Nicolas Borla / Mbed 2 deprecated Example_for_Joel

IMU measurement + Speed controller

Dependencies:   mbed

IMU.h@1:17fdd812cb8d, 2019-05-30 (annotated)

Committer:
boro
Date:
Thu May 30 13:21:44 2019 +0000
Revision:
1:17fdd812cb8d
Parent:
0:5a93e4916fb1 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:5a93e4916fb1 1 /*
boro 0:5a93e4916fb1 2 * IMU.h
boro 0:5a93e4916fb1 3 * Copyright (c) 2018, ZHAW
boro 0:5a93e4916fb1 4 * All rights reserved.
boro 0:5a93e4916fb1 5 */
boro 0:5a93e4916fb1 6
boro 0:5a93e4916fb1 7 #ifndef IMU_H_
boro 0:5a93e4916fb1 8 #define IMU_H_
boro 0:5a93e4916fb1 9
boro 0:5a93e4916fb1 10 #include <cstdlib>
boro 0:5a93e4916fb1 11 #include <stdint.h>
boro 0:5a93e4916fb1 12 #include "mbed.h"
boro 0:5a93e4916fb1 13
boro 0:5a93e4916fb1 14
boro 0:5a93e4916fb1 15 /**
boro 0:5a93e4916fb1 16 * This is a device driver class for the ST LSM9DS1 inertial measurement unit.
boro 0:5a93e4916fb1 17 */
boro 0:5a93e4916fb1 18 class IMU {
boro 0:5a93e4916fb1 19
boro 0:5a93e4916fb1 20 public:
boro 0:5a93e4916fb1 21
boro 0:5a93e4916fb1 22 IMU(SPI& spi, DigitalOut& csAG, DigitalOut& csM);
boro 0:5a93e4916fb1 23 virtual ~IMU();
boro 0:5a93e4916fb1 24 float readGyroX();
boro 0:5a93e4916fb1 25 float readGyroY();
boro 0:5a93e4916fb1 26 float readGyroZ();
boro 0:5a93e4916fb1 27 float readAccelerationX();
boro 0:5a93e4916fb1 28 float readAccelerationY();
boro 0:5a93e4916fb1 29 float readAccelerationZ();
boro 0:5a93e4916fb1 30 float readMagnetometerX();
boro 0:5a93e4916fb1 31 float readMagnetometerY();
boro 0:5a93e4916fb1 32 float readMagnetometerZ();
boro 0:5a93e4916fb1 33
boro 0:5a93e4916fb1 34 private:
boro 0:5a93e4916fb1 35
boro 0:5a93e4916fb1 36 static const uint8_t WHO_AM_I = 0x0F;
boro 0:5a93e4916fb1 37 static const uint8_t CTRL_REG1_G = 0x10;
boro 0:5a93e4916fb1 38 static const uint8_t CTRL_REG2_G = 0x11;
boro 0:5a93e4916fb1 39 static const uint8_t CTRL_REG3_G = 0x12;
boro 0:5a93e4916fb1 40 static const uint8_t OUT_X_L_G = 0x18;
boro 0:5a93e4916fb1 41 static const uint8_t OUT_X_H_G = 0x19;
boro 0:5a93e4916fb1 42 static const uint8_t OUT_Y_L_G = 0x1A;
boro 0:5a93e4916fb1 43 static const uint8_t OUT_Y_H_G = 0x1B;
boro 0:5a93e4916fb1 44 static const uint8_t OUT_Z_L_G = 0x1C;
boro 0:5a93e4916fb1 45 static const uint8_t OUT_Z_H_G = 0x1D;
boro 0:5a93e4916fb1 46 static const uint8_t CTRL_REG4 = 0x1E;
boro 0:5a93e4916fb1 47 static const uint8_t CTRL_REG5_XL = 0x1F;
boro 0:5a93e4916fb1 48 static const uint8_t CTRL_REG6_XL = 0x20;
boro 0:5a93e4916fb1 49 static const uint8_t CTRL_REG7_XL = 0x21;
boro 0:5a93e4916fb1 50 static const uint8_t CTRL_REG8 = 0x22;
boro 0:5a93e4916fb1 51 static const uint8_t CTRL_REG9 = 0x23;
boro 0:5a93e4916fb1 52 static const uint8_t CTRL_REG10 = 0x24;
boro 0:5a93e4916fb1 53 static const uint8_t OUT_X_L_XL = 0x28;
boro 0:5a93e4916fb1 54 static const uint8_t OUT_X_H_XL = 0x29;
boro 0:5a93e4916fb1 55 static const uint8_t OUT_Y_L_XL = 0x2A;
boro 0:5a93e4916fb1 56 static const uint8_t OUT_Y_H_XL = 0x2B;
boro 0:5a93e4916fb1 57 static const uint8_t OUT_Z_L_XL = 0x2C;
boro 0:5a93e4916fb1 58 static const uint8_t OUT_Z_H_XL = 0x2D;
boro 0:5a93e4916fb1 59
boro 0:5a93e4916fb1 60 static const uint8_t WHO_AM_I_M = 0x0F;
boro 0:5a93e4916fb1 61 static const uint8_t CTRL_REG1_M = 0x20;
boro 0:5a93e4916fb1 62 static const uint8_t CTRL_REG2_M = 0x21;
boro 0:5a93e4916fb1 63 static const uint8_t CTRL_REG3_M = 0x22;
boro 0:5a93e4916fb1 64 static const uint8_t CTRL_REG4_M = 0x23;
boro 0:5a93e4916fb1 65 static const uint8_t CTRL_REG5_M = 0x24;
boro 0:5a93e4916fb1 66 static const uint8_t OUT_X_L_M = 0x28;
boro 0:5a93e4916fb1 67 static const uint8_t OUT_X_H_M = 0x29;
boro 0:5a93e4916fb1 68 static const uint8_t OUT_Y_L_M = 0x2A;
boro 0:5a93e4916fb1 69 static const uint8_t OUT_Y_H_M = 0x2B;
boro 0:5a93e4916fb1 70 static const uint8_t OUT_Z_L_M = 0x2C;
boro 0:5a93e4916fb1 71 static const uint8_t OUT_Z_H_M = 0x2D;
boro 0:5a93e4916fb1 72
boro 0:5a93e4916fb1 73 static const float M_PI;
boro 0:5a93e4916fb1 74 static const float SAMPLE_TIME;
boro 0:5a93e4916fb1 75 static const float STD_ALPHA;
boro 0:5a93e4916fb1 76 static const float STD_OMEGA;
boro 0:5a93e4916fb1 77 static const uint32_t STACK_SIZE = 4096; // stack size of thread, given in [bytes]
boro 0:5a93e4916fb1 78
boro 0:5a93e4916fb1 79
boro 0:5a93e4916fb1 80 SPI& spi;
boro 0:5a93e4916fb1 81 DigitalOut& csAG;
boro 0:5a93e4916fb1 82 DigitalOut& csM;
boro 0:5a93e4916fb1 83
boro 0:5a93e4916fb1 84 void writeRegister(DigitalOut& cs, uint8_t address, uint8_t value);
boro 0:5a93e4916fb1 85 uint8_t readRegister(DigitalOut& cs, uint8_t address);
boro 0:5a93e4916fb1 86 };
boro 0:5a93e4916fb1 87
boro 0:5a93e4916fb1 88 #endif /* IMU_H_ */
boro 0:5a93e4916fb1 89
boro 0:5a93e4916fb1 90
boro 0:5a93e4916fb1 91