL;  
    double temperatureH;  
    };  

    #endif

2. IMU.cpp

3. Max.h

4. Max.cpp

5. ESP8266_P2P.h

6. ESP8266_P2P.cpp

7. Flight.h

8. Flight.cpp

9. Drive.h

10. Drive.cpp

11.Waiting.h

12.Waiting.cpp

13.Stuck.h

14.Stuck.cpp

15.Safe.h

16.Safe.cpp

17.whole system.ino

18.arduino-serial-lib.h

19. arduino-serial-lib.c

20. Datastore.h

21. Datastore.cpp

22. log.cpp