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IMU Class Reference
Public Member Functions

IMU Class Reference

This is a device driver class for the ST LSM9DS0 inertial measurement unit. More...

#include <IMU.h>

Public Member Functions

 IMU (SPI &spi, DigitalOut &csG, DigitalOut &csXM)
 Creates an IMU object.
virtual ~IMU ()
 Deletes the IMU object.
float readGyroX ()
 Reads the gyroscope about the x-axis.
float readGyroY ()
 Reads the gyroscope about the y-axis.
float readGyroZ ()
 Reads the gyroscope about the z-axis.
float readAccelerationX ()
 Reads the acceleration in x-direction.
float readAccelerationY ()
 Reads the acceleration in y-direction.
float readAccelerationZ ()
 Reads the acceleration in z-direction.
float readMagnetometerX ()
 Reads the magnetic field in x-direction.
float readMagnetometerY ()
 Reads the magnetic field in x-direction.
float readMagnetometerZ ()
 Reads the magnetic field in x-direction.
float readHeading ()
 Reads the compass heading about the z-axis.

Detailed Description

This is a device driver class for the ST LSM9DS0 inertial measurement unit.

Definition at line 17 of file IMU.h.

Constructor & Destructor Documentation

IMU ( SPI &  spi,
DigitalOut &  csG,
DigitalOut &  csXM 
)

Creates an IMU object.

Parameters:
spia reference to an spi controller to use.
csGthe chip select output for the gyro sensor.
csXMthe chip select output for the accelerometer and the magnetometer.

Definition at line 22 of file IMU.cpp.

~IMU (  ) [virtual]

Deletes the IMU object.

Definition at line 78 of file IMU.cpp.

Member Function Documentation

float readAccelerationX (  )

Reads the acceleration in x-direction.

Returns:
the acceleration in x-direction, given in [m/s2].

Definition at line 160 of file IMU.cpp.

float readAccelerationY (  )

Reads the acceleration in y-direction.

Returns:
the acceleration in y-direction, given in [m/s2].

Definition at line 174 of file IMU.cpp.

float readAccelerationZ (  )

Reads the acceleration in z-direction.

Returns:
the acceleration in z-direction, given in [m/s2].

Definition at line 188 of file IMU.cpp.

float readGyroX (  )

Reads the gyroscope about the x-axis.

Returns:
the rotational speed about the x-axis given in [rad/s].

Definition at line 118 of file IMU.cpp.

float readGyroY (  )

Reads the gyroscope about the y-axis.

Returns:
the rotational speed about the y-axis given in [rad/s].

Definition at line 132 of file IMU.cpp.

float readGyroZ (  )

Reads the gyroscope about the z-axis.

Returns:
the rotational speed about the z-axis given in [rad/s].

Definition at line 146 of file IMU.cpp.

float readHeading (  )

Reads the compass heading about the z-axis.

Returns:
the compass heading in the range -PI to +PI, given in [rad].

Definition at line 244 of file IMU.cpp.

float readMagnetometerX (  )

Reads the magnetic field in x-direction.

Returns:
the magnetic field in x-direction, given in [Gauss].

Definition at line 202 of file IMU.cpp.

float readMagnetometerY (  )

Reads the magnetic field in x-direction.

Returns:
the magnetic field in x-direction, given in [Gauss].

Definition at line 216 of file IMU.cpp.

float readMagnetometerZ (  )

Reads the magnetic field in x-direction.

Returns:
the magnetic field in x-direction, given in [Gauss].

Definition at line 230 of file IMU.cpp.

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