Thiago Lima / GY80

c

GY80.h@4:cc026f60357a, 2013-10-19 (annotated)

Committer:
oprospero
Date:
Sat Oct 19 17:33:40 2013 +0000
Revision:
4:cc026f60357a
Parent:
2:2553ca95fba0
Child:
5:9dc0f2d15783
optimized speed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oprospero 0:336ec4d70363 1 #ifndef SENSORS_H
oprospero 0:336ec4d70363 2 #define SENSORS_H
oprospero 0:336ec4d70363 3
oprospero 0:336ec4d70363 4 #include "mbed.h"
oprospero 0:336ec4d70363 5 #define I2C_FREQ 400000
oprospero 2:2553ca95fba0 6 #define SCL PTC8
oprospero 2:2553ca95fba0 7 #define SDA PTC9
oprospero 0:336ec4d70363 8
oprospero 0:336ec4d70363 9 #define ACCEL_ADDRESS (0xA6) // 0x53 = 0xA6 / 2
oprospero 0:336ec4d70363 10 #define MAGN_ADDRESS (0x3C) // 0x1E = 0x3C / 2
oprospero 0:336ec4d70363 11 #define GYRO_ADDRESS (0xD2) // 0x68 = 0xD0 / 2
oprospero 0:336ec4d70363 12
oprospero 0:336ec4d70363 13 // SENSOR CALIBRATION
oprospero 0:336ec4d70363 14 /*****************************************************************/
oprospero 0:336ec4d70363 15 // How to calibrate? Read the tutorial at http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs
oprospero 0:336ec4d70363 16 // Put MIN/MAX and OFFSET readings for your board here!
oprospero 0:336ec4d70363 17 // Accelerometer
oprospero 0:336ec4d70363 18 // "accel x,y,z (min/max) = X_MIN/X_MAX Y_MIN/Y_MAX Z_MIN/Z_MAX"
oprospero 0:336ec4d70363 19 #define ACCEL_X_MIN (-255.0f)
oprospero 0:336ec4d70363 20 #define ACCEL_X_MAX (260.0f)
oprospero 0:336ec4d70363 21 #define ACCEL_Y_MIN (-267.0f)
oprospero 0:336ec4d70363 22 #define ACCEL_Y_MAX (255.0f)
oprospero 0:336ec4d70363 23 #define ACCEL_Z_MIN (-278.0f)
oprospero 0:336ec4d70363 24 #define ACCEL_Z_MAX (238.0f)
oprospero 0:336ec4d70363 25
oprospero 0:336ec4d70363 26 // Magnetometer
oprospero 0:336ec4d70363 27 // "magn x,y,z (min/max) = X_MIN/X_MAX Y_MIN/Y_MAX Z_MIN/Z_MAX"
oprospero 0:336ec4d70363 28 #define MAGN_X_MIN (-520.0f)
oprospero 0:336ec4d70363 29 #define MAGN_X_MAX (850.0f)
oprospero 0:336ec4d70363 30 #define MAGN_Y_MIN (-640.0f)
oprospero 0:336ec4d70363 31 #define MAGN_Y_MAX (684.0f)
oprospero 0:336ec4d70363 32 #define MAGN_Z_MIN (-213.0f)
oprospero 0:336ec4d70363 33 #define MAGN_Z_MAX (850.0f)
oprospero 0:336ec4d70363 34
oprospero 0:336ec4d70363 35 // Gyroscope
oprospero 0:336ec4d70363 36 // "gyro x,y,z (current/average) = .../OFFSET_X .../OFFSET_Y .../OFFSET_Z
oprospero 0:336ec4d70363 37 #define GYRO_X_OFFSET (-20.5f)
oprospero 0:336ec4d70363 38 #define GYRO_Y_OFFSET (0.5f)
oprospero 0:336ec4d70363 39 #define GYRO_Z_OFFSET (10.5f)
oprospero 0:336ec4d70363 40
oprospero 0:336ec4d70363 41 //*****************************************************************************/
oprospero 0:336ec4d70363 42
oprospero 0:336ec4d70363 43 #define GRAVITY 255.0f //this equivalent to 1G in the raw data coming from the accelerometer
oprospero 0:336ec4d70363 44
oprospero 0:336ec4d70363 45 #define ACCEL_X_OFFSET ((ACCEL_X_MIN + ACCEL_X_MAX) / 2.0f)
oprospero 0:336ec4d70363 46 #define ACCEL_Y_OFFSET ((ACCEL_Y_MIN + ACCEL_Y_MAX) / 2.0f)
oprospero 0:336ec4d70363 47 #define ACCEL_Z_OFFSET ((ACCEL_Z_MIN + ACCEL_Z_MAX) / 2.0f)
oprospero 0:336ec4d70363 48 #define ACCEL_X_SCALE (GRAVITY / (ACCEL_X_MAX - ACCEL_X_OFFSET))
oprospero 0:336ec4d70363 49 #define ACCEL_Y_SCALE (GRAVITY / (ACCEL_Y_MAX - ACCEL_Y_OFFSET))
oprospero 0:336ec4d70363 50 #define ACCEL_Z_SCALE (GRAVITY / (ACCEL_Z_MAX - ACCEL_Z_OFFSET))
oprospero 0:336ec4d70363 51
oprospero 0:336ec4d70363 52 #define MAGN_X_OFFSET ((MAGN_X_MIN + MAGN_X_MAX) / 2.0f)
oprospero 0:336ec4d70363 53 #define MAGN_Y_OFFSET ((MAGN_Y_MIN + MAGN_Y_MAX) / 2.0f)
oprospero 0:336ec4d70363 54 #define MAGN_Z_OFFSET ((MAGN_Z_MIN + MAGN_Z_MAX) / 2.0f)
oprospero 0:336ec4d70363 55 #define MAGN_X_SCALE (100.0f / (MAGN_X_MAX - MAGN_X_OFFSET))
oprospero 0:336ec4d70363 56 #define MAGN_Y_SCALE (100.0f / (MAGN_Y_MAX - MAGN_Y_OFFSET))
oprospero 0:336ec4d70363 57 #define MAGN_Z_SCALE (100.0f / (MAGN_Z_MAX - MAGN_Z_OFFSET))
oprospero 0:336ec4d70363 58
oprospero 0:336ec4d70363 59 // Gyro gain (conversion from raw to degree per seconds)
oprospero 0:336ec4d70363 60 #define GYRO_GAIN 0.061035156f
oprospero 0:336ec4d70363 61 #define GYRO_GAIN_X 0.061035156f //X axis Gyro gain
oprospero 0:336ec4d70363 62 #define GYRO_GAIN_Y 0.061035156f //Y axis Gyro gain
oprospero 0:336ec4d70363 63 #define GYRO_GAIN_Z 0.061035156f //Z axis Gyro gain
oprospero 0:336ec4d70363 64
oprospero 0:336ec4d70363 65 #define DEG2RAD(x) (x * 0.01745329252) // *pi/180
oprospero 0:336ec4d70363 66 #define RAD2DEG(x) (x * 57.2957795131) // *180/pi
oprospero 0:336ec4d70363 67
oprospero 0:336ec4d70363 68 typedef char byte;
oprospero 0:336ec4d70363 69
oprospero 0:336ec4d70363 70 class GY80
oprospero 0:336ec4d70363 71 {
oprospero 0:336ec4d70363 72 public:
oprospero 2:2553ca95fba0 73 I2C Wire;
oprospero 2:2553ca95fba0 74 GY80();
oprospero 2:2553ca95fba0 75 ~GY80();
oprospero 2:2553ca95fba0 76 void Read_Accel(float* accel_v);
oprospero 1:6909d797972f 77 void Read_Gyro(float* );
oprospero 1:6909d797972f 78 void Read_Magn(float* );
oprospero 0:336ec4d70363 79
oprospero 0:336ec4d70363 80 private:
oprospero 0:336ec4d70363 81 short accel[3];
oprospero 0:336ec4d70363 82 short gyro[3];
oprospero 0:336ec4d70363 83 short mag[3];
oprospero 0:336ec4d70363 84 void Accel_Init();
oprospero 0:336ec4d70363 85 void Gyro_Init();
oprospero 0:336ec4d70363 86 void Magn_Init();
oprospero 0:336ec4d70363 87
oprospero 0:336ec4d70363 88 };
oprospero 0:336ec4d70363 89
oprospero 0:336ec4d70363 90 #endif