IMU.h

00001 /* Atmel Inertial One IMU Library
00002  * Copyright (c) 2012 Daniel Kouba
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022  
00023  #ifndef IMU_AIO_H        //IMU Atmel Inertial One
00024  #define IMU_AIO_H
00025  
00026  #include "mbed.h"
00027  
00028  /* Defines */
00029  
00030  //7 bit I2C Addresses, shifted left to allow for read/write bit as LSB
00031  
00032  #define GYRO_ADR  0x68 << 1
00033  #define ACC_ADR   0x38 << 1
00034  #define COMP_ADR  0x0C << 1
00035  
00036  // ITG3200 Gyro Registers
00037  
00038  #define GYRO_WHO_AM_I_REG         0x00
00039  #define GYRO_SAMPLE_DIV_REG       0x15
00040  #define GYRO_DLPF_REG             0x16
00041  #define GYRO_INT_CFG_REG          0x17
00042  #define GYRO_INT_STATUS_REG       0x1A
00043  #define GYRO_TEMP_H_REG           0x1B
00044  #define GYRO_TEMP_L_REG           0x1C
00045  #define GYRO_XOUT_H_REG           0x1D
00046  #define GYRO_XOUT_L_REG           0x1E
00047  #define GYRO_YOUT_H_REG           0x1F
00048  #define GYRO_YOUT_L_REG           0x20
00049  #define GYRO_ZOUT_H_REG           0x21
00050  #define GYRO_ZOUT_L_REG           0x22
00051  
00052  // Gyro LPF bandwidths
00053  
00054  #define BW_256HZ       0x00        //8kHz sample rate
00055  #define BW_188HZ       0x01        //1kHz sample rate for 188Hz and below
00056  #define BW_98HZ        0x02
00057  #define BW_42HZ        0x03
00058  #define BW_20HZ        0x04
00059  #define BW_10HZ        0x05
00060  #define BW_5HZ         0x06
00061  
00062  // Gyro Initial FS_SEL Register Config
00063  
00064  #define FS_SEL_INIT    0x03 << 3
00065   
00066  // BMA150 Accelerometer Registers
00067  
00068  #define ACC_XOUT_L_REG            0x02     //Acceleration data registers
00069  #define ACC_XOUT_H_REG            0x03
00070  #define ACC_YOUT_L_REG            0x04
00071  #define ACC_YOUT_H_REG            0x05
00072  #define ACC_ZOUT_L_REG            0x06
00073  #define ACC_ZOUT_H_REG            0x07
00074  #define ACC_TEMP_REG              0x08     //Temperature register, 0.5 deg. C / LSB
00075  #define ACC_CTRL_REG              0x0A     //Control registers
00076  #define ACC_OPER_REG              0x14     //Operational registers
00077  #define ACC_INT_REG               0x15     //Interrupt registers
00078  
00079  // Accelerometer LPF bandwidths
00080  
00081  #define BW_25HZ        0x00
00082  #define BW_50HZ        0x01
00083  #define BW_100HZ       0x02
00084  #define BW_190HZ       0x03
00085  #define BW_375HZ       0x04
00086  #define BW_750HZ       0x05
00087  #define BW_1500HZ      0x06
00088  
00089  // Accelerometer Range values
00090  
00091  #define RANGE_2G       0x00
00092  #define RANGE_4G       0x01
00093  #define RANGE_8G       0x02
00094    
00095  // AK8973 Compass Registers
00096 
00097  
00098  /** Atmel Inertial One IMU Control Class
00099  * 
00100  * Includes control routines for:
00101  * - ITG-3200 3-axis, 16 bit gyroscope
00102  * - BMA-150 3-axis, 10 bit accelerometer
00103  * - AK8975 3-axis, 16 bit magnetometer
00104  *
00105  * Datasheets:
00106  *
00107  * http://www.atmel.com/dyn/resources/prod_documents/doc8354.pdf
00108  * 
00109  * http://invensense.com/mems/gyro/documents/PS-ITG-3200A.pdf
00110  *
00111  * http://www.bosch-sensortec.com/content/language1/downloads/BMA150_DataSheet_Rev.1.5_30May2008.pdf
00112  * 
00113  * http://pdf1.alldatasheet.com/datasheet-pdf/view/219477/AKM/AK8973/+Q18W89VYpLawLCDwv+/datasheet.pdf
00114  * 
00115  */
00116  class IMU {
00117  
00118  public:
00119     struct data3d
00120     {
00121         int x, y, z;
00122     } gyro_data, acc_data, mag_data;
00123  
00124  public:    
00125  
00126     /** Creates IMU object and initializes all three chips
00127     *
00128     * Gyro: FS_SEL register is set to 0x03, as required by datasheet
00129     *
00130     * Accelerometer:
00131     *
00132     * Compass:
00133     *
00134     * @param sda pin for I2C sda signal
00135     * @param scl pin for I2C scl signal
00136     */
00137     IMU(PinName sda, PinName scl);
00138     
00139     /* Gyro Methods */
00140     
00141     /** Gets current ADC data from all axes of gyro (uses burst read mode)
00142     * 
00143     * @return data3d struct of X, Y, and Z axis gyro measurements (signed 16 bits)
00144     */
00145     data3d getGyroData(void);
00146     
00147     /** Sets digital LPF bandwidth for all gyro channels - Not working currently
00148     * 
00149     * @param bw Filter Bandwidth (use defined bandwidths)
00150     */
00151     void setGyroLPF(char bw);
00152     
00153     /* Accelerometer Methods */
00154     
00155     /** Gets current X acceleration
00156     *
00157     * @return Raw X acceleration, 10 bits signed
00158     */
00159     int accX(void);
00160 
00161     /** Gets current Y acceleration
00162     *
00163     * @return Raw Y acceleration, 10 bits signed
00164     */
00165     int accY(void);
00166 
00167     /** Gets current Z acceleration
00168     *
00169     * @return Raw Z acceleration, 10 bits signed
00170     */
00171     int accZ(void);
00172     
00173     /** Gets current acceleration on all axes
00174     *
00175     * @return data3d struct of acceleration data, signed ints
00176     */
00177     data3d getAccData(void);
00178     
00179     /** Sets digital LPF filter bandwidth
00180     *
00181     * @param bw Digital LPF filter bandwidth
00182     */
00183     void setAccLPF(char bw);
00184 
00185     /** Sets accelerometer measurement range (+/-2, 4, or 8g's)
00186     *
00187     * @param range Range of g measurements
00188     */    
00189     void setAccRange(char range);
00190     
00191     /** Updates all image registers with data stored in EEPROM
00192     *
00193     */    
00194     void accUpdateImage(void);
00195 
00196     /** Set EEPROM write enable
00197     *
00198     * @param we Write enable value
00199     */    
00200     void accEEWriteEn(bool we);
00201     
00202     /* Compass Methods */
00203     
00204     
00205  
00206  private:
00207  
00208     I2C _i2c;       //I2C object constructor
00209  
00210  };
00211  
00212  #endif