Diff: minimu9.h

Revision:

0:dc35364e2291

Child:

1:3272ece36ce1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/minimu9.h	Thu Apr 12 13:47:23 2012 +0000
@@ -0,0 +1,143 @@
+/* mbed L3G4200D Library version 0.1
+ * Copyright (c) 2012 Prediluted
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+ 
+#pragma once
+
+#include "L3G4200D.h"
+#include "LSM303.h"
+#include "mbed.h"
+// LSM303 accelerometer: 8 g sensitivity
+// 3.8 mg/digit; 1 g = 256
+#define GRAVITY 256  //this equivalent to 1G in the raw data coming from the accelerometer 
+
+#define ToRad(x) ((x)*0.01745329252)  // *pi/180
+#define ToDeg(x) ((x)*57.2957795131)  // *180/pi
+
+// L3G4200D gyro: 2000 dps full scale
+// 70 mdps/digit; 1 dps = 0.07
+#define Gyro_Gain_X 0.07 //X axis Gyro gain
+#define Gyro_Gain_Y 0.07 //Y axis Gyro gain
+#define Gyro_Gain_Z 0.07 //Z axis Gyro gain
+#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second
+#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second
+#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second
+
+    
+#define Kp_ROLLPITCH 0.02
+#define Ki_ROLLPITCH 0.00002
+#define Kp_YAW 1.2
+#define Ki_YAW 0.00002
+    
+
+#define STATUS_LED 13
+typedef unsigned char byte;
+
+class minimu9 {
+public:
+    minimu9 ( void );
+    void get_data ( void );
+    void print_data ( void );
+    void Gyro_Init();
+    void Read_Gyro();
+    void Accel_Init();
+    void Read_Accel();
+    void Compass_Init();
+    void Compass_Heading();
+    void Read_Compass();
+    void Normalize( void );
+    void Drift_correction( void );
+    void Matrix_update( void) ;
+    void Euler_angles( void );
+    void Calibrate_compass( void );
+    void set_calibration_values( int, int, int, int, int, int );
+    void set_print_settings( int, int, int, int, int );
+
+    float get_pitch( void );
+    float get_roll( void );
+    float get_yaw( void );
+
+private:
+    L3G4200D *gyro;
+    LSM303 *compass;
+
+    Timer t;
+
+    float G_Dt;    // Integration time (DCM algorithm)  We will run the integration loop at 50Hz if possible
+    long timer;   //general purpuse timer
+    long timer_old;
+    long timer24; //Second timer used to print values
+    unsigned int counter;
+    int AN[6]; //array that stores the gyro and accelerometer data
+    int AN_OFFSET[6]; //Array that stores the Offset of the sensors
+    int SENSOR_SIGN[9];
+
+    int gyro_x;
+    int gyro_y;
+    int gyro_z;
+    int accel_x;
+    int accel_y;
+    int accel_z;
+    int magnetom_x;
+    int magnetom_y;
+    int magnetom_z;
+    float c_magnetom_x;
+    float c_magnetom_y;
+    float c_magnetom_z;
+    float MAG_Heading;
+
+    float Accel_Vector[3];  //Store the acceleration in a vector
+    float Gyro_Vector[3];   //Store the gyros turn rate in a vector
+    float Omega_Vector[3];  //Corrected Gyro_Vector data
+    float Omega_P[3];       //Omega Proportional correction
+    float Omega_I[3];       //Omega Integrator
+    float Omega[3];
+
+    // Euler angles
+    float roll;
+    float pitch;
+    float yaw;
+
+    float errorRollPitch[3];
+    float errorYaw[3];
+
+    byte gyro_sat;
+
+    // Gyros here
+    float DCM_Matrix[3][3];
+    float Update_Matrix[3][3];
+    float Temporary_Matrix[3][3];
+
+    // Calibration values
+    int M_X_MIN;
+    int M_Y_MIN;
+    int M_Z_MIN;
+    int M_X_MAX;
+    int M_Y_MAX;
+    int M_Z_MAX;
+    
+    int OUTPUTMODE;
+    int PRINT_ANALOGS; 
+    int PRINT_EULER;  
+    int PRINT_DCM;
+    int PRINT_SERIAL;
+
+};
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