Diff: IMU/IMU_10DOF.h

Revision:

0:37f0c1e8fa66

Child:

7:90f876d47862

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU/IMU_10DOF.h	Tue Sep 08 13:38:10 2015 +0000
@@ -0,0 +1,34 @@
+// by MaEtUgR
+
+#ifndef IMU_10DOF_H
+#define IMU_10DOF_H
+
+#include "mbed.h"
+#include "MPU9250.h"    // Combined Gyroscope & Accelerometer & Magnetometer over SPI
+#include "IMU_Filter.h" // Class to calculate position angles  (algorithm from S.O.H. Madgwick, see header file for info)
+
+class IMU_10DOF
+{           
+    public:
+        IMU_10DOF(PinName MOSI, PinName MISO, PinName SCLK, PinName CS);
+        void readAngles();              // read all sensors and calculate angles
+        
+        float * angle;                  // where the measured and calculated data is saved
+        float temperature;
+        float pressure;
+        float altitude;
+        
+        float dt;                       // time for entire loop
+        float dt_sensors;               // time only to read sensors
+        
+        MPU9250     mpu;                // The sensor Hardware Driver
+            
+    private:                            
+        Timer LocalTimer;               // local time to calculate processing speed for entire loop and just reading sensors
+        float time_for_dt;              // |
+        float time_for_dt_sensors;      // |
+        
+        IMU_Filter  Filter;             // Filterclass to join sensor data
+};
+
+#endif
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