Diff: minimu9.h

Revision:

1:3272ece36ce1

Parent:

0:dc35364e2291

--- a/minimu9.h	Thu Apr 12 13:47:23 2012 +0000
+++ b/minimu9.h	Mon Apr 23 14:31:08 2012 +0000
@@ -1,30 +1,39 @@
-/* mbed L3G4200D Library version 0.1
- * Copyright (c) 2012 Prediluted
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
- 
-#pragma once
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
 
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+#ifndef MINIMU9_h
+#define MINIMU9_h
+
+#include "mbed.h"
 #include "L3G4200D.h"
 #include "LSM303.h"
-#include "mbed.h"
+
 // LSM303 accelerometer: 8 g sensitivity
 // 3.8 mg/digit; 1 g = 256
 #define GRAVITY 256  //this equivalent to 1G in the raw data coming from the accelerometer 
@@ -41,55 +50,64 @@
 #define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second
 #define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second
 
-    
+// LSM303 magnetometer calibration constants; use the Calibrate example from
+// the Pololu LSM303 library to find the right values for your board
+#define M_X_MIN -796
+#define M_Y_MIN -457
+#define M_Z_MIN -424
+#define M_X_MAX 197
+#define M_Y_MAX 535
+#define M_Z_MAX 397
+
 #define Kp_ROLLPITCH 0.02
 #define Ki_ROLLPITCH 0.00002
 #define Kp_YAW 1.2
 #define Ki_YAW 0.00002
-    
 
-#define STATUS_LED 13
+/*For debugging purposes*/
+//OUTPUTMODE=1 will print the corrected data,
+//OUTPUTMODE=0 will print uncorrected data of the gyros (with drift)
+#define OUTPUTMODE 1
+
+//#define PRINT_DCM 0     //Will print the whole direction cosine matrix
+#define PRINT_ANALOGS 0 //Will print the analog raw data
+#define PRINT_EULER 1   //Will print the Euler angles Roll, Pitch and Yaw
+
 typedef unsigned char byte;
 
 class minimu9 {
 public:
-    minimu9 ( void );
-    void get_data ( void );
-    void print_data ( void );
-    void Gyro_Init();
-    void Read_Gyro();
-    void Accel_Init();
-    void Read_Accel();
-    void Compass_Init();
-    void Compass_Heading();
-    void Read_Compass();
-    void Normalize( void );
-    void Drift_correction( void );
-    void Matrix_update( void) ;
-    void Euler_angles( void );
-    void Calibrate_compass( void );
-    void set_calibration_values( int, int, int, int, int, int );
-    void set_print_settings( int, int, int, int, int );
-
-    float get_pitch( void );
-    float get_roll( void );
-    float get_yaw( void );
+    minimu9( void );
+    bool update( void );
+    float get_roll();
+    float get_pitch();
+    float get_yaw();
 
 private:
+    void initialize_values( void );
+    void read_gyro( void );
+    void read_accel( void );
+    void read_compass( void );
+    void compass_heading( void );
+    void matrix_update( void );
+    void normalize( void );
+    void drift_correction( void );
+    void euler_angles( void );
+    void print_data( void );
+    
     L3G4200D *gyro;
-    LSM303 *compass;
+    LSM303   *compass;
 
     Timer t;
 
-    float G_Dt;    // Integration time (DCM algorithm)  We will run the integration loop at 50Hz if possible
-    long timer;   //general purpuse timer
+    float G_Dt;         // Integration time (DCM algorithm)  We will run the integration loop at 50Hz if possible
+
+    long timer;         //general purpuse timer
     long timer_old;
-    long timer24; //Second timer used to print values
-    unsigned int counter;
-    int AN[6]; //array that stores the gyro and accelerometer data
-    int AN_OFFSET[6]; //Array that stores the Offset of the sensors
-    int SENSOR_SIGN[9];
-
+    long timer24;       //Second timer used to print values
+    int AN[6];          //array that stores the gyro and accelerometer data
+    int AN_OFFSET[6];   //Array that stores the Offset of the sensors
+    int SENSOR_SIGN[9]; // Orientation
     int gyro_x;
     int gyro_y;
     int gyro_z;
@@ -119,25 +137,12 @@
     float errorRollPitch[3];
     float errorYaw[3];
 
+    unsigned int counter;
     byte gyro_sat;
 
-    // Gyros here
     float DCM_Matrix[3][3];
-    float Update_Matrix[3][3];
+    float Update_Matrix[3][3]; //Gyros here
     float Temporary_Matrix[3][3];
+};
 
-    // Calibration values
-    int M_X_MIN;
-    int M_Y_MIN;
-    int M_Z_MIN;
-    int M_X_MAX;
-    int M_Y_MAX;
-    int M_Z_MAX;
-    
-    int OUTPUTMODE;
-    int PRINT_ANALOGS; 
-    int PRINT_EULER;  
-    int PRINT_DCM;
-    int PRINT_SERIAL;
-
-};
\ No newline at end of file
+#endif
\ No newline at end of file