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
Diff: IMU/IMU_10DOF.h
- Revision:
- 1:798db5deb8b9
- Child:
- 4:f62337b907e5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/IMU/IMU_10DOF.h Tue Aug 27 22:01:10 2013 +0000 @@ -0,0 +1,33 @@ +// by MaEtUgR + +#ifndef IMU_10DOF_H +#define IMU_10DOF_H + +#include "mbed.h" +#include "L3G4200D.h" // Gyro (Gyroscope) +#include "ADXL345.h" // Acc (Accelerometer) +#include "HMC5883.h" // Comp (Compass) +#include "IMU_Filter.h" // Class to calculate position angles + +class IMU_10DOF +{ + public: + IMU_10DOF(PinName sda, PinName scl); + void read(); // read all axis from register to array data + + float * angle; // where the measured and calculated angles are saved + + float dt; // local time to calculate processing speed for entire loop and just reading sensors + float dt_sensors; // | + private: // | + Timer LocalTimer; // | + float time_for_dt; // | + float time_for_dt_sensors; // | + + L3G4200D Gyro; // All sensors Hardwaredrivers + ADXL345 Acc; + HMC5883 Comp; + IMU_Filter Filter; // Filterclass to join sensor data +}; + +#endif \ No newline at end of file