AHRS Library
Diff: AHRS.cpp
- Revision:
- 3:6811c0ce95f6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AHRS.cpp Tue Dec 04 15:49:48 2018 +0000 @@ -0,0 +1,49 @@ +#include "AHRS.h" +#include "Mahony.h" +#include "MadgwickAHRS.h" +#define PI 3.141592653589793 + +using namespace std; + +AHRS::AHRS(uint8_t filtertype,float TS) : RPY_filter(TS), csAG(PA_15),csM(PD_2), spi(PC_12, PC_11, PC_10), imu(&spi, &csM, &csAG), thread(osPriorityBelowNormal, 4096){ + + thread.start(callback(this, &AHRS::update)); + ticker.attach(callback(this, &AHRS::sendSignal), TS); + LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0); // use gain and offset here + LinearCharacteristics raw_ay2ay(-40.0/65536.0,-307.0); // y-axis reversed + LinearCharacteristics raw_az2az(-16350.0,16350,-10.0, 10.0); + LinearCharacteristics raw_gx2gx(-32767,32768,-500*PI/180.0, 500*PI/180.0); + LinearCharacteristics raw_gy2gy(-32767,32768, 500*PI/180.0,-500*PI/180.0); // y-axis reversed (lefthanded system) + LinearCharacteristics raw_gz2gz(-32767,32768,-500*PI/180.0, 500*PI/180.0); + LinearCharacteristics int2magx( -32767,32768,100.0,-100.0); // x-axis reversed + LinearCharacteristics int2magy( -32767,32768,100.0,-100.0); // y-axis reversed + LinearCharacteristics int2magz( -32767,32768,-100.0,100.0); + while (!imu.begin()) { + wait(1); + printf("Failed to communicate with LSM9DS1.\r\n"); + } + +} + +AHRS::~AHRS() {} + +void AHRS::update(void) +{ + while(1){ + thread.signal_wait(signal); + imu.readAccel(); + imu.readMag_calibrated(); + imu.readGyro(); + + //Perform Madgwick-filter update + RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy), raw_gz2gz(imu.gz) , + raw_ax2ax(imu.ax), raw_ay2ay(imu.ay), raw_az2az(imu.az), + int2magx(imu.mx), int2magy(imu.my), int2magz(imu.mz)); + + + } // while(1) +} +void AHRS::sendSignal() { + + thread.signal_set(signal); +} \ No newline at end of file