this is just a mirror of Lauszus' balancing robot code (https://github.com/TKJElectronics/BalancingRobot). mine just adds a digital IMU in form of the 9dof razor.
dof9RazorImuAhrs.h@0:0150acbc6cf4, 2012-04-18 (annotated)
- Committer:
- jakobholsen
- Date:
- Wed Apr 18 06:00:26 2012 +0000
- Revision:
- 0:0150acbc6cf4
first publish
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jakobholsen | 0:0150acbc6cf4 | 1 | //****************************************************************************/ |
jakobholsen | 0:0150acbc6cf4 | 2 | // Description: |
jakobholsen | 0:0150acbc6cf4 | 3 | // |
jakobholsen | 0:0150acbc6cf4 | 4 | // Read attitude and heading reference system [AHRS] data from the SparkFun |
jakobholsen | 0:0150acbc6cf4 | 5 | // 9DOF Razor Inertial Measurement Unit [IMU]. |
jakobholsen | 0:0150acbc6cf4 | 6 | // |
jakobholsen | 0:0150acbc6cf4 | 7 | // AHRS code: |
jakobholsen | 0:0150acbc6cf4 | 8 | // |
jakobholsen | 0:0150acbc6cf4 | 9 | // http://code.google.com/p/sf9domahrs/ |
jakobholsen | 0:0150acbc6cf4 | 10 | // |
jakobholsen | 0:0150acbc6cf4 | 11 | // 9DOF Razor IMU: |
jakobholsen | 0:0150acbc6cf4 | 12 | // |
jakobholsen | 0:0150acbc6cf4 | 13 | // http://www.sparkfun.com/commerce/product_info.php?products_id=9623 |
jakobholsen | 0:0150acbc6cf4 | 14 | //****************************************************************************/ |
jakobholsen | 0:0150acbc6cf4 | 15 | |
jakobholsen | 0:0150acbc6cf4 | 16 | #ifndef DOF9_RAZOR_IMU_H |
jakobholsen | 0:0150acbc6cf4 | 17 | #define DOF9_RAZOR_IMU_H |
jakobholsen | 0:0150acbc6cf4 | 18 | |
jakobholsen | 0:0150acbc6cf4 | 19 | //****************************************************************************/ |
jakobholsen | 0:0150acbc6cf4 | 20 | // Includes |
jakobholsen | 0:0150acbc6cf4 | 21 | //****************************************************************************/ |
jakobholsen | 0:0150acbc6cf4 | 22 | #include "mbed.h" |
jakobholsen | 0:0150acbc6cf4 | 23 | |
jakobholsen | 0:0150acbc6cf4 | 24 | //****************************************************************************/ |
jakobholsen | 0:0150acbc6cf4 | 25 | // Defines |
jakobholsen | 0:0150acbc6cf4 | 26 | //****************************************************************************/ |
jakobholsen | 0:0150acbc6cf4 | 27 | #define PRINT_EULER 1 //Corrected heading data. |
jakobholsen | 0:0150acbc6cf4 | 28 | #define PRINT_ANALOGS 0 //Razor spits out raw gyro/accelerometer/magneto |
jakobholsen | 0:0150acbc6cf4 | 29 | //data. |
jakobholsen | 0:0150acbc6cf4 | 30 | //Set as a define when compiling AHRS code. |
jakobholsen | 0:0150acbc6cf4 | 31 | #define BAUD_RATE 57600 //Default in AHRS code. |
jakobholsen | 0:0150acbc6cf4 | 32 | |
jakobholsen | 0:0150acbc6cf4 | 33 | class dof9RazorImuAhrs { |
jakobholsen | 0:0150acbc6cf4 | 34 | |
jakobholsen | 0:0150acbc6cf4 | 35 | public: |
jakobholsen | 0:0150acbc6cf4 | 36 | |
jakobholsen | 0:0150acbc6cf4 | 37 | /** |
jakobholsen | 0:0150acbc6cf4 | 38 | * Constructor. |
jakobholsen | 0:0150acbc6cf4 | 39 | * |
jakobholsen | 0:0150acbc6cf4 | 40 | * Parameters: |
jakobholsen | 0:0150acbc6cf4 | 41 | * |
jakobholsen | 0:0150acbc6cf4 | 42 | * tx - Pin to use for Serial transmission. |
jakobholsen | 0:0150acbc6cf4 | 43 | * rx - Pin to use for Serial receive. |
jakobholsen | 0:0150acbc6cf4 | 44 | */ |
jakobholsen | 0:0150acbc6cf4 | 45 | dof9RazorImuAhrs(PinName tx, PinName rx); |
jakobholsen | 0:0150acbc6cf4 | 46 | |
jakobholsen | 0:0150acbc6cf4 | 47 | /** |
jakobholsen | 0:0150acbc6cf4 | 48 | * Update all of the heading data. |
jakobholsen | 0:0150acbc6cf4 | 49 | */ |
jakobholsen | 0:0150acbc6cf4 | 50 | void update(void); |
jakobholsen | 0:0150acbc6cf4 | 51 | |
jakobholsen | 0:0150acbc6cf4 | 52 | float getRoll(void); |
jakobholsen | 0:0150acbc6cf4 | 53 | float getPitch(void); |
jakobholsen | 0:0150acbc6cf4 | 54 | float getYaw(void); |
jakobholsen | 0:0150acbc6cf4 | 55 | |
jakobholsen | 0:0150acbc6cf4 | 56 | float getGyroX(void); |
jakobholsen | 0:0150acbc6cf4 | 57 | float getGyroY(void); |
jakobholsen | 0:0150acbc6cf4 | 58 | float getGyroZ(void); |
jakobholsen | 0:0150acbc6cf4 | 59 | |
jakobholsen | 0:0150acbc6cf4 | 60 | float getAccX(void); |
jakobholsen | 0:0150acbc6cf4 | 61 | float getAccY(void); |
jakobholsen | 0:0150acbc6cf4 | 62 | float getAccZ(void); |
jakobholsen | 0:0150acbc6cf4 | 63 | |
jakobholsen | 0:0150acbc6cf4 | 64 | float getMagX(void); |
jakobholsen | 0:0150acbc6cf4 | 65 | float getMagY(void); |
jakobholsen | 0:0150acbc6cf4 | 66 | float getMagZ(void); |
jakobholsen | 0:0150acbc6cf4 | 67 | |
jakobholsen | 0:0150acbc6cf4 | 68 | private: |
jakobholsen | 0:0150acbc6cf4 | 69 | |
jakobholsen | 0:0150acbc6cf4 | 70 | Serial* razor; |
jakobholsen | 0:0150acbc6cf4 | 71 | |
jakobholsen | 0:0150acbc6cf4 | 72 | float roll; |
jakobholsen | 0:0150acbc6cf4 | 73 | float pitch; |
jakobholsen | 0:0150acbc6cf4 | 74 | float yaw; |
jakobholsen | 0:0150acbc6cf4 | 75 | |
jakobholsen | 0:0150acbc6cf4 | 76 | float gyro_x; |
jakobholsen | 0:0150acbc6cf4 | 77 | float gyro_y; |
jakobholsen | 0:0150acbc6cf4 | 78 | float gyro_z; |
jakobholsen | 0:0150acbc6cf4 | 79 | |
jakobholsen | 0:0150acbc6cf4 | 80 | float acc_x; |
jakobholsen | 0:0150acbc6cf4 | 81 | float acc_y; |
jakobholsen | 0:0150acbc6cf4 | 82 | float acc_z; |
jakobholsen | 0:0150acbc6cf4 | 83 | |
jakobholsen | 0:0150acbc6cf4 | 84 | float mag_x; |
jakobholsen | 0:0150acbc6cf4 | 85 | float mag_y; |
jakobholsen | 0:0150acbc6cf4 | 86 | float mag_z; |
jakobholsen | 0:0150acbc6cf4 | 87 | |
jakobholsen | 0:0150acbc6cf4 | 88 | }; |
jakobholsen | 0:0150acbc6cf4 | 89 | |
jakobholsen | 0:0150acbc6cf4 | 90 | #endif /* DOF9_RAZOR_IMU_H */ |