Nicolas Borla / Mbed OS ROME2_Robot_Firmware

ROME2 Robot Firmware

IMU.h@0:4beb2ea291ec, 2020-03-16 (annotated)

Committer:
boro
Date:
Mon Mar 16 13:12:31 2020 +0000
Revision:
0:4beb2ea291ec
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
boro 0:4beb2ea291ec 1 /*
boro 0:4beb2ea291ec 2 * IMU.h
boro 0:4beb2ea291ec 3 * Copyright (c) 2018, ZHAW
boro 0:4beb2ea291ec 4 * All rights reserved.
boro 0:4beb2ea291ec 5 */
boro 0:4beb2ea291ec 6
boro 0:4beb2ea291ec 7 /*
boro 0:4beb2ea291ec 8 * Public variable for gain and offset of acc and gyro
boro 0:4beb2ea291ec 9 *
boro 0:4beb2ea291ec 10 * for the teststand with 2 IMUs
boro 0:4beb2ea291ec 11 */
boro 0:4beb2ea291ec 12
boro 0:4beb2ea291ec 13 #ifndef IMU_H_
boro 0:4beb2ea291ec 14 #define IMU_H_
boro 0:4beb2ea291ec 15
boro 0:4beb2ea291ec 16 #include <cstdlib>
boro 0:4beb2ea291ec 17 #include <stdint.h>
boro 0:4beb2ea291ec 18 #include "mbed.h"
boro 0:4beb2ea291ec 19
boro 0:4beb2ea291ec 20
boro 0:4beb2ea291ec 21 /**
boro 0:4beb2ea291ec 22 * This is a device driver class for the ST LSM9DS1 inertial measurement unit.
boro 0:4beb2ea291ec 23 */
boro 0:4beb2ea291ec 24 class IMU {
boro 0:4beb2ea291ec 25
boro 0:4beb2ea291ec 26 public:
boro 0:4beb2ea291ec 27
boro 0:4beb2ea291ec 28 IMU(SPI& spi, DigitalOut& csAG, DigitalOut& csM);
boro 0:4beb2ea291ec 29 virtual ~IMU();
boro 0:4beb2ea291ec 30 float readGyroX();
boro 0:4beb2ea291ec 31 float readGyroY();
boro 0:4beb2ea291ec 32 float readGyroZ();
boro 0:4beb2ea291ec 33 float readAccelerationX();
boro 0:4beb2ea291ec 34 float readAccelerationY();
boro 0:4beb2ea291ec 35 float readAccelerationZ();
boro 0:4beb2ea291ec 36 float readMagnetometerX();
boro 0:4beb2ea291ec 37 float readMagnetometerY();
boro 0:4beb2ea291ec 38 float readMagnetometerZ();
boro 0:4beb2ea291ec 39
boro 0:4beb2ea291ec 40 float gainAx;
boro 0:4beb2ea291ec 41 float gainAy;
boro 0:4beb2ea291ec 42 float gainAz;
boro 0:4beb2ea291ec 43 float gainGx;
boro 0:4beb2ea291ec 44 float gainGy;
boro 0:4beb2ea291ec 45 float gainGz;
boro 0:4beb2ea291ec 46
boro 0:4beb2ea291ec 47 float offsAx;
boro 0:4beb2ea291ec 48 float offsAy;
boro 0:4beb2ea291ec 49 float offsAz;
boro 0:4beb2ea291ec 50 float offsGx;
boro 0:4beb2ea291ec 51 float offsGy;
boro 0:4beb2ea291ec 52 float offsGz;
boro 0:4beb2ea291ec 53
boro 0:4beb2ea291ec 54 private:
boro 0:4beb2ea291ec 55
boro 0:4beb2ea291ec 56 static const uint8_t WHO_AM_I = 0x0F;
boro 0:4beb2ea291ec 57 static const uint8_t CTRL_REG1_G = 0x10;
boro 0:4beb2ea291ec 58 static const uint8_t CTRL_REG2_G = 0x11;
boro 0:4beb2ea291ec 59 static const uint8_t CTRL_REG3_G = 0x12;
boro 0:4beb2ea291ec 60 static const uint8_t OUT_X_L_G = 0x18;
boro 0:4beb2ea291ec 61 static const uint8_t OUT_X_H_G = 0x19;
boro 0:4beb2ea291ec 62 static const uint8_t OUT_Y_L_G = 0x1A;
boro 0:4beb2ea291ec 63 static const uint8_t OUT_Y_H_G = 0x1B;
boro 0:4beb2ea291ec 64 static const uint8_t OUT_Z_L_G = 0x1C;
boro 0:4beb2ea291ec 65 static const uint8_t OUT_Z_H_G = 0x1D;
boro 0:4beb2ea291ec 66 static const uint8_t CTRL_REG4 = 0x1E;
boro 0:4beb2ea291ec 67 static const uint8_t CTRL_REG5_XL = 0x1F;
boro 0:4beb2ea291ec 68 static const uint8_t CTRL_REG6_XL = 0x20;
boro 0:4beb2ea291ec 69 static const uint8_t CTRL_REG7_XL = 0x21;
boro 0:4beb2ea291ec 70 static const uint8_t CTRL_REG8 = 0x22;
boro 0:4beb2ea291ec 71 static const uint8_t CTRL_REG9 = 0x23;
boro 0:4beb2ea291ec 72 static const uint8_t CTRL_REG10 = 0x24;
boro 0:4beb2ea291ec 73 static const uint8_t OUT_X_L_XL = 0x28;
boro 0:4beb2ea291ec 74 static const uint8_t OUT_X_H_XL = 0x29;
boro 0:4beb2ea291ec 75 static const uint8_t OUT_Y_L_XL = 0x2A;
boro 0:4beb2ea291ec 76 static const uint8_t OUT_Y_H_XL = 0x2B;
boro 0:4beb2ea291ec 77 static const uint8_t OUT_Z_L_XL = 0x2C;
boro 0:4beb2ea291ec 78 static const uint8_t OUT_Z_H_XL = 0x2D;
boro 0:4beb2ea291ec 79
boro 0:4beb2ea291ec 80 static const uint8_t WHO_AM_I_M = 0x0F;
boro 0:4beb2ea291ec 81 static const uint8_t CTRL_REG1_M = 0x20;
boro 0:4beb2ea291ec 82 static const uint8_t CTRL_REG2_M = 0x21;
boro 0:4beb2ea291ec 83 static const uint8_t CTRL_REG3_M = 0x22;
boro 0:4beb2ea291ec 84 static const uint8_t CTRL_REG4_M = 0x23;
boro 0:4beb2ea291ec 85 static const uint8_t CTRL_REG5_M = 0x24;
boro 0:4beb2ea291ec 86 static const uint8_t OUT_X_L_M = 0x28;
boro 0:4beb2ea291ec 87 static const uint8_t OUT_X_H_M = 0x29;
boro 0:4beb2ea291ec 88 static const uint8_t OUT_Y_L_M = 0x2A;
boro 0:4beb2ea291ec 89 static const uint8_t OUT_Y_H_M = 0x2B;
boro 0:4beb2ea291ec 90 static const uint8_t OUT_Z_L_M = 0x2C;
boro 0:4beb2ea291ec 91 static const uint8_t OUT_Z_H_M = 0x2D;
boro 0:4beb2ea291ec 92
boro 0:4beb2ea291ec 93 static const float M_PI;
boro 0:4beb2ea291ec 94 static const float SAMPLE_TIME;
boro 0:4beb2ea291ec 95 static const float STD_ALPHA;
boro 0:4beb2ea291ec 96 static const float STD_OMEGA;
boro 0:4beb2ea291ec 97 static const uint32_t STACK_SIZE = 4096; // stack size of thread, given in [bytes]
boro 0:4beb2ea291ec 98
boro 0:4beb2ea291ec 99 SPI& spi;
boro 0:4beb2ea291ec 100 DigitalOut& csAG;
boro 0:4beb2ea291ec 101 DigitalOut& csM;
boro 0:4beb2ea291ec 102
boro 0:4beb2ea291ec 103 void writeRegister(DigitalOut& cs, uint8_t address, uint8_t value);
boro 0:4beb2ea291ec 104 uint8_t readRegister(DigitalOut& cs, uint8_t address);
boro 0:4beb2ea291ec 105 };
boro 0:4beb2ea291ec 106
boro 0:4beb2ea291ec 107 #endif /* IMU_H_ */
boro 0:4beb2ea291ec 108
boro 0:4beb2ea291ec 109
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boro 0:4beb2ea291ec 113