Nicolas Borla / Mbed OS BBR_1Ebene

BBR 1 Ebene

IMU.h@0:fbdae7e6d805, 2018-05-14 (annotated)

Committer:
borlanic
Date:
Mon May 14 11:29:06 2018 +0000
Revision:
0:fbdae7e6d805
BBR

Who changed what in which revision?

UserRevisionLine numberNew contents of line
borlanic 0:fbdae7e6d805 1 /*
borlanic 0:fbdae7e6d805 2 * IMU.h
borlanic 0:fbdae7e6d805 3 * Copyright (c) 2018, ZHAW
borlanic 0:fbdae7e6d805 4 * All rights reserved.
borlanic 0:fbdae7e6d805 5 */
borlanic 0:fbdae7e6d805 6
borlanic 0:fbdae7e6d805 7 #ifndef IMU_H_
borlanic 0:fbdae7e6d805 8 #define IMU_H_
borlanic 0:fbdae7e6d805 9
borlanic 0:fbdae7e6d805 10 #include <cstdlib>
borlanic 0:fbdae7e6d805 11 #include <stdint.h>
borlanic 0:fbdae7e6d805 12 #include "mbed.h"
borlanic 0:fbdae7e6d805 13 #include "LowpassFilter.h"
borlanic 0:fbdae7e6d805 14 #include "Signal.h"
borlanic 0:fbdae7e6d805 15 #include "SerialCom.h"
borlanic 0:fbdae7e6d805 16
borlanic 0:fbdae7e6d805 17
borlanic 0:fbdae7e6d805 18 /**
borlanic 0:fbdae7e6d805 19 * This is a device driver class for the ST LSM9DS1 inertial measurement unit.
borlanic 0:fbdae7e6d805 20 */
borlanic 0:fbdae7e6d805 21 class IMU {
borlanic 0:fbdae7e6d805 22
borlanic 0:fbdae7e6d805 23 public:
borlanic 0:fbdae7e6d805 24
borlanic 0:fbdae7e6d805 25 IMU(SPI& spi, DigitalOut& csAG, DigitalOut& csM);
borlanic 0:fbdae7e6d805 26 virtual ~IMU();
borlanic 0:fbdae7e6d805 27 float readGyroX();
borlanic 0:fbdae7e6d805 28 float readGyroY();
borlanic 0:fbdae7e6d805 29 float readGyroZ();
borlanic 0:fbdae7e6d805 30 float readAccelerationX();
borlanic 0:fbdae7e6d805 31 float readAccelerationY();
borlanic 0:fbdae7e6d805 32 float readAccelerationZ();
borlanic 0:fbdae7e6d805 33 float readMagnetometerX();
borlanic 0:fbdae7e6d805 34 float readMagnetometerY();
borlanic 0:fbdae7e6d805 35 float readMagnetometerZ();
borlanic 0:fbdae7e6d805 36 // Nick =================
borlanic 0:fbdae7e6d805 37 float getGammaX();
borlanic 0:fbdae7e6d805 38 float getGammaY();
borlanic 0:fbdae7e6d805 39 float getGammaZ();
borlanic 0:fbdae7e6d805 40 float getDGammaX();
borlanic 0:fbdae7e6d805 41 float getDGammaY();
borlanic 0:fbdae7e6d805 42 float getDGammaZ();
borlanic 0:fbdae7e6d805 43
borlanic 0:fbdae7e6d805 44 private:
borlanic 0:fbdae7e6d805 45
borlanic 0:fbdae7e6d805 46 static const uint8_t WHO_AM_I = 0x0F;
borlanic 0:fbdae7e6d805 47 static const uint8_t CTRL_REG1_G = 0x10;
borlanic 0:fbdae7e6d805 48 static const uint8_t CTRL_REG2_G = 0x11;
borlanic 0:fbdae7e6d805 49 static const uint8_t CTRL_REG3_G = 0x12;
borlanic 0:fbdae7e6d805 50 static const uint8_t OUT_X_L_G = 0x18;
borlanic 0:fbdae7e6d805 51 static const uint8_t OUT_X_H_G = 0x19;
borlanic 0:fbdae7e6d805 52 static const uint8_t OUT_Y_L_G = 0x1A;
borlanic 0:fbdae7e6d805 53 static const uint8_t OUT_Y_H_G = 0x1B;
borlanic 0:fbdae7e6d805 54 static const uint8_t OUT_Z_L_G = 0x1C;
borlanic 0:fbdae7e6d805 55 static const uint8_t OUT_Z_H_G = 0x1D;
borlanic 0:fbdae7e6d805 56 static const uint8_t CTRL_REG4 = 0x1E;
borlanic 0:fbdae7e6d805 57 static const uint8_t CTRL_REG5_XL = 0x1F;
borlanic 0:fbdae7e6d805 58 static const uint8_t CTRL_REG6_XL = 0x20;
borlanic 0:fbdae7e6d805 59 static const uint8_t CTRL_REG7_XL = 0x21;
borlanic 0:fbdae7e6d805 60 static const uint8_t CTRL_REG8 = 0x22;
borlanic 0:fbdae7e6d805 61 static const uint8_t CTRL_REG9 = 0x23;
borlanic 0:fbdae7e6d805 62 static const uint8_t CTRL_REG10 = 0x24;
borlanic 0:fbdae7e6d805 63 static const uint8_t OUT_X_L_XL = 0x28;
borlanic 0:fbdae7e6d805 64 static const uint8_t OUT_X_H_XL = 0x29;
borlanic 0:fbdae7e6d805 65 static const uint8_t OUT_Y_L_XL = 0x2A;
borlanic 0:fbdae7e6d805 66 static const uint8_t OUT_Y_H_XL = 0x2B;
borlanic 0:fbdae7e6d805 67 static const uint8_t OUT_Z_L_XL = 0x2C;
borlanic 0:fbdae7e6d805 68 static const uint8_t OUT_Z_H_XL = 0x2D;
borlanic 0:fbdae7e6d805 69
borlanic 0:fbdae7e6d805 70 static const uint8_t WHO_AM_I_M = 0x0F;
borlanic 0:fbdae7e6d805 71 static const uint8_t CTRL_REG1_M = 0x20;
borlanic 0:fbdae7e6d805 72 static const uint8_t CTRL_REG2_M = 0x21;
borlanic 0:fbdae7e6d805 73 static const uint8_t CTRL_REG3_M = 0x22;
borlanic 0:fbdae7e6d805 74 static const uint8_t CTRL_REG4_M = 0x23;
borlanic 0:fbdae7e6d805 75 static const uint8_t CTRL_REG5_M = 0x24;
borlanic 0:fbdae7e6d805 76 static const uint8_t OUT_X_L_M = 0x28;
borlanic 0:fbdae7e6d805 77 static const uint8_t OUT_X_H_M = 0x29;
borlanic 0:fbdae7e6d805 78 static const uint8_t OUT_Y_L_M = 0x2A;
borlanic 0:fbdae7e6d805 79 static const uint8_t OUT_Y_H_M = 0x2B;
borlanic 0:fbdae7e6d805 80 static const uint8_t OUT_Z_L_M = 0x2C;
borlanic 0:fbdae7e6d805 81 static const uint8_t OUT_Z_H_M = 0x2D;
borlanic 0:fbdae7e6d805 82
borlanic 0:fbdae7e6d805 83 static const float M_PI;
borlanic 0:fbdae7e6d805 84 static const float SAMPLE_TIME;
borlanic 0:fbdae7e6d805 85 static const float STD_ALPHA;
borlanic 0:fbdae7e6d805 86 static const float STD_OMEGA;
borlanic 0:fbdae7e6d805 87 static const uint32_t STACK_SIZE = 4096; // stack size of thread, given in [bytes]
borlanic 0:fbdae7e6d805 88
borlanic 0:fbdae7e6d805 89 float gammaX; // angle in X from kalman-Filter
borlanic 0:fbdae7e6d805 90 float gammaY; // angle in Y from kalman-Filter
borlanic 0:fbdae7e6d805 91 float gammaZ; // angle in Z from kalman-Filter
borlanic 0:fbdae7e6d805 92 float d_gammaX; // angular velocity in X from kalman-Filter
borlanic 0:fbdae7e6d805 93 float d_gammaY; // angular velocity in Y from kalman-Filter
borlanic 0:fbdae7e6d805 94 float d_gammaZ; // angular velocity in Z from kalman-Filter
borlanic 0:fbdae7e6d805 95
borlanic 0:fbdae7e6d805 96 LowpassFilter gammaXFilter;
borlanic 0:fbdae7e6d805 97 LowpassFilter gammaYFilter;
borlanic 0:fbdae7e6d805 98 LowpassFilter d_gammaXFilter;
borlanic 0:fbdae7e6d805 99 LowpassFilter d_gammaYFilter;
borlanic 0:fbdae7e6d805 100
borlanic 0:fbdae7e6d805 101 Signal signal;
borlanic 0:fbdae7e6d805 102 Thread thread;
borlanic 0:fbdae7e6d805 103 Ticker ticker;
borlanic 0:fbdae7e6d805 104 Mutex mutex; // mutex to lock critical sections
borlanic 0:fbdae7e6d805 105
borlanic 0:fbdae7e6d805 106 void sendSignal();
borlanic 0:fbdae7e6d805 107 void kalman();
borlanic 0:fbdae7e6d805 108
borlanic 0:fbdae7e6d805 109 SPI& spi;
borlanic 0:fbdae7e6d805 110 DigitalOut& csAG;
borlanic 0:fbdae7e6d805 111 DigitalOut& csM;
borlanic 0:fbdae7e6d805 112
borlanic 0:fbdae7e6d805 113 void writeRegister(DigitalOut& cs, uint8_t address, uint8_t value);
borlanic 0:fbdae7e6d805 114 uint8_t readRegister(DigitalOut& cs, uint8_t address);
borlanic 0:fbdae7e6d805 115 };
borlanic 0:fbdae7e6d805 116
borlanic 0:fbdae7e6d805 117 #endif /* IMU_H_ */
borlanic 0:fbdae7e6d805 118
borlanic 0:fbdae7e6d805 119
borlanic 0:fbdae7e6d805 120