Matthias Grob / Mbed 2 deprecated IMU_10DOF

An fully working IMU-Filter and Sensor drivers for the 10DOF-Board over I2C. All in one simple class. Include, calibrate sensors, call read, get angles. (3D Visualisation code for Python also included) Sensors: L3G4200D, ADXL345, HMC5883, BMP085

Dependencies:   mbed

IMU/Sensors/Gyro/L3G4200D.cpp@0:3e7450f1a938, 2013-08-27 (annotated)

Committer:
maetugr
Date:
Tue Aug 27 17:37:06 2013 +0000
Revision:
0:3e7450f1a938
Child:
4:f62337b907e5
before 10DOF class (only files already created)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:3e7450f1a938 1 #include "L3G4200D.h"
maetugr 0:3e7450f1a938 2
maetugr 0:3e7450f1a938 3 L3G4200D::L3G4200D(PinName sda, PinName scl) : I2C_Sensor(sda, scl, L3G4200D_I2C_ADDRESS)
maetugr 0:3e7450f1a938 4 {
maetugr 0:3e7450f1a938 5 // Turns on the L3G4200D's gyro and places it in normal mode.
maetugr 0:3e7450f1a938 6 // Normal power mode, all axes enabled (for detailed info see datasheet)
maetugr 0:3e7450f1a938 7
maetugr 0:3e7450f1a938 8 //writeRegister(L3G4200D_CTRL_REG2, 0x05); // control filter
maetugr 0:3e7450f1a938 9 writeRegister(L3G4200D_CTRL_REG2, 0x00); // highpass filter disabled
maetugr 0:3e7450f1a938 10 writeRegister(L3G4200D_CTRL_REG3, 0x00);
maetugr 0:3e7450f1a938 11 writeRegister(L3G4200D_CTRL_REG4, 0x20); // sets acuracy to 2000 dps (degree per second)
maetugr 0:3e7450f1a938 12
maetugr 0:3e7450f1a938 13 writeRegister(L3G4200D_REFERENCE, 0x00);
maetugr 0:3e7450f1a938 14 //writeRegister(L3G4200D_STATUS_REG, 0x0F);
maetugr 0:3e7450f1a938 15
maetugr 0:3e7450f1a938 16 writeRegister(L3G4200D_INT1_THS_XH, 0x2C); // TODO: WTF??
maetugr 0:3e7450f1a938 17 writeRegister(L3G4200D_INT1_THS_XL, 0xA4);
maetugr 0:3e7450f1a938 18 writeRegister(L3G4200D_INT1_THS_YH, 0x2C);
maetugr 0:3e7450f1a938 19 writeRegister(L3G4200D_INT1_THS_YL, 0xA4);
maetugr 0:3e7450f1a938 20 writeRegister(L3G4200D_INT1_THS_ZH, 0x2C);
maetugr 0:3e7450f1a938 21 writeRegister(L3G4200D_INT1_THS_ZL, 0xA4);
maetugr 0:3e7450f1a938 22 //writeRegister(L3G4200D_INT1_DURATION, 0x00);
maetugr 0:3e7450f1a938 23
maetugr 0:3e7450f1a938 24 writeRegister(L3G4200D_CTRL_REG5, 0x00); // deactivates the filters (only use one of these options)
maetugr 0:3e7450f1a938 25 //writeRegister(L3G4200D_CTRL_REG5, 0x12); // activates both high and low pass filters
maetugr 0:3e7450f1a938 26 //writeRegister(L3G4200D_CTRL_REG5, 0x01); // activates high pass filter
maetugr 0:3e7450f1a938 27
maetugr 0:3e7450f1a938 28 writeRegister(L3G4200D_CTRL_REG1, 0x0F); // starts Gyro measurement
maetugr 0:3e7450f1a938 29
maetugr 0:3e7450f1a938 30 //calibrate(50, 0.01);
maetugr 0:3e7450f1a938 31 }
maetugr 0:3e7450f1a938 32
maetugr 0:3e7450f1a938 33 void L3G4200D::read()
maetugr 0:3e7450f1a938 34 {
maetugr 0:3e7450f1a938 35 readraw(); // read raw measurement data
maetugr 0:3e7450f1a938 36
maetugr 0:3e7450f1a938 37 for (int i = 0; i < 3; i++)
maetugr 0:3e7450f1a938 38 data[i] = (raw[i] - offset[i])*0.07; // subtract offset from calibration and multiply unit factor (datasheet s.10)
maetugr 0:3e7450f1a938 39 }
maetugr 0:3e7450f1a938 40
maetugr 0:3e7450f1a938 41 int L3G4200D::readTemp()
maetugr 0:3e7450f1a938 42 {
maetugr 0:3e7450f1a938 43 return (short) readRegister(L3G4200D_OUT_TEMP); // read the sensors register for the temperature
maetugr 0:3e7450f1a938 44 }
maetugr 0:3e7450f1a938 45
maetugr 0:3e7450f1a938 46 void L3G4200D::readraw()
maetugr 0:3e7450f1a938 47 {
maetugr 0:3e7450f1a938 48 char buffer[6]; // 8-Bit pieces of axis data
maetugr 0:3e7450f1a938 49
maetugr 0:3e7450f1a938 50 readMultiRegister(L3G4200D_OUT_X_L | (1 << 7), buffer, 6); // read axis registers using I2C // TODO: why?! | (1 << 7)
maetugr 0:3e7450f1a938 51
maetugr 0:3e7450f1a938 52 raw[0] = (short) (buffer[1] << 8 | buffer[0]); // join 8-Bit pieces to 16-bit short integers
maetugr 0:3e7450f1a938 53 raw[1] = (short) (buffer[3] << 8 | buffer[2]);
maetugr 0:3e7450f1a938 54 raw[2] = (short) (buffer[5] << 8 | buffer[4]);
maetugr 0:3e7450f1a938 55 }
maetugr 0:3e7450f1a938 56
maetugr 0:3e7450f1a938 57 void L3G4200D::calibrate(int times, float separation_time)
maetugr 0:3e7450f1a938 58 {
maetugr 0:3e7450f1a938 59 // calibrate sensor with an average of count samples (result of calibration stored in offset[])
maetugr 0:3e7450f1a938 60 float calib[3] = {0,0,0}; // temporary array for the sum of calibration measurement
maetugr 0:3e7450f1a938 61
maetugr 0:3e7450f1a938 62 for (int i = 0; i < times; i++) { // read 'times' times the data in a very short time
maetugr 0:3e7450f1a938 63 readraw();
maetugr 0:3e7450f1a938 64 for (int j = 0; j < 3; j++)
maetugr 0:3e7450f1a938 65 calib[j] += raw[j];
maetugr 0:3e7450f1a938 66 wait(separation_time);
maetugr 0:3e7450f1a938 67 }
maetugr 0:3e7450f1a938 68
maetugr 0:3e7450f1a938 69 for (int i = 0; i < 3; i++)
maetugr 0:3e7450f1a938 70 offset[i] = calib[i]/times; // take the average of the calibration measurements
maetugr 0:3e7450f1a938 71 }