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 #include "LowpassFilter.h"
00013 
00014 /**
00015  * This is a device driver class for the ST LSM9DS0 inertial measurement unit.
00016  */
00017 class IMU {
00018 
00019     public:
00020         
00021                     IMU(SPI& spi, DigitalOut& csG, DigitalOut& csXM);
00022         virtual     ~IMU();
00023         float       readGyroX();
00024         float       readGyroY();
00025         float       readGyroZ();
00026         float       readAccelerationX();
00027         float       readAccelerationY();
00028         float       readAccelerationZ();
00029         float       readMagnetometerX();
00030         float       readMagnetometerY();
00031         float       readMagnetometerZ();
00032         float       readHeading();
00033         
00034     private:
00035         
00036         static const char   WHO_AM_I_G = 0x0F;
00037         static const char   CTRL_REG1_G = 0x20;
00038         static const char   OUT_X_L_G = 0x28;
00039         static const char   OUT_X_H_G = 0x29;
00040         static const char   OUT_Y_L_G = 0x2A;
00041         static const char   OUT_Y_H_G = 0x2B;
00042         static const char   OUT_Z_L_G = 0x2C;
00043         static const char   OUT_Z_H_G = 0x2D;
00044         
00045         static const char   OUT_X_L_M = 0x08;
00046         static const char   OUT_X_H_M = 0x09;
00047         static const char   OUT_Y_L_M = 0x0A;
00048         static const char   OUT_Y_H_M = 0x0B;
00049         static const char   OUT_Z_L_M = 0x0C;
00050         static const char   OUT_Z_H_M = 0x0D;
00051         static const char   WHO_AM_I_XM = 0x0F;
00052         
00053         static const char   INT_CTRL_REG_M = 0x12;
00054         static const char   CTRL_REG0_XM = 0x1F;
00055         static const char   CTRL_REG1_XM = 0x20;
00056         static const char   CTRL_REG2_XM = 0x21;
00057         static const char   CTRL_REG3_XM = 0x22;
00058         static const char   CTRL_REG4_XM = 0x23;
00059         static const char   CTRL_REG5_XM = 0x24;
00060         static const char   CTRL_REG6_XM = 0x25;
00061         static const char   CTRL_REG7_XM = 0x26;
00062         
00063         static const char   OUT_X_L_A = 0x28;
00064         static const char   OUT_X_H_A = 0x29;
00065         static const char   OUT_Y_L_A = 0x2A;
00066         static const char   OUT_Y_H_A = 0x2B;
00067         static const char   OUT_Z_L_A = 0x2C;
00068         static const char   OUT_Z_H_A = 0x2D;
00069         
00070         static const float  PERIOD;
00071         static const float  PI;
00072         static const float  LOWPASS_FILTER_FREQUENCY;
00073         
00074         SPI&            spi;
00075         DigitalOut&     csG;
00076         DigitalOut&     csXM;
00077         
00078         float           magnetometerXMin;
00079         float           magnetometerXMax;
00080         float           magnetometerYMin;
00081         float           magnetometerYMax;
00082         LowpassFilter   magnetometerXFilter;
00083         LowpassFilter   magnetometerYFilter;
00084         float           heading;
00085         Ticker          ticker;
00086         
00087         void            writeRegister(DigitalOut& cs, char address, char value);
00088         char            readRegister(DigitalOut& cs, char address);
00089         void            run();
00090 };
00091 
00092 #endif /* IMU_H_ */
00093