AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
minimu9.h@0:dc35364e2291, 2012-04-12 (annotated)
- Committer:
- krmreynolds
- Date:
- Thu Apr 12 13:47:23 2012 +0000
- Revision:
- 0:dc35364e2291
- Child:
- 1:3272ece36ce1
Added GNU Agreement
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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krmreynolds | 0:dc35364e2291 | 1 | /* mbed L3G4200D Library version 0.1 |
krmreynolds | 0:dc35364e2291 | 2 | * Copyright (c) 2012 Prediluted |
krmreynolds | 0:dc35364e2291 | 3 | * |
krmreynolds | 0:dc35364e2291 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
krmreynolds | 0:dc35364e2291 | 5 | * of this software and associated documentation files (the "Software"), to deal |
krmreynolds | 0:dc35364e2291 | 6 | * in the Software without restriction, including without limitation the rights |
krmreynolds | 0:dc35364e2291 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
krmreynolds | 0:dc35364e2291 | 8 | * copies of the Software, and to permit persons to whom the Software is |
krmreynolds | 0:dc35364e2291 | 9 | * furnished to do so, subject to the following conditions: |
krmreynolds | 0:dc35364e2291 | 10 | * |
krmreynolds | 0:dc35364e2291 | 11 | * The above copyright notice and this permission notice shall be included in |
krmreynolds | 0:dc35364e2291 | 12 | * all copies or substantial portions of the Software. |
krmreynolds | 0:dc35364e2291 | 13 | * |
krmreynolds | 0:dc35364e2291 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
krmreynolds | 0:dc35364e2291 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
krmreynolds | 0:dc35364e2291 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
krmreynolds | 0:dc35364e2291 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
krmreynolds | 0:dc35364e2291 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
krmreynolds | 0:dc35364e2291 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
krmreynolds | 0:dc35364e2291 | 20 | * THE SOFTWARE. |
krmreynolds | 0:dc35364e2291 | 21 | */ |
krmreynolds | 0:dc35364e2291 | 22 | |
krmreynolds | 0:dc35364e2291 | 23 | #pragma once |
krmreynolds | 0:dc35364e2291 | 24 | |
krmreynolds | 0:dc35364e2291 | 25 | #include "L3G4200D.h" |
krmreynolds | 0:dc35364e2291 | 26 | #include "LSM303.h" |
krmreynolds | 0:dc35364e2291 | 27 | #include "mbed.h" |
krmreynolds | 0:dc35364e2291 | 28 | // LSM303 accelerometer: 8 g sensitivity |
krmreynolds | 0:dc35364e2291 | 29 | // 3.8 mg/digit; 1 g = 256 |
krmreynolds | 0:dc35364e2291 | 30 | #define GRAVITY 256 //this equivalent to 1G in the raw data coming from the accelerometer |
krmreynolds | 0:dc35364e2291 | 31 | |
krmreynolds | 0:dc35364e2291 | 32 | #define ToRad(x) ((x)*0.01745329252) // *pi/180 |
krmreynolds | 0:dc35364e2291 | 33 | #define ToDeg(x) ((x)*57.2957795131) // *180/pi |
krmreynolds | 0:dc35364e2291 | 34 | |
krmreynolds | 0:dc35364e2291 | 35 | // L3G4200D gyro: 2000 dps full scale |
krmreynolds | 0:dc35364e2291 | 36 | // 70 mdps/digit; 1 dps = 0.07 |
krmreynolds | 0:dc35364e2291 | 37 | #define Gyro_Gain_X 0.07 //X axis Gyro gain |
krmreynolds | 0:dc35364e2291 | 38 | #define Gyro_Gain_Y 0.07 //Y axis Gyro gain |
krmreynolds | 0:dc35364e2291 | 39 | #define Gyro_Gain_Z 0.07 //Z axis Gyro gain |
krmreynolds | 0:dc35364e2291 | 40 | #define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second |
krmreynolds | 0:dc35364e2291 | 41 | #define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second |
krmreynolds | 0:dc35364e2291 | 42 | #define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second |
krmreynolds | 0:dc35364e2291 | 43 | |
krmreynolds | 0:dc35364e2291 | 44 | |
krmreynolds | 0:dc35364e2291 | 45 | #define Kp_ROLLPITCH 0.02 |
krmreynolds | 0:dc35364e2291 | 46 | #define Ki_ROLLPITCH 0.00002 |
krmreynolds | 0:dc35364e2291 | 47 | #define Kp_YAW 1.2 |
krmreynolds | 0:dc35364e2291 | 48 | #define Ki_YAW 0.00002 |
krmreynolds | 0:dc35364e2291 | 49 | |
krmreynolds | 0:dc35364e2291 | 50 | |
krmreynolds | 0:dc35364e2291 | 51 | #define STATUS_LED 13 |
krmreynolds | 0:dc35364e2291 | 52 | typedef unsigned char byte; |
krmreynolds | 0:dc35364e2291 | 53 | |
krmreynolds | 0:dc35364e2291 | 54 | class minimu9 { |
krmreynolds | 0:dc35364e2291 | 55 | public: |
krmreynolds | 0:dc35364e2291 | 56 | minimu9 ( void ); |
krmreynolds | 0:dc35364e2291 | 57 | void get_data ( void ); |
krmreynolds | 0:dc35364e2291 | 58 | void print_data ( void ); |
krmreynolds | 0:dc35364e2291 | 59 | void Gyro_Init(); |
krmreynolds | 0:dc35364e2291 | 60 | void Read_Gyro(); |
krmreynolds | 0:dc35364e2291 | 61 | void Accel_Init(); |
krmreynolds | 0:dc35364e2291 | 62 | void Read_Accel(); |
krmreynolds | 0:dc35364e2291 | 63 | void Compass_Init(); |
krmreynolds | 0:dc35364e2291 | 64 | void Compass_Heading(); |
krmreynolds | 0:dc35364e2291 | 65 | void Read_Compass(); |
krmreynolds | 0:dc35364e2291 | 66 | void Normalize( void ); |
krmreynolds | 0:dc35364e2291 | 67 | void Drift_correction( void ); |
krmreynolds | 0:dc35364e2291 | 68 | void Matrix_update( void) ; |
krmreynolds | 0:dc35364e2291 | 69 | void Euler_angles( void ); |
krmreynolds | 0:dc35364e2291 | 70 | void Calibrate_compass( void ); |
krmreynolds | 0:dc35364e2291 | 71 | void set_calibration_values( int, int, int, int, int, int ); |
krmreynolds | 0:dc35364e2291 | 72 | void set_print_settings( int, int, int, int, int ); |
krmreynolds | 0:dc35364e2291 | 73 | |
krmreynolds | 0:dc35364e2291 | 74 | float get_pitch( void ); |
krmreynolds | 0:dc35364e2291 | 75 | float get_roll( void ); |
krmreynolds | 0:dc35364e2291 | 76 | float get_yaw( void ); |
krmreynolds | 0:dc35364e2291 | 77 | |
krmreynolds | 0:dc35364e2291 | 78 | private: |
krmreynolds | 0:dc35364e2291 | 79 | L3G4200D *gyro; |
krmreynolds | 0:dc35364e2291 | 80 | LSM303 *compass; |
krmreynolds | 0:dc35364e2291 | 81 | |
krmreynolds | 0:dc35364e2291 | 82 | Timer t; |
krmreynolds | 0:dc35364e2291 | 83 | |
krmreynolds | 0:dc35364e2291 | 84 | float G_Dt; // Integration time (DCM algorithm) We will run the integration loop at 50Hz if possible |
krmreynolds | 0:dc35364e2291 | 85 | long timer; //general purpuse timer |
krmreynolds | 0:dc35364e2291 | 86 | long timer_old; |
krmreynolds | 0:dc35364e2291 | 87 | long timer24; //Second timer used to print values |
krmreynolds | 0:dc35364e2291 | 88 | unsigned int counter; |
krmreynolds | 0:dc35364e2291 | 89 | int AN[6]; //array that stores the gyro and accelerometer data |
krmreynolds | 0:dc35364e2291 | 90 | int AN_OFFSET[6]; //Array that stores the Offset of the sensors |
krmreynolds | 0:dc35364e2291 | 91 | int SENSOR_SIGN[9]; |
krmreynolds | 0:dc35364e2291 | 92 | |
krmreynolds | 0:dc35364e2291 | 93 | int gyro_x; |
krmreynolds | 0:dc35364e2291 | 94 | int gyro_y; |
krmreynolds | 0:dc35364e2291 | 95 | int gyro_z; |
krmreynolds | 0:dc35364e2291 | 96 | int accel_x; |
krmreynolds | 0:dc35364e2291 | 97 | int accel_y; |
krmreynolds | 0:dc35364e2291 | 98 | int accel_z; |
krmreynolds | 0:dc35364e2291 | 99 | int magnetom_x; |
krmreynolds | 0:dc35364e2291 | 100 | int magnetom_y; |
krmreynolds | 0:dc35364e2291 | 101 | int magnetom_z; |
krmreynolds | 0:dc35364e2291 | 102 | float c_magnetom_x; |
krmreynolds | 0:dc35364e2291 | 103 | float c_magnetom_y; |
krmreynolds | 0:dc35364e2291 | 104 | float c_magnetom_z; |
krmreynolds | 0:dc35364e2291 | 105 | float MAG_Heading; |
krmreynolds | 0:dc35364e2291 | 106 | |
krmreynolds | 0:dc35364e2291 | 107 | float Accel_Vector[3]; //Store the acceleration in a vector |
krmreynolds | 0:dc35364e2291 | 108 | float Gyro_Vector[3]; //Store the gyros turn rate in a vector |
krmreynolds | 0:dc35364e2291 | 109 | float Omega_Vector[3]; //Corrected Gyro_Vector data |
krmreynolds | 0:dc35364e2291 | 110 | float Omega_P[3]; //Omega Proportional correction |
krmreynolds | 0:dc35364e2291 | 111 | float Omega_I[3]; //Omega Integrator |
krmreynolds | 0:dc35364e2291 | 112 | float Omega[3]; |
krmreynolds | 0:dc35364e2291 | 113 | |
krmreynolds | 0:dc35364e2291 | 114 | // Euler angles |
krmreynolds | 0:dc35364e2291 | 115 | float roll; |
krmreynolds | 0:dc35364e2291 | 116 | float pitch; |
krmreynolds | 0:dc35364e2291 | 117 | float yaw; |
krmreynolds | 0:dc35364e2291 | 118 | |
krmreynolds | 0:dc35364e2291 | 119 | float errorRollPitch[3]; |
krmreynolds | 0:dc35364e2291 | 120 | float errorYaw[3]; |
krmreynolds | 0:dc35364e2291 | 121 | |
krmreynolds | 0:dc35364e2291 | 122 | byte gyro_sat; |
krmreynolds | 0:dc35364e2291 | 123 | |
krmreynolds | 0:dc35364e2291 | 124 | // Gyros here |
krmreynolds | 0:dc35364e2291 | 125 | float DCM_Matrix[3][3]; |
krmreynolds | 0:dc35364e2291 | 126 | float Update_Matrix[3][3]; |
krmreynolds | 0:dc35364e2291 | 127 | float Temporary_Matrix[3][3]; |
krmreynolds | 0:dc35364e2291 | 128 | |
krmreynolds | 0:dc35364e2291 | 129 | // Calibration values |
krmreynolds | 0:dc35364e2291 | 130 | int M_X_MIN; |
krmreynolds | 0:dc35364e2291 | 131 | int M_Y_MIN; |
krmreynolds | 0:dc35364e2291 | 132 | int M_Z_MIN; |
krmreynolds | 0:dc35364e2291 | 133 | int M_X_MAX; |
krmreynolds | 0:dc35364e2291 | 134 | int M_Y_MAX; |
krmreynolds | 0:dc35364e2291 | 135 | int M_Z_MAX; |
krmreynolds | 0:dc35364e2291 | 136 | |
krmreynolds | 0:dc35364e2291 | 137 | int OUTPUTMODE; |
krmreynolds | 0:dc35364e2291 | 138 | int PRINT_ANALOGS; |
krmreynolds | 0:dc35364e2291 | 139 | int PRINT_EULER; |
krmreynolds | 0:dc35364e2291 | 140 | int PRINT_DCM; |
krmreynolds | 0:dc35364e2291 | 141 | int PRINT_SERIAL; |
krmreynolds | 0:dc35364e2291 | 142 | |
krmreynolds | 0:dc35364e2291 | 143 | }; |