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 <mbed.h>
00012 
00013 /**
00014  * This is a device driver class for the ST LSM9DS0 inertial measurement unit.
00015  */
00016 class IMU {
00017 
00018     public:
00019         
00020                     IMU(SPI& spi, DigitalOut& csG, DigitalOut& csXM);
00021         virtual     ~IMU();
00022         float       readGyroX();
00023         float       readGyroY();
00024         float       readGyroZ();
00025         float       readAccelerationX();
00026         float       readAccelerationY();
00027         float       readAccelerationZ();
00028         float       readMagnetometerX();
00029         float       readMagnetometerY();
00030         float       readMagnetometerZ();
00031         float       readHeading();
00032         
00033     private:
00034         
00035         static const char   WHO_AM_I_G = 0x0F;
00036         static const char   CTRL_REG1_G = 0x20;
00037         static const char   OUT_X_L_G = 0x28;
00038         static const char   OUT_X_H_G = 0x29;
00039         static const char   OUT_Y_L_G = 0x2A;
00040         static const char   OUT_Y_H_G = 0x2B;
00041         static const char   OUT_Z_L_G = 0x2C;
00042         static const char   OUT_Z_H_G = 0x2D;
00043         
00044         static const char   WHO_AM_I_XM = 0x0F;
00045         
00046         static const char   INT_CTRL_REG_M = 0x12;
00047         static const char   CTRL_REG0_XM = 0x1F;
00048         static const char   CTRL_REG1_XM = 0x20;
00049         static const char   CTRL_REG2_XM = 0x21;
00050         static const char   CTRL_REG3_XM = 0x22;
00051         static const char   CTRL_REG4_XM = 0x23;
00052         static const char   CTRL_REG5_XM = 0x24;
00053         static const char   CTRL_REG6_XM = 0x25;
00054         static const char   CTRL_REG7_XM = 0x26;
00055         
00056         static const char   OUT_X_L_A = 0x28;
00057         static const char   OUT_X_H_A = 0x29;
00058         static const char   OUT_Y_L_A = 0x2A;
00059         static const char   OUT_Y_H_A = 0x2B;
00060         static const char   OUT_Z_L_A = 0x2C;
00061         static const char   OUT_Z_H_A = 0x2D;
00062         
00063         static const float  PI;
00064     
00065         SPI&            spi;
00066         DigitalOut&     csG;
00067         DigitalOut&     csXM;
00068     
00069         void            writeRegister(DigitalOut& cs, char address, char value);
00070         char            readRegister(DigitalOut& cs, char address);
00071 };
00072 
00073 #endif /* IMU_H_ */
00074