IMU.h

00001 /*
00002  * IMU.h
00003  * Copyright (c) 2018, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007  /*
00008  * Public variable for gain and offset of acc and gyro
00009  *
00010  * for the teststand with 2 IMUs
00011  */
00012 
00013 #ifndef IMU_H_
00014 #define IMU_H_
00015 
00016 #include <cstdlib>
00017 #include <stdint.h>
00018 #include "mbed.h"
00019 
00020 
00021 /**
00022  * This is a device driver class for the ST LSM9DS1 inertial measurement unit.
00023  */
00024 class IMU {
00025 
00026     public:
00027         
00028                     IMU(SPI& spi, DigitalOut& csAG, DigitalOut& csM);
00029         virtual     ~IMU();
00030         float       readGyroX();
00031         float       readGyroY();
00032         float       readGyroZ();
00033         float       readAccelerationX();
00034         float       readAccelerationY();
00035         float       readAccelerationZ();
00036         float       readMagnetometerX();
00037         float       readMagnetometerY();
00038         float       readMagnetometerZ();
00039 
00040         float       gainAx;
00041         float       gainAy;
00042         float       gainAz;
00043         float       gainGx;
00044         float       gainGy;
00045         float       gainGz;
00046 
00047         float       offsAx;
00048         float       offsAy;
00049         float       offsAz;
00050         float       offsGx;
00051         float       offsGy;
00052         float       offsGz;
00053         
00054     private:
00055         
00056         static const uint8_t    WHO_AM_I = 0x0F;
00057         static const uint8_t    CTRL_REG1_G = 0x10;
00058         static const uint8_t    CTRL_REG2_G = 0x11;
00059         static const uint8_t    CTRL_REG3_G = 0x12;
00060         static const uint8_t    OUT_X_L_G = 0x18;
00061         static const uint8_t    OUT_X_H_G = 0x19;
00062         static const uint8_t    OUT_Y_L_G = 0x1A;
00063         static const uint8_t    OUT_Y_H_G = 0x1B;
00064         static const uint8_t    OUT_Z_L_G = 0x1C;
00065         static const uint8_t    OUT_Z_H_G = 0x1D;
00066         static const uint8_t    CTRL_REG4 = 0x1E;
00067         static const uint8_t    CTRL_REG5_XL = 0x1F;
00068         static const uint8_t    CTRL_REG6_XL = 0x20;
00069         static const uint8_t    CTRL_REG7_XL = 0x21;
00070         static const uint8_t    CTRL_REG8 = 0x22;
00071         static const uint8_t    CTRL_REG9 = 0x23;
00072         static const uint8_t    CTRL_REG10 = 0x24;
00073         static const uint8_t    OUT_X_L_XL = 0x28;
00074         static const uint8_t    OUT_X_H_XL = 0x29;
00075         static const uint8_t    OUT_Y_L_XL = 0x2A;
00076         static const uint8_t    OUT_Y_H_XL = 0x2B;
00077         static const uint8_t    OUT_Z_L_XL = 0x2C;
00078         static const uint8_t    OUT_Z_H_XL = 0x2D;
00079         
00080         static const uint8_t    WHO_AM_I_M = 0x0F;
00081         static const uint8_t    CTRL_REG1_M = 0x20;
00082         static const uint8_t    CTRL_REG2_M = 0x21;
00083         static const uint8_t    CTRL_REG3_M = 0x22;
00084         static const uint8_t    CTRL_REG4_M = 0x23;
00085         static const uint8_t    CTRL_REG5_M = 0x24;
00086         static const uint8_t    OUT_X_L_M = 0x28;
00087         static const uint8_t    OUT_X_H_M = 0x29;
00088         static const uint8_t    OUT_Y_L_M = 0x2A;
00089         static const uint8_t    OUT_Y_H_M = 0x2B;
00090         static const uint8_t    OUT_Z_L_M = 0x2C;
00091         static const uint8_t    OUT_Z_H_M = 0x2D;
00092         
00093         static const float      M_PI;
00094         static const float      SAMPLE_TIME;
00095         static const float      STD_ALPHA;
00096         static const float      STD_OMEGA;
00097         static const uint32_t   STACK_SIZE = 4096;  // stack size of thread, given in [bytes]
00098         
00099         SPI&            spi;
00100         DigitalOut&     csAG;
00101         DigitalOut&     csM;
00102         
00103         void            writeRegister(DigitalOut& cs, uint8_t address, uint8_t value);
00104         uint8_t         readRegister(DigitalOut& cs, uint8_t address);
00105 };
00106 
00107 #endif /* IMU_H_ */
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