Acc_Giro.h

00001 #ifndef Acc_Giro_H
00002 #define Acc_Giro_H
00003 
00004 /**
00005  * Includes
00006  */
00007 #include "mbed.h"
00008 #include "ADXL345_I2C.h"
00009 #include "ITG3200.h"
00010 #include "IMUfilter.h"
00011 
00012 /**
00013  * Defines
00014  */
00015 //Gravity at Earth's surface in m/s/s
00016 #define g0 9.812865328
00017 //Number of samples to average.
00018 #define SAMPLES 4
00019 //Number of samples to be averaged for a null bias calculation
00020 //during calibration.
00021 #define CALIBRATION_SAMPLES 128
00022 //Convert from radians to degrees.
00023 #define toDegrees(x) (x * 57.2957795)
00024 //Convert from degrees to radians.
00025 #define toRadians(x) (x * 0.01745329252)
00026 //ITG-3200 sensitivity is 14.375 LSB/(degrees/sec).
00027 #define GYROSCOPE_GAIN (1 / 14.375)
00028 //Full scale resolution on the ADXL345 is 4mg/LSB.
00029 #define ACCELEROMETER_GAIN (0.004 * g0)
00030 //Sampling gyroscope at 200Hz.
00031 #define GYRO_RATE   0.002
00032 //Sampling accelerometer at 200Hz.
00033 #define ACC_RATE    0.002
00034 //Updating filter at 100Hz.
00035 #define FILTER_RATE 0.01
00036 #define CORRECTION_MAGNITUDE 50
00037  
00038 class Acc_Giro {
00039 
00040 public:
00041 
00042     //Constructor.
00043      Acc_Giro();
00044     //destructeur
00045    // ~Acc_Giro();
00046     
00047     //Set up the ADXL345 appropriately.
00048     void initializeAccelerometer(void);
00049     //Calculate the null bias.
00050     void calibrateAccelerometer(void);
00051     //Take a set of samples and average them.
00052     void sampleAccelerometer(void);
00053     //Set up the ITG3200 appropriately.
00054     void initializeGyroscope(void);
00055     //Calculate the null bias.
00056     void calibrateGyroscope(void);
00057     //Take a set of samples and average them.
00058     void sampleGyroscope(void);
00059     //Update the filter and calculate the Euler angles.
00060     void filter(void);
00061     void GetI2CAddress();
00062     void dataSender(void);
00063     
00064     //membre classe
00065     IMUfilter *imuFilter; 
00066     ADXL345_I2C *accelerometer;
00067     I2C *i2c;
00068     ITG3200 *gyroscope;
00069     Ticker accelerometerTicker;
00070     Ticker gyroscopeTicker;
00071     Ticker filterTicker;
00072     Ticker dataTicker;
00073     Ticker algorithmTicker; 
00074     
00075    
00076     
00077     int calibrate;
00078     int calibrated;
00079     int start;
00080     int started;
00081     int alg_enable;
00082     
00083     char data[128];
00084     //Offsets for the gyroscope.
00085     //The readings we take when the gyroscope is stationary won't be 0, so we'll
00086     //average a set of readings we do get when the gyroscope is stationary and
00087     //take those away from subsequent readings to ensure the gyroscope is offset
00088     //or "biased" to 0.
00089     double w_xBias;
00090     double w_yBias;
00091     double w_zBias;
00092     
00093     //Offsets for the accelerometer.
00094     //Same as with the gyroscope.
00095     double a_xBias;
00096     double a_yBias;
00097     double a_zBias;
00098     
00099     //Accumulators used for oversampling and then averaging.
00100     volatile double a_xAccumulator;
00101     volatile double a_yAccumulator;
00102     volatile double a_zAccumulator;
00103     volatile double w_xAccumulator;
00104     volatile double w_yAccumulator;
00105     volatile double w_zAccumulator;
00106     
00107     //Accelerometer and gyroscope readings for x, y, z axes.
00108     volatile double a_x;
00109     volatile double a_y;
00110     volatile double a_z;
00111     volatile double w_x;
00112     volatile double w_y;
00113     volatile double w_z;
00114     
00115     //Buffer for accelerometer readings.
00116     int readings[3];
00117     //Number of accelerometer samples we're on.
00118     int accelerometerSamples;
00119     //Number of gyroscope samples we're on.
00120     int gyroscopeSamples;
00121  
00122  };
00123  
00124  
00125  
00126  #endif /* PID_H */