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

main.cpp@4:f62337b907e5, 2013-08-29 (annotated)

Committer:
maetugr
Date:
Thu Aug 29 13:52:30 2013 +0000
Revision:
4:f62337b907e5
Parent:
3:6dbefedce7fe 
The Altitude Sensor is now implemented, it's really 10DOF now ;); TODO: Autocalibration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:3e7450f1a938 1 #include "mbed.h"
maetugr 0:3e7450f1a938 2 #include "LED.h" // LEDs framework for blinking ;)
maetugr 1:798db5deb8b9 3 #include "IMU_10DOF.h" // Complete IMU class for 10DOF-Board (L3G4200D, ADXL345, HMC5883, BMP085)
maetugr 0:3e7450f1a938 4 #include "PC.h" // Serial Port via USB by Roland Elmiger for debugging with Terminal (driver needed: https://mbed.org/media/downloads/drivers/mbedWinSerial_16466.exe)
maetugr 0:3e7450f1a938 5
maetugr 0:3e7450f1a938 6 #define RATE 0.002 // speed of the interrupt for Sensors and PID
maetugr 0:3e7450f1a938 7
maetugr 0:3e7450f1a938 8 LED LEDs;
maetugr 0:3e7450f1a938 9 PC pc(USBTX, USBRX, 921600); // USB
maetugr 1:798db5deb8b9 10 IMU_10DOF IMU(p28, p27);
maetugr 0:3e7450f1a938 11
maetugr 0:3e7450f1a938 12 Ticker Dutycycler; // timecontrolled interrupt for exact timed control loop
maetugr 0:3e7450f1a938 13
maetugr 0:3e7450f1a938 14 void dutycycle() { // method which is called by the Ticker Dutycycler every RATE seconds
maetugr 4:f62337b907e5 15 IMU.readAngles();
maetugr 0:3e7450f1a938 16 }
maetugr 0:3e7450f1a938 17
maetugr 0:3e7450f1a938 18 void executer() {
maetugr 0:3e7450f1a938 19 pc.putc(pc.getc());
maetugr 0:3e7450f1a938 20 LEDs.tilt(2);
maetugr 0:3e7450f1a938 21 }
maetugr 0:3e7450f1a938 22
maetugr 0:3e7450f1a938 23 int main() {
maetugr 0:3e7450f1a938 24 Dutycycler.attach(&dutycycle, RATE); // start to process all RATE seconds
maetugr 0:3e7450f1a938 25 pc.attach(&executer);
maetugr 0:3e7450f1a938 26 while(1) {
maetugr 4:f62337b907e5 27 #warning The current version has some hardcoded calibration values, change them in order to get high precision, to find them look out for_ warnings (sorry for_ that hope to get time to develop autocalibration)
maetugr 3:6dbefedce7fe 28 // just putting out the angle on console
maetugr 4:f62337b907e5 29 IMU.readAltitude(); // reading altitude takes much more time than the angles -> don't do this in your fast loop
maetugr 4:f62337b907e5 30 pc.printf("%.1f,%.1f,%.1f,%.1f'C,%.1fhPa,%.1fmaS,%.5fs,%.5fs\r\n", IMU.angle[0], IMU.angle[1], IMU.angle[2], IMU.temperature, IMU.pressure, IMU.altitude, IMU.dt, IMU.dt_sensors); // Output for Python
maetugr 4:f62337b907e5 31
maetugr 4:f62337b907e5 32 wait(0.01); // this is to avoid buffer overflow in the Computers UART-Controller
maetugr 0:3e7450f1a938 33
maetugr 0:3e7450f1a938 34 LEDs.tilt(1);
maetugr 0:3e7450f1a938 35 }
maetugr 0:3e7450f1a938 36 }