BA / Mbed OS BaBoRo1

Erste version der Software für der Prototyp

IMU.h@4:75df35ef4fb6, 2018-03-30 (annotated)

Committer:
borlanic
Date:
Fri Mar 30 14:07:05 2018 +0000
Revision:
4:75df35ef4fb6
Parent:
0:380207fcb5c1 
commentar

Who changed what in which revision?

UserRevisionLine numberNew contents of line
borlanic 0:380207fcb5c1 1 /*
borlanic 0:380207fcb5c1 2 * IMU.h
borlanic 0:380207fcb5c1 3 * Copyright (c) 2018, ZHAW
borlanic 0:380207fcb5c1 4 * All rights reserved.
borlanic 0:380207fcb5c1 5 */
borlanic 0:380207fcb5c1 6
borlanic 0:380207fcb5c1 7 #ifndef IMU_H_
borlanic 0:380207fcb5c1 8 #define IMU_H_
borlanic 0:380207fcb5c1 9
borlanic 0:380207fcb5c1 10 #include <cstdlib>
borlanic 0:380207fcb5c1 11 #include <stdint.h>
borlanic 0:380207fcb5c1 12 #include "mbed.h"
borlanic 0:380207fcb5c1 13
borlanic 0:380207fcb5c1 14
borlanic 0:380207fcb5c1 15 /**
borlanic 0:380207fcb5c1 16 * This is a device driver class for the ST LSM9DS1 inertial measurement unit.
borlanic 0:380207fcb5c1 17 */
borlanic 0:380207fcb5c1 18 class IMU {
borlanic 0:380207fcb5c1 19
borlanic 0:380207fcb5c1 20 public:
borlanic 0:380207fcb5c1 21
borlanic 0:380207fcb5c1 22 IMU(SPI& spi, DigitalOut& csAG, DigitalOut& csM);
borlanic 0:380207fcb5c1 23 virtual ~IMU();
borlanic 0:380207fcb5c1 24 float readGyroX();
borlanic 0:380207fcb5c1 25 float readGyroY();
borlanic 0:380207fcb5c1 26 float readGyroZ();
borlanic 0:380207fcb5c1 27 float readAccelerationX();
borlanic 0:380207fcb5c1 28 float readAccelerationY();
borlanic 0:380207fcb5c1 29 float readAccelerationZ();
borlanic 0:380207fcb5c1 30 float readMagnetometerX();
borlanic 0:380207fcb5c1 31 float readMagnetometerY();
borlanic 0:380207fcb5c1 32 float readMagnetometerZ();
borlanic 0:380207fcb5c1 33 // Nick =================
borlanic 0:380207fcb5c1 34 float getGammaX();
borlanic 0:380207fcb5c1 35 float getGammaY();
borlanic 0:380207fcb5c1 36 float getGammaZ();
borlanic 0:380207fcb5c1 37 float getDGammaX();
borlanic 0:380207fcb5c1 38 float getDGammaY();
borlanic 0:380207fcb5c1 39 float getDGammaZ();
borlanic 0:380207fcb5c1 40 void kalman();
borlanic 0:380207fcb5c1 41 //=======================
borlanic 0:380207fcb5c1 42
borlanic 0:380207fcb5c1 43 private:
borlanic 0:380207fcb5c1 44
borlanic 0:380207fcb5c1 45 static const uint8_t WHO_AM_I = 0x0F;
borlanic 0:380207fcb5c1 46 static const uint8_t CTRL_REG1_G = 0x10;
borlanic 0:380207fcb5c1 47 static const uint8_t CTRL_REG2_G = 0x11;
borlanic 0:380207fcb5c1 48 static const uint8_t CTRL_REG3_G = 0x12;
borlanic 0:380207fcb5c1 49 static const uint8_t OUT_X_L_G = 0x18;
borlanic 0:380207fcb5c1 50 static const uint8_t OUT_X_H_G = 0x19;
borlanic 0:380207fcb5c1 51 static const uint8_t OUT_Y_L_G = 0x1A;
borlanic 0:380207fcb5c1 52 static const uint8_t OUT_Y_H_G = 0x1B;
borlanic 0:380207fcb5c1 53 static const uint8_t OUT_Z_L_G = 0x1C;
borlanic 0:380207fcb5c1 54 static const uint8_t OUT_Z_H_G = 0x1D;
borlanic 0:380207fcb5c1 55 static const uint8_t CTRL_REG4 = 0x1E;
borlanic 0:380207fcb5c1 56 static const uint8_t CTRL_REG5_XL = 0x1F;
borlanic 0:380207fcb5c1 57 static const uint8_t CTRL_REG6_XL = 0x20;
borlanic 0:380207fcb5c1 58 static const uint8_t CTRL_REG7_XL = 0x21;
borlanic 0:380207fcb5c1 59 static const uint8_t CTRL_REG8 = 0x22;
borlanic 0:380207fcb5c1 60 static const uint8_t CTRL_REG9 = 0x23;
borlanic 0:380207fcb5c1 61 static const uint8_t CTRL_REG10 = 0x24;
borlanic 0:380207fcb5c1 62 static const uint8_t OUT_X_L_XL = 0x28;
borlanic 0:380207fcb5c1 63 static const uint8_t OUT_X_H_XL = 0x29;
borlanic 0:380207fcb5c1 64 static const uint8_t OUT_Y_L_XL = 0x2A;
borlanic 0:380207fcb5c1 65 static const uint8_t OUT_Y_H_XL = 0x2B;
borlanic 0:380207fcb5c1 66 static const uint8_t OUT_Z_L_XL = 0x2C;
borlanic 0:380207fcb5c1 67 static const uint8_t OUT_Z_H_XL = 0x2D;
borlanic 0:380207fcb5c1 68
borlanic 0:380207fcb5c1 69 static const uint8_t WHO_AM_I_M = 0x0F;
borlanic 0:380207fcb5c1 70 static const uint8_t CTRL_REG1_M = 0x20;
borlanic 0:380207fcb5c1 71 static const uint8_t CTRL_REG2_M = 0x21;
borlanic 0:380207fcb5c1 72 static const uint8_t CTRL_REG3_M = 0x22;
borlanic 0:380207fcb5c1 73 static const uint8_t CTRL_REG4_M = 0x23;
borlanic 0:380207fcb5c1 74 static const uint8_t CTRL_REG5_M = 0x24;
borlanic 0:380207fcb5c1 75 static const uint8_t OUT_X_L_M = 0x28;
borlanic 0:380207fcb5c1 76 static const uint8_t OUT_X_H_M = 0x29;
borlanic 0:380207fcb5c1 77 static const uint8_t OUT_Y_L_M = 0x2A;
borlanic 0:380207fcb5c1 78 static const uint8_t OUT_Y_H_M = 0x2B;
borlanic 0:380207fcb5c1 79 static const uint8_t OUT_Z_L_M = 0x2C;
borlanic 0:380207fcb5c1 80 static const uint8_t OUT_Z_H_M = 0x2D;
borlanic 0:380207fcb5c1 81
borlanic 0:380207fcb5c1 82 static const float M_PI;
borlanic 0:380207fcb5c1 83 static const float SAMPLE_TIME;
borlanic 0:380207fcb5c1 84 static const float STD_ALPHA;
borlanic 0:380207fcb5c1 85 static const float STD_OMEGA;
borlanic 0:380207fcb5c1 86
borlanic 0:380207fcb5c1 87 float gammaX; // angle in X from kalman-Filter
borlanic 0:380207fcb5c1 88 float gammaY; // angle in Y from kalman-Filter
borlanic 0:380207fcb5c1 89 float gammaZ; // angle in Z from kalman-Filter
borlanic 0:380207fcb5c1 90 float d_gammaX; // angular velocity in X from kalman-Filter
borlanic 0:380207fcb5c1 91 float d_gammaY; // angular velocity in Y from kalman-Filter
borlanic 0:380207fcb5c1 92 float d_gammaZ; // angular velocity in Z from kalman-Filter
borlanic 0:380207fcb5c1 93
borlanic 0:380207fcb5c1 94 Thread thread;
borlanic 0:380207fcb5c1 95 Ticker ticker;
borlanic 0:380207fcb5c1 96
borlanic 0:380207fcb5c1 97
borlanic 0:380207fcb5c1 98 SPI& spi;
borlanic 0:380207fcb5c1 99 DigitalOut& csAG;
borlanic 0:380207fcb5c1 100 DigitalOut& csM;
borlanic 0:380207fcb5c1 101
borlanic 0:380207fcb5c1 102 void writeRegister(DigitalOut& cs, uint8_t address, uint8_t value);
borlanic 0:380207fcb5c1 103 uint8_t readRegister(DigitalOut& cs, uint8_t address);
borlanic 0:380207fcb5c1 104 };
borlanic 0:380207fcb5c1 105
borlanic 0:380207fcb5c1 106 #endif /* IMU_H_ */
borlanic 0:380207fcb5c1 107