Diff: IMU.h

Revision:

0:351a2fb21235

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU.h	Fri May 18 12:05:32 2018 +0000
@@ -0,0 +1,93 @@
+/*
+ * IMU.h
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef IMU_H_
+#define IMU_H_
+
+#include <cstdlib>
+#include <mbed.h>
+#include "LowpassFilter.h"
+
+/**
+ * This is a device driver class for the ST LSM9DS0 inertial measurement unit.
+ */
+class IMU {
+
+    public:
+        
+                    IMU(SPI& spi, DigitalOut& csG, DigitalOut& csXM);
+        virtual     ~IMU();
+        float       readGyroX();
+        float       readGyroY();
+        float       readGyroZ();
+        float       readAccelerationX();
+        float       readAccelerationY();
+        float       readAccelerationZ();
+        float       readMagnetometerX();
+        float       readMagnetometerY();
+        float       readMagnetometerZ();
+        float       readHeading();
+        
+    private:
+        
+        static const char   WHO_AM_I_G = 0x0F;
+        static const char   CTRL_REG1_G = 0x20;
+        static const char   OUT_X_L_G = 0x28;
+        static const char   OUT_X_H_G = 0x29;
+        static const char   OUT_Y_L_G = 0x2A;
+        static const char   OUT_Y_H_G = 0x2B;
+        static const char   OUT_Z_L_G = 0x2C;
+        static const char   OUT_Z_H_G = 0x2D;
+        
+        static const char   OUT_X_L_M = 0x08;
+        static const char   OUT_X_H_M = 0x09;
+        static const char   OUT_Y_L_M = 0x0A;
+        static const char   OUT_Y_H_M = 0x0B;
+        static const char   OUT_Z_L_M = 0x0C;
+        static const char   OUT_Z_H_M = 0x0D;
+        static const char   WHO_AM_I_XM = 0x0F;
+        
+        static const char   INT_CTRL_REG_M = 0x12;
+        static const char   CTRL_REG0_XM = 0x1F;
+        static const char   CTRL_REG1_XM = 0x20;
+        static const char   CTRL_REG2_XM = 0x21;
+        static const char   CTRL_REG3_XM = 0x22;
+        static const char   CTRL_REG4_XM = 0x23;
+        static const char   CTRL_REG5_XM = 0x24;
+        static const char   CTRL_REG6_XM = 0x25;
+        static const char   CTRL_REG7_XM = 0x26;
+        
+        static const char   OUT_X_L_A = 0x28;
+        static const char   OUT_X_H_A = 0x29;
+        static const char   OUT_Y_L_A = 0x2A;
+        static const char   OUT_Y_H_A = 0x2B;
+        static const char   OUT_Z_L_A = 0x2C;
+        static const char   OUT_Z_H_A = 0x2D;
+        
+        static const float  PERIOD;
+        static const float  PI;
+        static const float  LOWPASS_FILTER_FREQUENCY;
+        
+        SPI&            spi;
+        DigitalOut&     csG;
+        DigitalOut&     csXM;
+        
+        float           magnetometerXMin;
+        float           magnetometerXMax;
+        float           magnetometerYMin;
+        float           magnetometerYMax;
+        LowpassFilter   magnetometerXFilter;
+        LowpassFilter   magnetometerYFilter;
+        float           heading;
+        Ticker          ticker;
+        
+        void            writeRegister(DigitalOut& cs, char address, char value);
+        char            readRegister(DigitalOut& cs, char address);
+        void            run();
+};
+
+#endif /* IMU_H_ */
+