Diff: Service/Acc_Giro.h

Revision:

37:e1ad11fe3fe4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Service/Acc_Giro.h	Wed Feb 26 08:46:22 2014 +0000
@@ -0,0 +1,126 @@
+#ifndef Acc_Giro_H
+#define Acc_Giro_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+#include "ADXL345_I2C.h"
+#include "ITG3200.h"
+#include "IMUfilter.h"
+
+/**
+ * Defines
+ */
+//Gravity at Earth's surface in m/s/s
+#define g0 9.812865328
+//Number of samples to average.
+#define SAMPLES 4
+//Number of samples to be averaged for a null bias calculation
+//during calibration.
+#define CALIBRATION_SAMPLES 128
+//Convert from radians to degrees.
+#define toDegrees(x) (x * 57.2957795)
+//Convert from degrees to radians.
+#define toRadians(x) (x * 0.01745329252)
+//ITG-3200 sensitivity is 14.375 LSB/(degrees/sec).
+#define GYROSCOPE_GAIN (1 / 14.375)
+//Full scale resolution on the ADXL345 is 4mg/LSB.
+#define ACCELEROMETER_GAIN (0.004 * g0)
+//Sampling gyroscope at 200Hz.
+#define GYRO_RATE   0.002
+//Sampling accelerometer at 200Hz.
+#define ACC_RATE    0.002
+//Updating filter at 100Hz.
+#define FILTER_RATE 0.01
+#define CORRECTION_MAGNITUDE 50
+ 
+class Acc_Giro {
+
+public:
+
+    //Constructor.
+     Acc_Giro();
+    //destructeur
+   // ~Acc_Giro();
+    
+    //Set up the ADXL345 appropriately.
+    void initializeAccelerometer(void);
+    //Calculate the null bias.
+    void calibrateAccelerometer(void);
+    //Take a set of samples and average them.
+    void sampleAccelerometer(void);
+    //Set up the ITG3200 appropriately.
+    void initializeGyroscope(void);
+    //Calculate the null bias.
+    void calibrateGyroscope(void);
+    //Take a set of samples and average them.
+    void sampleGyroscope(void);
+    //Update the filter and calculate the Euler angles.
+    void filter(void);
+    void GetI2CAddress();
+    void dataSender(void);
+    
+    //membre classe
+    IMUfilter *imuFilter; 
+    ADXL345_I2C *accelerometer;
+    I2C *i2c;
+    ITG3200 *gyroscope;
+    Ticker accelerometerTicker;
+    Ticker gyroscopeTicker;
+    Ticker filterTicker;
+    Ticker dataTicker;
+    Ticker algorithmTicker; 
+    
+   
+    
+    int calibrate;
+    int calibrated;
+    int start;
+    int started;
+    int alg_enable;
+    
+    char data[128];
+    //Offsets for the gyroscope.
+    //The readings we take when the gyroscope is stationary won't be 0, so we'll
+    //average a set of readings we do get when the gyroscope is stationary and
+    //take those away from subsequent readings to ensure the gyroscope is offset
+    //or "biased" to 0.
+    double w_xBias;
+    double w_yBias;
+    double w_zBias;
+    
+    //Offsets for the accelerometer.
+    //Same as with the gyroscope.
+    double a_xBias;
+    double a_yBias;
+    double a_zBias;
+    
+    //Accumulators used for oversampling and then averaging.
+    volatile double a_xAccumulator;
+    volatile double a_yAccumulator;
+    volatile double a_zAccumulator;
+    volatile double w_xAccumulator;
+    volatile double w_yAccumulator;
+    volatile double w_zAccumulator;
+    
+    //Accelerometer and gyroscope readings for x, y, z axes.
+    volatile double a_x;
+    volatile double a_y;
+    volatile double a_z;
+    volatile double w_x;
+    volatile double w_y;
+    volatile double w_z;
+    
+    //Buffer for accelerometer readings.
+    int readings[3];
+    //Number of accelerometer samples we're on.
+    int accelerometerSamples;
+    //Number of gyroscope samples we're on.
+    int gyroscopeSamples;
+ 
+ };
+ 
+ 
+ 
+ #endif /* PID_H */
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