Allan Brignoli / Mbed 2 deprecated Rome2_P6

gugus

Dependencies:   mbed

IMU.h@0:1a0321f1ffbc, 2018-05-18 (annotated)

Committer:
Brignall
Date:
Fri May 18 12:18:21 2018 +0000
Revision:
0:1a0321f1ffbc
lala;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Brignall 0:1a0321f1ffbc 1 /*
Brignall 0:1a0321f1ffbc 2 * IMU.h
Brignall 0:1a0321f1ffbc 3 * Copyright (c) 2018, ZHAW
Brignall 0:1a0321f1ffbc 4 * All rights reserved.
Brignall 0:1a0321f1ffbc 5 */
Brignall 0:1a0321f1ffbc 6
Brignall 0:1a0321f1ffbc 7 #ifndef IMU_H_
Brignall 0:1a0321f1ffbc 8 #define IMU_H_
Brignall 0:1a0321f1ffbc 9
Brignall 0:1a0321f1ffbc 10 #include <cstdlib>
Brignall 0:1a0321f1ffbc 11 #include <mbed.h>
Brignall 0:1a0321f1ffbc 12 #include "LowpassFilter.h"
Brignall 0:1a0321f1ffbc 13
Brignall 0:1a0321f1ffbc 14 /**
Brignall 0:1a0321f1ffbc 15 * This is a device driver class for the ST LSM9DS0 inertial measurement unit.
Brignall 0:1a0321f1ffbc 16 */
Brignall 0:1a0321f1ffbc 17 class IMU {
Brignall 0:1a0321f1ffbc 18
Brignall 0:1a0321f1ffbc 19 public:
Brignall 0:1a0321f1ffbc 20
Brignall 0:1a0321f1ffbc 21 IMU(SPI& spi, DigitalOut& csG, DigitalOut& csXM);
Brignall 0:1a0321f1ffbc 22 virtual ~IMU();
Brignall 0:1a0321f1ffbc 23 float readGyroX();
Brignall 0:1a0321f1ffbc 24 float readGyroY();
Brignall 0:1a0321f1ffbc 25 float readGyroZ();
Brignall 0:1a0321f1ffbc 26 float readAccelerationX();
Brignall 0:1a0321f1ffbc 27 float readAccelerationY();
Brignall 0:1a0321f1ffbc 28 float readAccelerationZ();
Brignall 0:1a0321f1ffbc 29 float readMagnetometerX();
Brignall 0:1a0321f1ffbc 30 float readMagnetometerY();
Brignall 0:1a0321f1ffbc 31 float readMagnetometerZ();
Brignall 0:1a0321f1ffbc 32 float readHeading();
Brignall 0:1a0321f1ffbc 33
Brignall 0:1a0321f1ffbc 34 private:
Brignall 0:1a0321f1ffbc 35
Brignall 0:1a0321f1ffbc 36 static const char WHO_AM_I_G = 0x0F;
Brignall 0:1a0321f1ffbc 37 static const char CTRL_REG1_G = 0x20;
Brignall 0:1a0321f1ffbc 38 static const char OUT_X_L_G = 0x28;
Brignall 0:1a0321f1ffbc 39 static const char OUT_X_H_G = 0x29;
Brignall 0:1a0321f1ffbc 40 static const char OUT_Y_L_G = 0x2A;
Brignall 0:1a0321f1ffbc 41 static const char OUT_Y_H_G = 0x2B;
Brignall 0:1a0321f1ffbc 42 static const char OUT_Z_L_G = 0x2C;
Brignall 0:1a0321f1ffbc 43 static const char OUT_Z_H_G = 0x2D;
Brignall 0:1a0321f1ffbc 44
Brignall 0:1a0321f1ffbc 45 static const char OUT_X_L_M = 0x08;
Brignall 0:1a0321f1ffbc 46 static const char OUT_X_H_M = 0x09;
Brignall 0:1a0321f1ffbc 47 static const char OUT_Y_L_M = 0x0A;
Brignall 0:1a0321f1ffbc 48 static const char OUT_Y_H_M = 0x0B;
Brignall 0:1a0321f1ffbc 49 static const char OUT_Z_L_M = 0x0C;
Brignall 0:1a0321f1ffbc 50 static const char OUT_Z_H_M = 0x0D;
Brignall 0:1a0321f1ffbc 51 static const char WHO_AM_I_XM = 0x0F;
Brignall 0:1a0321f1ffbc 52
Brignall 0:1a0321f1ffbc 53 static const char INT_CTRL_REG_M = 0x12;
Brignall 0:1a0321f1ffbc 54 static const char CTRL_REG0_XM = 0x1F;
Brignall 0:1a0321f1ffbc 55 static const char CTRL_REG1_XM = 0x20;
Brignall 0:1a0321f1ffbc 56 static const char CTRL_REG2_XM = 0x21;
Brignall 0:1a0321f1ffbc 57 static const char CTRL_REG3_XM = 0x22;
Brignall 0:1a0321f1ffbc 58 static const char CTRL_REG4_XM = 0x23;
Brignall 0:1a0321f1ffbc 59 static const char CTRL_REG5_XM = 0x24;
Brignall 0:1a0321f1ffbc 60 static const char CTRL_REG6_XM = 0x25;
Brignall 0:1a0321f1ffbc 61 static const char CTRL_REG7_XM = 0x26;
Brignall 0:1a0321f1ffbc 62
Brignall 0:1a0321f1ffbc 63 static const char OUT_X_L_A = 0x28;
Brignall 0:1a0321f1ffbc 64 static const char OUT_X_H_A = 0x29;
Brignall 0:1a0321f1ffbc 65 static const char OUT_Y_L_A = 0x2A;
Brignall 0:1a0321f1ffbc 66 static const char OUT_Y_H_A = 0x2B;
Brignall 0:1a0321f1ffbc 67 static const char OUT_Z_L_A = 0x2C;
Brignall 0:1a0321f1ffbc 68 static const char OUT_Z_H_A = 0x2D;
Brignall 0:1a0321f1ffbc 69
Brignall 0:1a0321f1ffbc 70 static const float PERIOD;
Brignall 0:1a0321f1ffbc 71 static const float PI;
Brignall 0:1a0321f1ffbc 72 static const float LOWPASS_FILTER_FREQUENCY;
Brignall 0:1a0321f1ffbc 73
Brignall 0:1a0321f1ffbc 74 SPI& spi;
Brignall 0:1a0321f1ffbc 75 DigitalOut& csG;
Brignall 0:1a0321f1ffbc 76 DigitalOut& csXM;
Brignall 0:1a0321f1ffbc 77
Brignall 0:1a0321f1ffbc 78 float magnetometerXMin;
Brignall 0:1a0321f1ffbc 79 float magnetometerXMax;
Brignall 0:1a0321f1ffbc 80 float magnetometerYMin;
Brignall 0:1a0321f1ffbc 81 float magnetometerYMax;
Brignall 0:1a0321f1ffbc 82 LowpassFilter magnetometerXFilter;
Brignall 0:1a0321f1ffbc 83 LowpassFilter magnetometerYFilter;
Brignall 0:1a0321f1ffbc 84 float heading;
Brignall 0:1a0321f1ffbc 85 Ticker ticker;
Brignall 0:1a0321f1ffbc 86
Brignall 0:1a0321f1ffbc 87 void writeRegister(DigitalOut& cs, char address, char value);
Brignall 0:1a0321f1ffbc 88 char readRegister(DigitalOut& cs, char address);
Brignall 0:1a0321f1ffbc 89 void run();
Brignall 0:1a0321f1ffbc 90 };
Brignall 0:1a0321f1ffbc 91
Brignall 0:1a0321f1ffbc 92 #endif /* IMU_H_ */
Brignall 0:1a0321f1ffbc 93