Matthias Grob / Mbed 2 deprecated FlyBed2

My fully self designed first stable working Quadrocopter Software.

Dependencies:   mbed

Dependents:   fluy343

/media/uploads/maetugr/dsc09031.jpg

IMU/IMU_10DOF.h@0:12950aa67f2a, 2013-09-02 (annotated)

Committer:
maetugr
Date:
Mon Sep 02 15:04:22 2013 +0000
Revision:
0:12950aa67f2a
Child:
2:03e5f7ab473f
first commit of new version (only one axis for test until now); note: no more Ticker! (made problems because of interrupts)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:12950aa67f2a 1 // by MaEtUgR
maetugr 0:12950aa67f2a 2
maetugr 0:12950aa67f2a 3 #ifndef IMU_10DOF_H
maetugr 0:12950aa67f2a 4 #define IMU_10DOF_H
maetugr 0:12950aa67f2a 5
maetugr 0:12950aa67f2a 6 #include "mbed.h"
maetugr 0:12950aa67f2a 7 #include "L3G4200D.h" // Gyro (Gyroscope)
maetugr 0:12950aa67f2a 8 #include "ADXL345.h" // Acc (Accelerometer)
maetugr 0:12950aa67f2a 9 #include "HMC5883.h" // Comp (Compass)
maetugr 0:12950aa67f2a 10 #include "BMP085.h" // Alt (Altitude sensor or Barometer)
maetugr 0:12950aa67f2a 11 #include "IMU_Filter.h" // Class to calculate position angles (algorithm from S.O.H. Madgwick, see header file for info)
maetugr 0:12950aa67f2a 12
maetugr 0:12950aa67f2a 13 class IMU_10DOF
maetugr 0:12950aa67f2a 14 {
maetugr 0:12950aa67f2a 15 public:
maetugr 0:12950aa67f2a 16 IMU_10DOF(PinName sda, PinName scl);
maetugr 0:12950aa67f2a 17 void readAngles(); // read all axis from register to array data
maetugr 0:12950aa67f2a 18 void readAltitude(); // read all axis from register to array data
maetugr 0:12950aa67f2a 19
maetugr 0:12950aa67f2a 20 float * angle; // where the measured and calculated data is saved
maetugr 0:12950aa67f2a 21 float temperature;
maetugr 0:12950aa67f2a 22 float pressure;
maetugr 0:12950aa67f2a 23 float altitude;
maetugr 0:12950aa67f2a 24
maetugr 0:12950aa67f2a 25 float dt; // local time to calculate processing speed for entire loop and just reading sensors
maetugr 0:12950aa67f2a 26 float dt_sensors; // |
maetugr 0:12950aa67f2a 27 //private: // |
maetugr 0:12950aa67f2a 28 Timer LocalTimer; // |
maetugr 0:12950aa67f2a 29 float time_for_dt; // |
maetugr 0:12950aa67f2a 30 float time_for_dt_sensors; // |
maetugr 0:12950aa67f2a 31
maetugr 0:12950aa67f2a 32 L3G4200D Gyro; // All sensors Hardwaredrivers
maetugr 0:12950aa67f2a 33 ADXL345 Acc;
maetugr 0:12950aa67f2a 34 HMC5883 Comp;
maetugr 0:12950aa67f2a 35 BMP085 Alt;
maetugr 0:12950aa67f2a 36
maetugr 0:12950aa67f2a 37 IMU_Filter Filter; // Filterclass to join sensor data
maetugr 0:12950aa67f2a 38 };
maetugr 0:12950aa67f2a 39
maetugr 0:12950aa67f2a 40 #endif