GY80.h

00001 #ifndef SENSORS_H
00002 #define SENSORS_H
00003 
00004 #include "mbed.h"
00005 #define I2C_FREQ 400000
00006 #define SCL PB_6
00007 #define SDA PB_7
00008 
00009 #define ACCEL_ADDRESS (0xA6) // 0x53 = 0xA6 / 2
00010 #define MAGN_ADDRESS  (0x3C) // 0x1E = 0x3C / 2
00011 #define GYRO_ADDRESS  (0xD2) // 0x68 = 0xD0 / 2
00012 
00013 // SENSOR CALIBRATION
00014 /*****************************************************************/
00015 // How to calibrate? Read the tutorial at http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs
00016 // Put MIN/MAX and OFFSET readings for your board here!
00017 // Accelerometer
00018 // "accel x,y,z (min/max) = X_MIN/X_MAX  Y_MIN/Y_MAX  Z_MIN/Z_MAX"
00019 #define ACCEL_X_MIN (-255.0f)
00020 #define ACCEL_X_MAX (260.0f)
00021 #define ACCEL_Y_MIN (-267.0f)
00022 #define ACCEL_Y_MAX (255.0f)
00023 #define ACCEL_Z_MIN (-278.0f)
00024 #define ACCEL_Z_MAX (238.0f)
00025 
00026 // Magnetometer
00027 // "magn x,y,z (min/max) = X_MIN/X_MAX  Y_MIN/Y_MAX  Z_MIN/Z_MAX"
00028 #define MAGN_X_MIN (-520.0f)
00029 #define MAGN_X_MAX (850.0f)
00030 #define MAGN_Y_MIN (-640.0f)
00031 #define MAGN_Y_MAX (684.0f)
00032 #define MAGN_Z_MIN (-213.0f)
00033 #define MAGN_Z_MAX (850.0f)
00034 
00035 // Gyroscope
00036 // "gyro x,y,z (current/average) = .../OFFSET_X  .../OFFSET_Y  .../OFFSET_Z
00037 #define GYRO_X_OFFSET (-20.5f)
00038 #define GYRO_Y_OFFSET (0.5f)
00039 #define GYRO_Z_OFFSET (10.5f)
00040 
00041 //*****************************************************************************/
00042 
00043 #define GRAVITY 255.0f  //this equivalent to 1G in the raw data coming from the accelerometer 
00044 
00045 #define ACCEL_X_OFFSET ((ACCEL_X_MIN + ACCEL_X_MAX) / 2.0f)
00046 #define ACCEL_Y_OFFSET ((ACCEL_Y_MIN + ACCEL_Y_MAX) / 2.0f)
00047 #define ACCEL_Z_OFFSET ((ACCEL_Z_MIN + ACCEL_Z_MAX) / 2.0f)
00048 #define ACCEL_X_SCALE (GRAVITY / (ACCEL_X_MAX - ACCEL_X_OFFSET))
00049 #define ACCEL_Y_SCALE (GRAVITY / (ACCEL_Y_MAX - ACCEL_Y_OFFSET))
00050 #define ACCEL_Z_SCALE (GRAVITY / (ACCEL_Z_MAX - ACCEL_Z_OFFSET))
00051 
00052 #define MAGN_X_OFFSET ((MAGN_X_MIN + MAGN_X_MAX) / 2.0f)
00053 #define MAGN_Y_OFFSET ((MAGN_Y_MIN + MAGN_Y_MAX) / 2.0f)
00054 #define MAGN_Z_OFFSET ((MAGN_Z_MIN + MAGN_Z_MAX) / 2.0f)
00055 #define MAGN_X_SCALE (100.0f / (MAGN_X_MAX - MAGN_X_OFFSET))
00056 #define MAGN_Y_SCALE (100.0f / (MAGN_Y_MAX - MAGN_Y_OFFSET))
00057 #define MAGN_Z_SCALE (100.0f / (MAGN_Z_MAX - MAGN_Z_OFFSET))
00058 
00059 // Gyro gain (conversion from raw to degree per seconds)
00060 #define GYRO_GAIN 0.061035156f
00061 #define GYRO_GAIN_X 0.061035156f //X axis Gyro gain
00062 #define GYRO_GAIN_Y 0.061035156f //Y axis Gyro gain
00063 #define GYRO_GAIN_Z 0.061035156f //Z axis Gyro gain
00064 
00065 #define DEG2RAD(x) (x * 0.01745329252)  // *pi/180
00066 #define RAD2DEG(x) (x * 57.2957795131)  // *180/pi
00067 
00068 typedef char byte;
00069 
00070 class GY80
00071 {
00072 public:
00073     I2C Wire;
00074     GY80();
00075     ~GY80();
00076     void Read_Accel(float* accel_v);
00077     void Read_Gyro(float* );
00078     void Read_Magn(float* );
00079 
00080 private:
00081     short accel[3];
00082     short gyro[3];
00083     short mag[3];
00084     void Accel_Init();
00085     void Gyro_Init();
00086     void Magn_Init();
00087 
00088 };
00089 
00090 #endif