Zürcher Eliteeinheit / Mbed 2 deprecated ROME2_P6

rome2_p6 imported

Dependencies:   mbed

IMU.h@5:957580f33e52, 2018-05-18 (annotated)

Committer:
Appalco
Date:
Fri May 18 13:54:25 2018 +0000
Revision:
5:957580f33e52
Parent:
0:351a2fb21235 
fixed tolerance and wayponts

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Appalco 0:351a2fb21235 1 /*
Appalco 0:351a2fb21235 2 * IMU.h
Appalco 0:351a2fb21235 3 * Copyright (c) 2018, ZHAW
Appalco 0:351a2fb21235 4 * All rights reserved.
Appalco 0:351a2fb21235 5 */
Appalco 0:351a2fb21235 6
Appalco 0:351a2fb21235 7 #ifndef IMU_H_
Appalco 0:351a2fb21235 8 #define IMU_H_
Appalco 0:351a2fb21235 9
Appalco 0:351a2fb21235 10 #include <cstdlib>
Appalco 0:351a2fb21235 11 #include <mbed.h>
Appalco 0:351a2fb21235 12 #include "LowpassFilter.h"
Appalco 0:351a2fb21235 13
Appalco 0:351a2fb21235 14 /**
Appalco 0:351a2fb21235 15 * This is a device driver class for the ST LSM9DS0 inertial measurement unit.
Appalco 0:351a2fb21235 16 */
Appalco 0:351a2fb21235 17 class IMU {
Appalco 0:351a2fb21235 18
Appalco 0:351a2fb21235 19 public:
Appalco 0:351a2fb21235 20
Appalco 0:351a2fb21235 21 IMU(SPI& spi, DigitalOut& csG, DigitalOut& csXM);
Appalco 0:351a2fb21235 22 virtual ~IMU();
Appalco 0:351a2fb21235 23 float readGyroX();
Appalco 0:351a2fb21235 24 float readGyroY();
Appalco 0:351a2fb21235 25 float readGyroZ();
Appalco 0:351a2fb21235 26 float readAccelerationX();
Appalco 0:351a2fb21235 27 float readAccelerationY();
Appalco 0:351a2fb21235 28 float readAccelerationZ();
Appalco 0:351a2fb21235 29 float readMagnetometerX();
Appalco 0:351a2fb21235 30 float readMagnetometerY();
Appalco 0:351a2fb21235 31 float readMagnetometerZ();
Appalco 0:351a2fb21235 32 float readHeading();
Appalco 0:351a2fb21235 33
Appalco 0:351a2fb21235 34 private:
Appalco 0:351a2fb21235 35
Appalco 0:351a2fb21235 36 static const char WHO_AM_I_G = 0x0F;
Appalco 0:351a2fb21235 37 static const char CTRL_REG1_G = 0x20;
Appalco 0:351a2fb21235 38 static const char OUT_X_L_G = 0x28;
Appalco 0:351a2fb21235 39 static const char OUT_X_H_G = 0x29;
Appalco 0:351a2fb21235 40 static const char OUT_Y_L_G = 0x2A;
Appalco 0:351a2fb21235 41 static const char OUT_Y_H_G = 0x2B;
Appalco 0:351a2fb21235 42 static const char OUT_Z_L_G = 0x2C;
Appalco 0:351a2fb21235 43 static const char OUT_Z_H_G = 0x2D;
Appalco 0:351a2fb21235 44
Appalco 0:351a2fb21235 45 static const char OUT_X_L_M = 0x08;
Appalco 0:351a2fb21235 46 static const char OUT_X_H_M = 0x09;
Appalco 0:351a2fb21235 47 static const char OUT_Y_L_M = 0x0A;
Appalco 0:351a2fb21235 48 static const char OUT_Y_H_M = 0x0B;
Appalco 0:351a2fb21235 49 static const char OUT_Z_L_M = 0x0C;
Appalco 0:351a2fb21235 50 static const char OUT_Z_H_M = 0x0D;
Appalco 0:351a2fb21235 51 static const char WHO_AM_I_XM = 0x0F;
Appalco 0:351a2fb21235 52
Appalco 0:351a2fb21235 53 static const char INT_CTRL_REG_M = 0x12;
Appalco 0:351a2fb21235 54 static const char CTRL_REG0_XM = 0x1F;
Appalco 0:351a2fb21235 55 static const char CTRL_REG1_XM = 0x20;
Appalco 0:351a2fb21235 56 static const char CTRL_REG2_XM = 0x21;
Appalco 0:351a2fb21235 57 static const char CTRL_REG3_XM = 0x22;
Appalco 0:351a2fb21235 58 static const char CTRL_REG4_XM = 0x23;
Appalco 0:351a2fb21235 59 static const char CTRL_REG5_XM = 0x24;
Appalco 0:351a2fb21235 60 static const char CTRL_REG6_XM = 0x25;
Appalco 0:351a2fb21235 61 static const char CTRL_REG7_XM = 0x26;
Appalco 0:351a2fb21235 62
Appalco 0:351a2fb21235 63 static const char OUT_X_L_A = 0x28;
Appalco 0:351a2fb21235 64 static const char OUT_X_H_A = 0x29;
Appalco 0:351a2fb21235 65 static const char OUT_Y_L_A = 0x2A;
Appalco 0:351a2fb21235 66 static const char OUT_Y_H_A = 0x2B;
Appalco 0:351a2fb21235 67 static const char OUT_Z_L_A = 0x2C;
Appalco 0:351a2fb21235 68 static const char OUT_Z_H_A = 0x2D;
Appalco 0:351a2fb21235 69
Appalco 0:351a2fb21235 70 static const float PERIOD;
Appalco 0:351a2fb21235 71 static const float PI;
Appalco 0:351a2fb21235 72 static const float LOWPASS_FILTER_FREQUENCY;
Appalco 0:351a2fb21235 73
Appalco 0:351a2fb21235 74 SPI& spi;
Appalco 0:351a2fb21235 75 DigitalOut& csG;
Appalco 0:351a2fb21235 76 DigitalOut& csXM;
Appalco 0:351a2fb21235 77
Appalco 0:351a2fb21235 78 float magnetometerXMin;
Appalco 0:351a2fb21235 79 float magnetometerXMax;
Appalco 0:351a2fb21235 80 float magnetometerYMin;
Appalco 0:351a2fb21235 81 float magnetometerYMax;
Appalco 0:351a2fb21235 82 LowpassFilter magnetometerXFilter;
Appalco 0:351a2fb21235 83 LowpassFilter magnetometerYFilter;
Appalco 0:351a2fb21235 84 float heading;
Appalco 0:351a2fb21235 85 Ticker ticker;
Appalco 0:351a2fb21235 86
Appalco 0:351a2fb21235 87 void writeRegister(DigitalOut& cs, char address, char value);
Appalco 0:351a2fb21235 88 char readRegister(DigitalOut& cs, char address);
Appalco 0:351a2fb21235 89 void run();
Appalco 0:351a2fb21235 90 };
Appalco 0:351a2fb21235 91
Appalco 0:351a2fb21235 92 #endif /* IMU_H_ */
Appalco 0:351a2fb21235 93