Revision 0:ef171fe2a7e5, committed 2010-06-17

Comitter:

aberk

Date:

Thu Jun 17 10:05:46 2010 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r ef171fe2a7e5 dof9RazorImuAhrs.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dof9RazorImuAhrs.cpp	Thu Jun 17 10:05:46 2010 +0000
@@ -0,0 +1,115 @@
+//****************************************************************************/
+// Description:
+//
+//  Read attitude and heading reference system [AHRS] data from the SparkFun
+//  9DOF Razor Inertial Measurement Unit [IMU].
+//
+// AHRS code:
+//
+//  http://code.google.com/p/sf9domahrs/
+//
+// 9DOF Razor IMU:
+//
+//  http://www.sparkfun.com/commerce/product_info.php?products_id=9623
+//****************************************************************************/
+
+//****************************************************************************/
+// Includes
+//****************************************************************************/
+#include "dof9RazorImuAhrs.h"
+
+dof9RazorImuAhrs::dof9RazorImuAhrs(PinName tx, PinName rx) {
+
+    razor = new Serial(tx, rx);
+    razor->baud(BAUD_RATE);
+
+}
+
+void dof9RazorImuAhrs::update(void) {
+
+    //Make sure we get to the start of a line.
+    while (razor->getc() != '\n');
+
+#if PRINT_EULER == 1
+    razor->scanf("!ANG:%f,%f,%f", &roll, &pitch, &yaw);
+#endif
+
+#if PRINT_ANALOGS == 1
+    razor->scanf(",AN:%f,%f,%f", &gyro_x, &gyro_y, &gyro_z);
+    razor->scanf(",%f,%f,%f", &acc_x, &acc_y, &acc_z);
+    razor->scanf(",%f,%f,%f", &mag_x, &mag_y, &mag_z);
+#endif
+
+}
+
+float dof9RazorImuAhrs::getRoll(void){
+
+    return roll;
+
+}
+
+float dof9RazorImuAhrs::getPitch(void){
+
+    return pitch;
+
+}
+
+float dof9RazorImuAhrs::getYaw(void){
+
+    return yaw;
+
+}
+
+float dof9RazorImuAhrs::getGyroX(void){
+
+    return gyro_x;
+
+}
+
+float dof9RazorImuAhrs::getGyroY(void){
+
+    return gyro_y;
+
+}
+
+float dof9RazorImuAhrs::getGyroZ(void){
+
+    return gyro_z;
+
+}
+
+float dof9RazorImuAhrs::getAccX(void){
+
+    return acc_x;
+
+}
+
+float dof9RazorImuAhrs::getAccY(void){
+
+    return acc_x;
+
+}
+
+float dof9RazorImuAhrs::getAccZ(void){
+
+    return acc_z;
+
+}
+
+float dof9RazorImuAhrs::getMagX(void){
+
+    return mag_x;
+
+}
+
+float dof9RazorImuAhrs::getMagY(void){
+
+    return mag_y;
+
+}
+
+float dof9RazorImuAhrs::getMagZ(void){
+
+    return mag_z;
+
+}

diff -r 000000000000 -r ef171fe2a7e5 dof9RazorImuAhrs.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dof9RazorImuAhrs.h	Thu Jun 17 10:05:46 2010 +0000
@@ -0,0 +1,90 @@
+//****************************************************************************/
+// Description:
+//
+//  Read attitude and heading reference system [AHRS] data from the SparkFun
+//  9DOF Razor Inertial Measurement Unit [IMU].
+//
+// AHRS code:
+//
+//  http://code.google.com/p/sf9domahrs/
+//
+// 9DOF Razor IMU:
+//
+//  http://www.sparkfun.com/commerce/product_info.php?products_id=9623
+//****************************************************************************/
+
+#ifndef DOF9_RAZOR_IMU_H
+#define DOF9_RAZOR_IMU_H
+
+//****************************************************************************/
+// Includes
+//****************************************************************************/
+#include "mbed.h"
+
+//****************************************************************************/
+// Defines
+//****************************************************************************/
+#define PRINT_EULER   1     //Corrected heading data.
+#define PRINT_ANALOGS 0     //Razor spits out raw gyro/accelerometer/magneto
+                            //data.
+                            //Set as a define when compiling AHRS code.
+#define BAUD_RATE     57600 //Default in AHRS code.
+
+class dof9RazorImuAhrs {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * Parameters:
+     *
+     *  tx - Pin to use for Serial transmission.
+     *  rx - Pin to use for Serial receive.
+     */
+    dof9RazorImuAhrs(PinName tx, PinName rx);
+    
+    /**
+     * Update all of the heading data.
+     */
+    void update(void);
+    
+    float getRoll(void);
+    float getPitch(void);
+    float getYaw(void);
+    
+    float getGyroX(void);
+    float getGyroY(void);
+    float getGyroZ(void);
+    
+    float getAccX(void);
+    float getAccY(void);
+    float getAccZ(void);
+    
+    float getMagX(void);
+    float getMagY(void);
+    float getMagZ(void);
+
+private:
+
+    Serial* razor;
+
+    float roll;
+    float pitch;
+    float yaw;
+    
+    float gyro_x;
+    float gyro_y;
+    float gyro_z;
+    
+    float acc_x;
+    float acc_y;
+    float acc_z;
+    
+    float mag_x;
+    float mag_y;
+    float mag_z;
+
+};
+
+#endif /* DOF9_RAZOR_IMU_H */

diff -r 000000000000 -r ef171fe2a7e5 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 17 10:05:46 2010 +0000
@@ -0,0 +1,19 @@
+/**
+ * Read the yaw value from the SparkFun 9DOF Razor IMU.
+ */
+
+#include "dof9RazorImuAhrs.h"
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX);
+dof9RazorImuAhrs theRazor(p9, p10);
+
+int main() {
+    
+    while(1) {
+        wait(0.1);
+        theRazor.update();
+        pc.printf("Yaw: %f\n", theRazor.getYaw());    
+    }
+    
+}

diff -r 000000000000 -r ef171fe2a7e5 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Jun 17 10:05:46 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/029aa53d7323