Zürcher Eliteeinheit / Mbed 2 deprecated ROME2_P4

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   ROME2_P2 mbed

Fork of ROME2_P3 by Zürcher Eliteeinheit

IMU.h@6:67263dc2c2cf, 2018-04-26 (annotated)

Committer:
matajarb
Date:
Thu Apr 26 12:22:58 2018 +0000
Revision:
6:67263dc2c2cf
s?mme du schluch

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matajarb 6:67263dc2c2cf 1 /*
matajarb 6:67263dc2c2cf 2 * IMU.h
matajarb 6:67263dc2c2cf 3 * Copyright (c) 2018, ZHAW
matajarb 6:67263dc2c2cf 4 * All rights reserved.
matajarb 6:67263dc2c2cf 5 */
matajarb 6:67263dc2c2cf 6
matajarb 6:67263dc2c2cf 7 #ifndef IMU_H_
matajarb 6:67263dc2c2cf 8 #define IMU_H_
matajarb 6:67263dc2c2cf 9
matajarb 6:67263dc2c2cf 10 #include <cstdlib>
matajarb 6:67263dc2c2cf 11 #include <mbed.h>
matajarb 6:67263dc2c2cf 12
matajarb 6:67263dc2c2cf 13 /**
matajarb 6:67263dc2c2cf 14 * This is a device driver class for the ST LSM9DS0 inertial measurement unit.
matajarb 6:67263dc2c2cf 15 */
matajarb 6:67263dc2c2cf 16 class IMU {
matajarb 6:67263dc2c2cf 17
matajarb 6:67263dc2c2cf 18 public:
matajarb 6:67263dc2c2cf 19
matajarb 6:67263dc2c2cf 20 IMU(SPI& spi, DigitalOut& csG, DigitalOut& csXM);
matajarb 6:67263dc2c2cf 21 virtual ~IMU();
matajarb 6:67263dc2c2cf 22 float readGyroX();
matajarb 6:67263dc2c2cf 23 float readGyroY();
matajarb 6:67263dc2c2cf 24 float readGyroZ();
matajarb 6:67263dc2c2cf 25 float readAccelerationX();
matajarb 6:67263dc2c2cf 26 float readAccelerationY();
matajarb 6:67263dc2c2cf 27 float readAccelerationZ();
matajarb 6:67263dc2c2cf 28 float readMagnetometerX();
matajarb 6:67263dc2c2cf 29 float readMagnetometerY();
matajarb 6:67263dc2c2cf 30 float readMagnetometerZ();
matajarb 6:67263dc2c2cf 31 float readHeading();
matajarb 6:67263dc2c2cf 32
matajarb 6:67263dc2c2cf 33 private:
matajarb 6:67263dc2c2cf 34
matajarb 6:67263dc2c2cf 35 static const char WHO_AM_I_G = 0x0F;
matajarb 6:67263dc2c2cf 36 static const char CTRL_REG1_G = 0x20;
matajarb 6:67263dc2c2cf 37 static const char OUT_X_L_G = 0x28;
matajarb 6:67263dc2c2cf 38 static const char OUT_X_H_G = 0x29;
matajarb 6:67263dc2c2cf 39 static const char OUT_Y_L_G = 0x2A;
matajarb 6:67263dc2c2cf 40 static const char OUT_Y_H_G = 0x2B;
matajarb 6:67263dc2c2cf 41 static const char OUT_Z_L_G = 0x2C;
matajarb 6:67263dc2c2cf 42 static const char OUT_Z_H_G = 0x2D;
matajarb 6:67263dc2c2cf 43
matajarb 6:67263dc2c2cf 44 static const char WHO_AM_I_XM = 0x0F;
matajarb 6:67263dc2c2cf 45
matajarb 6:67263dc2c2cf 46 static const char INT_CTRL_REG_M = 0x12;
matajarb 6:67263dc2c2cf 47 static const char CTRL_REG0_XM = 0x1F;
matajarb 6:67263dc2c2cf 48 static const char CTRL_REG1_XM = 0x20;
matajarb 6:67263dc2c2cf 49 static const char CTRL_REG2_XM = 0x21;
matajarb 6:67263dc2c2cf 50 static const char CTRL_REG3_XM = 0x22;
matajarb 6:67263dc2c2cf 51 static const char CTRL_REG4_XM = 0x23;
matajarb 6:67263dc2c2cf 52 static const char CTRL_REG5_XM = 0x24;
matajarb 6:67263dc2c2cf 53 static const char CTRL_REG6_XM = 0x25;
matajarb 6:67263dc2c2cf 54 static const char CTRL_REG7_XM = 0x26;
matajarb 6:67263dc2c2cf 55
matajarb 6:67263dc2c2cf 56 static const char OUT_X_L_A = 0x28;
matajarb 6:67263dc2c2cf 57 static const char OUT_X_H_A = 0x29;
matajarb 6:67263dc2c2cf 58 static const char OUT_Y_L_A = 0x2A;
matajarb 6:67263dc2c2cf 59 static const char OUT_Y_H_A = 0x2B;
matajarb 6:67263dc2c2cf 60 static const char OUT_Z_L_A = 0x2C;
matajarb 6:67263dc2c2cf 61 static const char OUT_Z_H_A = 0x2D;
matajarb 6:67263dc2c2cf 62
matajarb 6:67263dc2c2cf 63 static const float PI;
matajarb 6:67263dc2c2cf 64
matajarb 6:67263dc2c2cf 65 SPI& spi;
matajarb 6:67263dc2c2cf 66 DigitalOut& csG;
matajarb 6:67263dc2c2cf 67 DigitalOut& csXM;
matajarb 6:67263dc2c2cf 68
matajarb 6:67263dc2c2cf 69 void writeRegister(DigitalOut& cs, char address, char value);
matajarb 6:67263dc2c2cf 70 char readRegister(DigitalOut& cs, char address);
matajarb 6:67263dc2c2cf 71 };
matajarb 6:67263dc2c2cf 72
matajarb 6:67263dc2c2cf 73 #endif /* IMU_H_ */
matajarb 6:67263dc2c2cf 74