Diff: AHRS.cpp

Revision:

3:6811c0ce95f6

Child:

4:3c21fb0c9e84

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AHRS.cpp	Tue Dec 04 15:49:48 2018 +0000
@@ -0,0 +1,49 @@
+#include "AHRS.h"
+#include "Mahony.h"
+#include "MadgwickAHRS.h"
+#define PI 3.141592653589793
+
+using namespace std;
+
+AHRS::AHRS(uint8_t filtertype,float TS) : RPY_filter(TS), csAG(PA_15),csM(PD_2), spi(PC_12, PC_11, PC_10), imu(&spi, &csM, &csAG), thread(osPriorityBelowNormal, 4096){  
+    
+    thread.start(callback(this, &AHRS::update));
+    ticker.attach(callback(this, &AHRS::sendSignal), TS);
+    LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0);       // use gain and offset here
+    LinearCharacteristics raw_ay2ay(-40.0/65536.0,-307.0);      // y-axis reversed
+    LinearCharacteristics raw_az2az(-16350.0,16350,-10.0, 10.0);
+    LinearCharacteristics raw_gx2gx(-32767,32768,-500*PI/180.0, 500*PI/180.0);
+    LinearCharacteristics raw_gy2gy(-32767,32768, 500*PI/180.0,-500*PI/180.0);  // y-axis reversed (lefthanded system)
+    LinearCharacteristics raw_gz2gz(-32767,32768,-500*PI/180.0, 500*PI/180.0);
+    LinearCharacteristics int2magx( -32767,32768,100.0,-100.0);     // x-axis reversed
+    LinearCharacteristics int2magy( -32767,32768,100.0,-100.0);     // y-axis reversed
+    LinearCharacteristics int2magz( -32767,32768,-100.0,100.0);
+    while (!imu.begin()) {
+        wait(1);
+        printf("Failed to communicate with LSM9DS1.\r\n");
+    }
+
+}
+
+AHRS::~AHRS() {}
+
+void AHRS::update(void)
+{
+    while(1){
+        thread.signal_wait(signal);
+        imu.readAccel();
+        imu.readMag_calibrated();
+        imu.readGyro();
+
+        //Perform Madgwick-filter update
+        RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy),  raw_gz2gz(imu.gz) ,
+                      raw_ax2ax(imu.ax), raw_ay2ay(imu.ay),  raw_az2az(imu.az),
+                      int2magx(imu.mx), int2magy(imu.my),  int2magz(imu.mz)); 
+       
+ 
+        }       // while(1)
+}
+void AHRS::sendSignal() {
+    
+    thread.signal_set(signal);
+}
\ No newline at end of file