Nim leo niiiim
IMU.h@0:da791f233257, 2018-05-11 (annotated)
- Committer:
- Kiwicjam
- Date:
- Fri May 11 12:21:19 2018 +0000
- Revision:
- 0:da791f233257
start of rome2 p5;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Kiwicjam | 0:da791f233257 | 1 | /* |
Kiwicjam | 0:da791f233257 | 2 | * IMU.h |
Kiwicjam | 0:da791f233257 | 3 | * Copyright (c) 2018, ZHAW |
Kiwicjam | 0:da791f233257 | 4 | * All rights reserved. |
Kiwicjam | 0:da791f233257 | 5 | */ |
Kiwicjam | 0:da791f233257 | 6 | |
Kiwicjam | 0:da791f233257 | 7 | #ifndef IMU_H_ |
Kiwicjam | 0:da791f233257 | 8 | #define IMU_H_ |
Kiwicjam | 0:da791f233257 | 9 | |
Kiwicjam | 0:da791f233257 | 10 | #include <cstdlib> |
Kiwicjam | 0:da791f233257 | 11 | #include <mbed.h> |
Kiwicjam | 0:da791f233257 | 12 | |
Kiwicjam | 0:da791f233257 | 13 | /** |
Kiwicjam | 0:da791f233257 | 14 | * This is a device driver class for the ST LSM9DS0 inertial measurement unit. |
Kiwicjam | 0:da791f233257 | 15 | */ |
Kiwicjam | 0:da791f233257 | 16 | class IMU { |
Kiwicjam | 0:da791f233257 | 17 | |
Kiwicjam | 0:da791f233257 | 18 | public: |
Kiwicjam | 0:da791f233257 | 19 | |
Kiwicjam | 0:da791f233257 | 20 | IMU(SPI& spi, DigitalOut& csG, DigitalOut& csXM); |
Kiwicjam | 0:da791f233257 | 21 | virtual ~IMU(); |
Kiwicjam | 0:da791f233257 | 22 | float readGyroX(); |
Kiwicjam | 0:da791f233257 | 23 | float readGyroY(); |
Kiwicjam | 0:da791f233257 | 24 | float readGyroZ(); |
Kiwicjam | 0:da791f233257 | 25 | float readAccelerationX(); |
Kiwicjam | 0:da791f233257 | 26 | float readAccelerationY(); |
Kiwicjam | 0:da791f233257 | 27 | float readAccelerationZ(); |
Kiwicjam | 0:da791f233257 | 28 | float readMagnetometerX(); |
Kiwicjam | 0:da791f233257 | 29 | float readMagnetometerY(); |
Kiwicjam | 0:da791f233257 | 30 | float readMagnetometerZ(); |
Kiwicjam | 0:da791f233257 | 31 | float readHeading(); |
Kiwicjam | 0:da791f233257 | 32 | |
Kiwicjam | 0:da791f233257 | 33 | private: |
Kiwicjam | 0:da791f233257 | 34 | |
Kiwicjam | 0:da791f233257 | 35 | static const char WHO_AM_I_G = 0x0F; |
Kiwicjam | 0:da791f233257 | 36 | static const char CTRL_REG1_G = 0x20; |
Kiwicjam | 0:da791f233257 | 37 | static const char OUT_X_L_G = 0x28; |
Kiwicjam | 0:da791f233257 | 38 | static const char OUT_X_H_G = 0x29; |
Kiwicjam | 0:da791f233257 | 39 | static const char OUT_Y_L_G = 0x2A; |
Kiwicjam | 0:da791f233257 | 40 | static const char OUT_Y_H_G = 0x2B; |
Kiwicjam | 0:da791f233257 | 41 | static const char OUT_Z_L_G = 0x2C; |
Kiwicjam | 0:da791f233257 | 42 | static const char OUT_Z_H_G = 0x2D; |
Kiwicjam | 0:da791f233257 | 43 | |
Kiwicjam | 0:da791f233257 | 44 | static const char WHO_AM_I_XM = 0x0F; |
Kiwicjam | 0:da791f233257 | 45 | |
Kiwicjam | 0:da791f233257 | 46 | static const char INT_CTRL_REG_M = 0x12; |
Kiwicjam | 0:da791f233257 | 47 | static const char CTRL_REG0_XM = 0x1F; |
Kiwicjam | 0:da791f233257 | 48 | static const char CTRL_REG1_XM = 0x20; |
Kiwicjam | 0:da791f233257 | 49 | static const char CTRL_REG2_XM = 0x21; |
Kiwicjam | 0:da791f233257 | 50 | static const char CTRL_REG3_XM = 0x22; |
Kiwicjam | 0:da791f233257 | 51 | static const char CTRL_REG4_XM = 0x23; |
Kiwicjam | 0:da791f233257 | 52 | static const char CTRL_REG5_XM = 0x24; |
Kiwicjam | 0:da791f233257 | 53 | static const char CTRL_REG6_XM = 0x25; |
Kiwicjam | 0:da791f233257 | 54 | static const char CTRL_REG7_XM = 0x26; |
Kiwicjam | 0:da791f233257 | 55 | |
Kiwicjam | 0:da791f233257 | 56 | static const char OUT_X_L_A = 0x28; |
Kiwicjam | 0:da791f233257 | 57 | static const char OUT_X_H_A = 0x29; |
Kiwicjam | 0:da791f233257 | 58 | static const char OUT_Y_L_A = 0x2A; |
Kiwicjam | 0:da791f233257 | 59 | static const char OUT_Y_H_A = 0x2B; |
Kiwicjam | 0:da791f233257 | 60 | static const char OUT_Z_L_A = 0x2C; |
Kiwicjam | 0:da791f233257 | 61 | static const char OUT_Z_H_A = 0x2D; |
Kiwicjam | 0:da791f233257 | 62 | |
Kiwicjam | 0:da791f233257 | 63 | static const float PI; |
Kiwicjam | 0:da791f233257 | 64 | |
Kiwicjam | 0:da791f233257 | 65 | SPI& spi; |
Kiwicjam | 0:da791f233257 | 66 | DigitalOut& csG; |
Kiwicjam | 0:da791f233257 | 67 | DigitalOut& csXM; |
Kiwicjam | 0:da791f233257 | 68 | |
Kiwicjam | 0:da791f233257 | 69 | void writeRegister(DigitalOut& cs, char address, char value); |
Kiwicjam | 0:da791f233257 | 70 | char readRegister(DigitalOut& cs, char address); |
Kiwicjam | 0:da791f233257 | 71 | }; |
Kiwicjam | 0:da791f233257 | 72 | |
Kiwicjam | 0:da791f233257 | 73 | #endif /* IMU_H_ */ |