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/IMU_10DOF.cpp@1:798db5deb8b9, 2013-08-27 (annotated)

Committer:
maetugr
Date:
Tue Aug 27 22:01:10 2013 +0000
Revision:
1:798db5deb8b9
Child:
4:f62337b907e5
All in an IMU_10DOF class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 1:798db5deb8b9 1 #include "IMU_10DOF.h"
maetugr 1:798db5deb8b9 2
maetugr 1:798db5deb8b9 3 IMU_10DOF::IMU_10DOF(PinName sda, PinName scl) : Gyro(sda, scl), Acc(sda, scl), Comp(sda, scl)
maetugr 1:798db5deb8b9 4 {
maetugr 1:798db5deb8b9 5 dt = 0;
maetugr 1:798db5deb8b9 6 dt_sensors = 0;
maetugr 1:798db5deb8b9 7 time_for_dt = 0;
maetugr 1:798db5deb8b9 8 time_for_dt_sensors = 0;
maetugr 1:798db5deb8b9 9 angle = Filter.angle;
maetugr 1:798db5deb8b9 10
maetugr 1:798db5deb8b9 11 LocalTimer.start();
maetugr 1:798db5deb8b9 12 }
maetugr 1:798db5deb8b9 13
maetugr 1:798db5deb8b9 14 void IMU_10DOF::read()
maetugr 1:798db5deb8b9 15 {
maetugr 1:798db5deb8b9 16 time_for_dt_sensors = LocalTimer.read(); // start time for measuring sensors
maetugr 1:798db5deb8b9 17 Gyro.read(); // reading sensor data
maetugr 1:798db5deb8b9 18 Acc.read();
maetugr 1:798db5deb8b9 19 Comp.read();
maetugr 1:798db5deb8b9 20 dt_sensors = LocalTimer.read() - time_for_dt_sensors; // stop time for measuring sensors
maetugr 1:798db5deb8b9 21
maetugr 1:798db5deb8b9 22 // meassure dt for the filter
maetugr 1:798db5deb8b9 23 dt = LocalTimer.read() - time_for_dt; // time in s since last loop
maetugr 1:798db5deb8b9 24 time_for_dt = LocalTimer.read(); // set new time for next measurement
maetugr 1:798db5deb8b9 25
maetugr 1:798db5deb8b9 26 Filter.compute(dt, Gyro.data, Acc.data, Comp.data);
maetugr 1:798db5deb8b9 27 }