Diff: IMU.h

Revision:

0:4beb2ea291ec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU.h	Mon Mar 16 13:12:31 2020 +0000
@@ -0,0 +1,113 @@
+/*
+ * IMU.h
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+ /*
+ * Public variable for gain and offset of acc and gyro
+ *
+ * for the teststand with 2 IMUs
+ */
+
+#ifndef IMU_H_
+#define IMU_H_
+
+#include <cstdlib>
+#include <stdint.h>
+#include "mbed.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();
+
+        float       gainAx;
+        float       gainAy;
+        float       gainAz;
+        float       gainGx;
+        float       gainGy;
+        float       gainGz;
+
+        float       offsAx;
+        float       offsAy;
+        float       offsAz;
+        float       offsGx;
+        float       offsGy;
+        float       offsGz;
+        
+    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]
+        
+        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_ */
+
+
+
+
+
+