IMU.h

00001 /*
00002  * IMU.h
00003  * Copyright (c) 2018, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #ifndef IMU_H_
00008 #define IMU_H_
00009 
00010 #include <cstdlib>
00011 #include <stdint.h>
00012 #include "mbed.h"
00013 
00014 
00015 /**
00016  * This is a device driver class for the ST LSM9DS1 inertial measurement unit.
00017  */
00018 class IMU {
00019 
00020     public:
00021         
00022                     IMU(SPI& spi, DigitalOut& csAG, DigitalOut& csM);
00023         virtual     ~IMU();
00024         float       readGyroX();
00025         float       readGyroY();
00026         float       readGyroZ();
00027         float       readAccelerationX();
00028         float       readAccelerationY();
00029         float       readAccelerationZ();
00030         float       readMagnetometerX();
00031         float       readMagnetometerY();
00032         float       readMagnetometerZ();
00033         // Nick =================
00034         float       getGammaX();
00035         float       getGammaY();
00036         float       getGammaZ();
00037         float       getDGammaX();
00038         float       getDGammaY();
00039         float       getDGammaZ();
00040         void        kalman();
00041         //=======================
00042         
00043     private:
00044         
00045         static const uint8_t    WHO_AM_I = 0x0F;
00046         static const uint8_t    CTRL_REG1_G = 0x10;
00047         static const uint8_t    CTRL_REG2_G = 0x11;
00048         static const uint8_t    CTRL_REG3_G = 0x12;
00049         static const uint8_t    OUT_X_L_G = 0x18;
00050         static const uint8_t    OUT_X_H_G = 0x19;
00051         static const uint8_t    OUT_Y_L_G = 0x1A;
00052         static const uint8_t    OUT_Y_H_G = 0x1B;
00053         static const uint8_t    OUT_Z_L_G = 0x1C;
00054         static const uint8_t    OUT_Z_H_G = 0x1D;
00055         static const uint8_t    CTRL_REG4 = 0x1E;
00056         static const uint8_t    CTRL_REG5_XL = 0x1F;
00057         static const uint8_t    CTRL_REG6_XL = 0x20;
00058         static const uint8_t    CTRL_REG7_XL = 0x21;
00059         static const uint8_t    CTRL_REG8 = 0x22;
00060         static const uint8_t    CTRL_REG9 = 0x23;
00061         static const uint8_t    CTRL_REG10 = 0x24;
00062         static const uint8_t    OUT_X_L_XL = 0x28;
00063         static const uint8_t    OUT_X_H_XL = 0x29;
00064         static const uint8_t    OUT_Y_L_XL = 0x2A;
00065         static const uint8_t    OUT_Y_H_XL = 0x2B;
00066         static const uint8_t    OUT_Z_L_XL = 0x2C;
00067         static const uint8_t    OUT_Z_H_XL = 0x2D;
00068         
00069         static const uint8_t    WHO_AM_I_M = 0x0F;
00070         static const uint8_t    CTRL_REG1_M = 0x20;
00071         static const uint8_t    CTRL_REG2_M = 0x21;
00072         static const uint8_t    CTRL_REG3_M = 0x22;
00073         static const uint8_t    CTRL_REG4_M = 0x23;
00074         static const uint8_t    CTRL_REG5_M = 0x24;
00075         static const uint8_t    OUT_X_L_M = 0x28;
00076         static const uint8_t    OUT_X_H_M = 0x29;
00077         static const uint8_t    OUT_Y_L_M = 0x2A;
00078         static const uint8_t    OUT_Y_H_M = 0x2B;
00079         static const uint8_t    OUT_Z_L_M = 0x2C;
00080         static const uint8_t    OUT_Z_H_M = 0x2D;
00081         
00082         static const float      M_PI;
00083         static const float      SAMPLE_TIME;
00084         static const float      STD_ALPHA;
00085         static const float      STD_OMEGA;
00086         
00087         float           gammaX; // angle in X from kalman-Filter
00088         float           gammaY; // angle in Y from kalman-Filter
00089         float           gammaZ; // angle in Z from kalman-Filter
00090         float           d_gammaX; // angular velocity in X from kalman-Filter
00091         float           d_gammaY; // angular velocity in Y from kalman-Filter
00092         float           d_gammaZ; // angular velocity in Z from kalman-Filter
00093         
00094         Thread          thread;
00095         Ticker          ticker;
00096         
00097         
00098         SPI&            spi;
00099         DigitalOut&     csAG;
00100         DigitalOut&     csM;
00101         
00102         void            writeRegister(DigitalOut& cs, uint8_t address, uint8_t value);
00103         uint8_t         readRegister(DigitalOut& cs, uint8_t address);
00104 };
00105 
00106 #endif /* IMU_H_ */
00107