File content as of revision 5:eee47600b772:

#include "AHRS.h"
#include "Mahony.h"
#include "MadgwickAHRS.h"
#include "ekf.h"

#define PI 3.141592653589793

using namespace std;

//OLD: 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){  
AHRS::AHRS(uint8_t filtertype,float TS) :  imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(TS), 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 raw_ax2ax( 1.0,0.0);       // use gain and offset here
    LinearCharacteristics raw_ay2ay(-1.0,0.0);      // y-axis reversed
    LinearCharacteristics raw_az2az( 1.0,0.0);
    LinearCharacteristics raw_gx2gx( 1.0,0.0);
    LinearCharacteristics raw_gy2gy(-1.0,0.0);  // y-axis reversed (lefthanded system)
    LinearCharacteristics raw_gz2gz( 1.0,0.0);
    LinearCharacteristics int2magx( -1.0,0.0);     // x-axis reversed
    LinearCharacteristics int2magy( -1.0,0.0);     // y-axis reversed
    LinearCharacteristics int2magz(  1.0,0.0);
    //matrix measurement(6,1,0.0);
    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.readMag();
        imu.readGyro();
        matrix measurement(6,1,0.0);
        //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));
        measurement.put_entry(1,1,raw_gx2gx(imu.gyroX));
        measurement.put_entry(2,1,raw_gy2gy(imu.gyroY));
        measurement.put_entry(3,1,raw_ax2ax(imu.accX));
        measurement.put_entry(4,1,raw_ay2ay(imu.accY));
        RPY_filter.loop(&measurement);
        }       // while(1)
}
void AHRS::sendSignal() {
    
    thread.signal_set(signal);
}