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/**
 * @author Eric Van den Bulck
 *
 * @section LICENSE
 *
 * Copyright (c) 2010 ARM Limited
 *
 * @section DESCRIPTION
 *
 * Pololu MinIMU-9 v2 sensor:
 *   L3GD20 three-axis digital output gyroscope.
 *   LSM303 three-axis digital accelerometer and magnetometer 
 *
 * Information to build this library:
 * 1. The Arduino libraries for this sensor from the Pololu and Adafruit websites, available at gitbub.
 *       https://github.com/adafruit/Adafruit_L3GD20
 *       https://github.com/pololu/L3G/tree/master/L3G
 * 2. The Rasberry Pi code at https://github.com/idavidstory/goPiCopter/tree/master/io/sensors
 *       https://github.com/idavidstory/goPiCopter/tree/master/io/sensors
 * 3. Information on how to write libraries:  http://mbed.org/cookbook/Writing-a-Library
 * 4. Information on I2C control: http://mbed.org/users/mbed_official/code/mbed/
 * 5. The Youtube videos from Brian Douglas (3 x 15') at http://www.youtube.com/playlist?list=PLUMWjy5jgHK30fkGrufluENJqZmLZkmqI
 * http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
 * Reading an IMU Without Kalman: The Complementary Filter:  http://www.pieter-jan.com/node/11
 * setup info on the minIMU-9 v2 on http://forum.pololu.com/viewtopic.php?f=3&t=4801&start=30
 */

#include "mbed.h"
#include "IMU.h"

IMU::IMU(PinName sda, PinName scl) : _i2c(sda, scl) {
    _i2c.frequency(400000);  /* 400kHz, fast mode. */
}

char IMU::init(void)  /* returns error upon a non-zero return */
{
   char ack, rx, tx[2];
   double pi, a, A;

// 1. Initialize selected registers: 2c.read and i2c.write return 0 on success (ack)
// --------------------------------
//
// 1.a Enable L3DG20 gyrosensor and set operational mode:
// CTRL_REG1: set to 0x1F = 0001-1111 --> enable sensor, DR= 95Hz, LPF-Cut-off-freq=25Hz.
// CTRL_REG1: set to 0x5F = 0101-1111 --> enable sensor, DR=190Hz, LPF-Cut-off-freq=25Hz.
// CTRL_REG4: left at default = 0x00 --> Full Scale = 250 degrees/second --> Sensitivity = 0.00875 dps/digit.
    address = L3GD20_ADDR;
    tx[0] = L3GD20_CTRL_REG1; // address contrl_register 1
    tx[1] = 0x1F; // 00-01-1-111 enable sensor and set operational mode. 
    ack = _i2c.write(address, tx, 2);
    ack |= _i2c.write(address, tx, 1);
    ack |= _i2c.read(address+1, &rx, 1); if (rx != 0x1F) ack |= 1;
//
// 1.b Enable LSM303 accelerometer and set operational mode:
// CTRL_REG1: set to 0x37 = 0011 0111 --> DR =  25Hz & enable sensor
// CTRL_REG1: set to 0x47 = 0100 0111 --> DR =  50Hz & enable sensor
// CTRL_REG1: set to 0x57 = 0101 0111 --> DR = 100Hz & enable sensor
// CTRL_REG1: set to 0x77 = 0111 0111 --> DR = 200Hz & enable sensor
// CTRL_REG4: set to 0x08 = 0000 1000 --> Full Scale = +/- 2G & high resolution --> Sensitivity = 0.001G/digit.
    address = LSM303_A_ADDR; 
    tx[0] = LSM303_A_CTRL_REG1;
    tx[1] = 0x57; //                    --> 200 Hz Data rate speed - p.24/42 of datasheet
    ack |= _i2c.write(address, tx, 2);
    ack |= _i2c.write(address, tx, 1);
    ack |= _i2c.read(address+1, &rx, 1); if (rx != 0x57) ack |= 1;    
    tx[0] = LSM303_A_CTRL_REG4;
    tx[1] = 0x08; // 0000 1000 enable high resolution mode + selects default 2G scale. p.26/42
    ack |= _i2c.write(address, tx ,2);
    ack |= _i2c.write(address, tx, 1);
    ack |= _i2c.read(address+1, &rx, 1); if (rx != 0x08) ack |= 1;    
//
// 1.c enable LSM303 magnetometer and set operational mode:
// CRA_REG is reset from 0x10 to 0x14 = 00010100 -->  30 Hz data output rate.
// CRA_REG is reset from 0x10 to 0x18 = 00011000 -->  75 Hz data output rate.
// CRA_REG is reset from 0x10 to 0x1C = 00011100 --> 220 Hz data output rate.
// CRB_REG is kept at default = 00100000 = 0x20 --> range +/- 1.3 Gauss, Gain = 1100/980(Z) LSB/Gauss.
// MR_REG is reset from 0x03 to 0x00 -> continuos conversion mode in stead of sleep mode.
    address = LSM303_M_ADDR; 
    tx[0] = LSM303_M_CRA_REG;
    tx[1] = 0x18;                       //  -->  75 Hz minimum output rate - p.36/42 of datasheet
    ack |= _i2c.write(address, tx, 2);
    ack |= _i2c.write(address, tx, 1);
    ack |= _i2c.read(address+1, &rx, 1); if (rx != 0x18) ack |= 1;    
    tx[0] = LSM303_M_MR_REG;
    tx[1] = 0x00; // 0000 0000 --> continuous-conversion mode 25 Hz Data rate speed - p.24/42 of datasheet
    ack |= _i2c.write(address, tx, 2);
    ack |= _i2c.write(address, tx, 1);
    ack |= _i2c.read(address+1, &rx, 1); if (rx != 0x00) ack |= 1;    
 
// 2. Initialize calibration constants with predetermined values.
// acceleration:
// My calibration values, vs. the website http://rwsarduino.blogspot.be/2013/01/inertial-orientation-sensing.html

/* my predetermined static bias counts */
    L3GD20_biasX = (int16_t)   90;  /* digit counts */
    L3GD20_biasY = (int16_t) -182;
    L3GD20_biasZ = (int16_t)  -10;

/* reference gravity acceleration */
    g_0 = 9.815;

/* filter parameters: assume 50 Hz sampling rare and 2nd orcer Butterworth filter with fc = 6Hz. */
    pi = 3.1415926536;     
    A = tan(pi*6/50); a = 1 + sqrt(2.0)*A + A*A;
    FF[1] = 2*(A*A-1)/a;
    FF[2] = (1-sqrt(2.0)*A+A*A)/a;
    FF[0] = (1+FF[1]+FF[2])/4;

    return ack;
}

char IMU::readData(float *d) 
{
      char ack, reg, D[6];
      int16_t W[3];

// report the data in rad/s
// gyro data are 16 bit readings per axis, stored: X_l, X_h, Y_l, Y_h, Z_l, Z_h
// #define L3GD20_SENSITIVITY_250DPS 0.00875  ---  #define L3GD20_DPS_TO_RADS  0.017453293
         address = L3GD20_ADDR;
         reg = L3GD20_OUT_X_L | 0x80; // set address auto-increment bit
         ack = _i2c.write(address,&reg,1);  ack |= _i2c.read(address+1,D,6); 
         W[0] = (int16_t) (D[1] << 8 | D[0]); 
         W[1] = (int16_t) (D[3] << 8 | D[2]); 
         W[2] = (int16_t) (D[5] << 8 | D[4]); 
         *(d+0) = (float) 0.971*(W[0]-L3GD20_biasX)*L3GD20_SENSITIVITY_250DPS*L3GD20_DPS_TO_RADS;
         *(d+1) = (float) 0.998*(W[1]-L3GD20_biasY)*L3GD20_SENSITIVITY_250DPS*L3GD20_DPS_TO_RADS;
         *(d+2) = (float) 1.002*(W[2]-L3GD20_biasZ)*L3GD20_SENSITIVITY_250DPS*L3GD20_DPS_TO_RADS;
         
// Accelerometer data are stored as 12 bit readings, left justified per axis.
// The data needs to be shifted 4 digits to the right! This is not general, only for the A measurement.
         address = LSM303_A_ADDR; 
         reg = LSM303_A_OUT_X_L | 0x80; // set address auto-increment bit
         ack |= _i2c.write(address,&reg,1);  ack |= _i2c.read(address+1,D,6); 
         W[0] = ((int16_t) (D[1] << 8 | D[0])) >> 4;
         W[1] = ((int16_t) (D[3] << 8 | D[2])) >> 4;
         W[2] = ((int16_t) (D[5] << 8 | D[4])) >> 4;
         *(d+3) = (float) g_0*0.991*(W[0]+34)/1000; 
         *(d+4) = (float) g_0*0.970*(W[1]+2)/1000; 
         *(d+5) = (float) g_0*0.983*(W[2]+28)/1000;  
// GN = 001  
// Magnetometer; are stored as 12 bit readings, right justified per axis.
         address = LSM303_M_ADDR; 
         reg = LSM303_M_OUT_X_H | 0x80; // set address auto-increment bit
         ack |= _i2c.write(address,&reg,1);  ack |= _i2c.read(address+1,D,6); 
         W[0] = ((int16_t) (D[0] << 8 | D[1]));
         W[1] = ((int16_t) (D[4] << 8 | D[5]));
         W[2] = ((int16_t) (D[2] << 8 | D[3]));
         *(d+6) = (float) 2.813*(W[0]-264)/1100; 
         *(d+7) = (float) 2.822*(W[1]- 98)/1100; 
         *(d+8) = (float) 2.880*(W[2]-305)/980; 

         return ack;
}

void IMU::filterData(float *d, double *D) 
// 2nd order Butterworth filter. Filter coefficients FF computed in function init.
{
    for (int i=0; i<9; ++i) {
//        *(FD+9*i+2) = *(FD+9*i+1); *(FD+9*i+1) = *(FD+9*i); *(FD+9*i) = (double) d[i];
         FD[2][i] = FD[1][i]; FD[1][i] = FD[0][i]; FD[0][i] = (double) d[i];
         FD[5][i] = FD[4][i]; FD[4][i] = FD[3][i]; 
         FD[3][i] = FF[0]*(FD[0][i] + 2*FD[1][i] + FD[2][i]) - FF[1]*FD[4][i] - FF[2]*FD[5][i];
         D[i] = FD[3][i]; 
    }
//         D[0] = FD[0][2]; D[1] = FD[1][2]; D[2] = FD[2][2];
}