File content as of revision 0:fbdae7e6d805:

/*
 * IMU.h
 * Copyright (c) 2018, ZHAW
 * All rights reserved.
 */

#ifndef IMU_H_
#define IMU_H_

#include <cstdlib>
#include <stdint.h>
#include "mbed.h"
#include "LowpassFilter.h"
#include "Signal.h"
#include "SerialCom.h"


/**
 * This is a device driver class for the ST LSM9DS1 inertial measurement unit.
 */
class IMU {

    public:
        
                    IMU(SPI& spi, DigitalOut& csAG, DigitalOut& csM);
        virtual     ~IMU();
        float       readGyroX();
        float       readGyroY();
        float       readGyroZ();
        float       readAccelerationX();
        float       readAccelerationY();
        float       readAccelerationZ();
        float       readMagnetometerX();
        float       readMagnetometerY();
        float       readMagnetometerZ();
        // Nick =================
        float       getGammaX();
        float       getGammaY();
        float       getGammaZ();
        float       getDGammaX();
        float       getDGammaY();
        float       getDGammaZ();
        
    private:
        
        static const uint8_t    WHO_AM_I = 0x0F;
        static const uint8_t    CTRL_REG1_G = 0x10;
        static const uint8_t    CTRL_REG2_G = 0x11;
        static const uint8_t    CTRL_REG3_G = 0x12;
        static const uint8_t    OUT_X_L_G = 0x18;
        static const uint8_t    OUT_X_H_G = 0x19;
        static const uint8_t    OUT_Y_L_G = 0x1A;
        static const uint8_t    OUT_Y_H_G = 0x1B;
        static const uint8_t    OUT_Z_L_G = 0x1C;
        static const uint8_t    OUT_Z_H_G = 0x1D;
        static const uint8_t    CTRL_REG4 = 0x1E;
        static const uint8_t    CTRL_REG5_XL = 0x1F;
        static const uint8_t    CTRL_REG6_XL = 0x20;
        static const uint8_t    CTRL_REG7_XL = 0x21;
        static const uint8_t    CTRL_REG8 = 0x22;
        static const uint8_t    CTRL_REG9 = 0x23;
        static const uint8_t    CTRL_REG10 = 0x24;
        static const uint8_t    OUT_X_L_XL = 0x28;
        static const uint8_t    OUT_X_H_XL = 0x29;
        static const uint8_t    OUT_Y_L_XL = 0x2A;
        static const uint8_t    OUT_Y_H_XL = 0x2B;
        static const uint8_t    OUT_Z_L_XL = 0x2C;
        static const uint8_t    OUT_Z_H_XL = 0x2D;
        
        static const uint8_t    WHO_AM_I_M = 0x0F;
        static const uint8_t    CTRL_REG1_M = 0x20;
        static const uint8_t    CTRL_REG2_M = 0x21;
        static const uint8_t    CTRL_REG3_M = 0x22;
        static const uint8_t    CTRL_REG4_M = 0x23;
        static const uint8_t    CTRL_REG5_M = 0x24;
        static const uint8_t    OUT_X_L_M = 0x28;
        static const uint8_t    OUT_X_H_M = 0x29;
        static const uint8_t    OUT_Y_L_M = 0x2A;
        static const uint8_t    OUT_Y_H_M = 0x2B;
        static const uint8_t    OUT_Z_L_M = 0x2C;
        static const uint8_t    OUT_Z_H_M = 0x2D;
        
        static const float      M_PI;
        static const float      SAMPLE_TIME;
        static const float      STD_ALPHA;
        static const float      STD_OMEGA;
        static const uint32_t   STACK_SIZE = 4096;  // stack size of thread, given in [bytes]
        
        float           gammaX; // angle in X from kalman-Filter
        float           gammaY; // angle in Y from kalman-Filter
        float           gammaZ; // angle in Z from kalman-Filter
        float           d_gammaX; // angular velocity in X from kalman-Filter
        float           d_gammaY; // angular velocity in Y from kalman-Filter
        float           d_gammaZ; // angular velocity in Z from kalman-Filter
        
        LowpassFilter       gammaXFilter;
        LowpassFilter       gammaYFilter;
        LowpassFilter       d_gammaXFilter;
        LowpassFilter       d_gammaYFilter;
        
        Signal          signal;
        Thread          thread;
        Ticker          ticker;
        Mutex           mutex;      // mutex to lock critical sections
        
        void            sendSignal();
        void            kalman();
        
        SPI&            spi;
        DigitalOut&     csAG;
        DigitalOut&     csM;
        
        void            writeRegister(DigitalOut& cs, uint8_t address, uint8_t value);
        uint8_t         readRegister(DigitalOut& cs, uint8_t address);
};

#endif /* IMU_H_ */