ROME2 / Mbed 2 deprecated ROME2_P5

ROME_P5

Dependencies:   mbed

IMU.h@0:29be10cb0afc, 2018-04-27 (annotated)

Committer:
Inaueadr
Date:
Fri Apr 27 08:47:34 2018 +0000
Revision:
0:29be10cb0afc
Hallo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Inaueadr 0:29be10cb0afc 1 /*
Inaueadr 0:29be10cb0afc 2 * IMU.h
Inaueadr 0:29be10cb0afc 3 * Copyright (c) 2018, ZHAW
Inaueadr 0:29be10cb0afc 4 * All rights reserved.
Inaueadr 0:29be10cb0afc 5 */
Inaueadr 0:29be10cb0afc 6
Inaueadr 0:29be10cb0afc 7 #ifndef IMU_H_
Inaueadr 0:29be10cb0afc 8 #define IMU_H_
Inaueadr 0:29be10cb0afc 9
Inaueadr 0:29be10cb0afc 10 #include <cstdlib>
Inaueadr 0:29be10cb0afc 11 #include <mbed.h>
Inaueadr 0:29be10cb0afc 12
Inaueadr 0:29be10cb0afc 13 /**
Inaueadr 0:29be10cb0afc 14 * This is a device driver class for the ST LSM9DS0 inertial measurement unit.
Inaueadr 0:29be10cb0afc 15 */
Inaueadr 0:29be10cb0afc 16 class IMU {
Inaueadr 0:29be10cb0afc 17
Inaueadr 0:29be10cb0afc 18 public:
Inaueadr 0:29be10cb0afc 19
Inaueadr 0:29be10cb0afc 20 IMU(SPI& spi, DigitalOut& csG, DigitalOut& csXM);
Inaueadr 0:29be10cb0afc 21 virtual ~IMU();
Inaueadr 0:29be10cb0afc 22 float readGyroX();
Inaueadr 0:29be10cb0afc 23 float readGyroY();
Inaueadr 0:29be10cb0afc 24 float readGyroZ();
Inaueadr 0:29be10cb0afc 25 float readAccelerationX();
Inaueadr 0:29be10cb0afc 26 float readAccelerationY();
Inaueadr 0:29be10cb0afc 27 float readAccelerationZ();
Inaueadr 0:29be10cb0afc 28 float readMagnetometerX();
Inaueadr 0:29be10cb0afc 29 float readMagnetometerY();
Inaueadr 0:29be10cb0afc 30 float readMagnetometerZ();
Inaueadr 0:29be10cb0afc 31 float readHeading();
Inaueadr 0:29be10cb0afc 32
Inaueadr 0:29be10cb0afc 33 private:
Inaueadr 0:29be10cb0afc 34
Inaueadr 0:29be10cb0afc 35 static const char WHO_AM_I_G = 0x0F;
Inaueadr 0:29be10cb0afc 36 static const char CTRL_REG1_G = 0x20;
Inaueadr 0:29be10cb0afc 37 static const char OUT_X_L_G = 0x28;
Inaueadr 0:29be10cb0afc 38 static const char OUT_X_H_G = 0x29;
Inaueadr 0:29be10cb0afc 39 static const char OUT_Y_L_G = 0x2A;
Inaueadr 0:29be10cb0afc 40 static const char OUT_Y_H_G = 0x2B;
Inaueadr 0:29be10cb0afc 41 static const char OUT_Z_L_G = 0x2C;
Inaueadr 0:29be10cb0afc 42 static const char OUT_Z_H_G = 0x2D;
Inaueadr 0:29be10cb0afc 43
Inaueadr 0:29be10cb0afc 44 static const char WHO_AM_I_XM = 0x0F;
Inaueadr 0:29be10cb0afc 45
Inaueadr 0:29be10cb0afc 46 static const char INT_CTRL_REG_M = 0x12;
Inaueadr 0:29be10cb0afc 47 static const char CTRL_REG0_XM = 0x1F;
Inaueadr 0:29be10cb0afc 48 static const char CTRL_REG1_XM = 0x20;
Inaueadr 0:29be10cb0afc 49 static const char CTRL_REG2_XM = 0x21;
Inaueadr 0:29be10cb0afc 50 static const char CTRL_REG3_XM = 0x22;
Inaueadr 0:29be10cb0afc 51 static const char CTRL_REG4_XM = 0x23;
Inaueadr 0:29be10cb0afc 52 static const char CTRL_REG5_XM = 0x24;
Inaueadr 0:29be10cb0afc 53 static const char CTRL_REG6_XM = 0x25;
Inaueadr 0:29be10cb0afc 54 static const char CTRL_REG7_XM = 0x26;
Inaueadr 0:29be10cb0afc 55
Inaueadr 0:29be10cb0afc 56 static const char OUT_X_L_A = 0x28;
Inaueadr 0:29be10cb0afc 57 static const char OUT_X_H_A = 0x29;
Inaueadr 0:29be10cb0afc 58 static const char OUT_Y_L_A = 0x2A;
Inaueadr 0:29be10cb0afc 59 static const char OUT_Y_H_A = 0x2B;
Inaueadr 0:29be10cb0afc 60 static const char OUT_Z_L_A = 0x2C;
Inaueadr 0:29be10cb0afc 61 static const char OUT_Z_H_A = 0x2D;
Inaueadr 0:29be10cb0afc 62
Inaueadr 0:29be10cb0afc 63 static const float PI;
Inaueadr 0:29be10cb0afc 64
Inaueadr 0:29be10cb0afc 65 SPI& spi;
Inaueadr 0:29be10cb0afc 66 DigitalOut& csG;
Inaueadr 0:29be10cb0afc 67 DigitalOut& csXM;
Inaueadr 0:29be10cb0afc 68
Inaueadr 0:29be10cb0afc 69 void writeRegister(DigitalOut& cs, char address, char value);
Inaueadr 0:29be10cb0afc 70 char readRegister(DigitalOut& cs, char address);
Inaueadr 0:29be10cb0afc 71 };
Inaueadr 0:29be10cb0afc 72
Inaueadr 0:29be10cb0afc 73 #endif /* IMU_H_ */
Inaueadr 0:29be10cb0afc 74