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
IMU/Sensors/Alt/BMP085.cpp
- Committer:
- maetugr
- Date:
- 2013-08-27
- Revision:
- 0:3e7450f1a938
- Child:
- 4:f62337b907e5
File content as of revision 0:3e7450f1a938:
#include "BMP085.h" BMP085::BMP085(PinName sda, PinName scl) : I2C_Sensor(sda, scl, BMP085_I2C_ADDRESS) { // initialize BMP085 with settings //writeRegister(0xf4, 0x2e); // TODO: was macht das + register in header! } /*void BMP085::read() { long P, UTemp, UPressure, X1, X2, X3, B3, B5, B6; unsigned long B4, B7; // TODO: writeRegister(0xf4, 0x2e); ?!!! twi_writechar(BMP085_ADRESS, 0xf4, 0x2e); // Wait at least 4.5ms wait(0.005); UTemp = twi_readshort(BMP085_ADRESS, 0xf6); X1 = ((UTemp - AC6) * AC5) >> 15; X2 = (MC << 11) / (X1 + MD); B5 = X1 + X2; Temperature = (float)((B5 + 8) >> 4)/10.0; twi_writechar(BMP085_ADRESS, 0xf4, 0x34 + (oss << 6)); // Wait at least 4.5ms wait(0.005); UPressure = twi_readlong(BMP085_ADRESS, 0xf6) >> (8 - oss); B6 = B5 - 4000; X1 = (B2 * (B6 * B6) >> 12) >> 11; X2 = (AC2 * B6) >> 11; X3 = X1 + X2; B3 = ((AC1 * 4 + X3) << oss) >> 2; X1 = (AC3 * B6) >> 13; X2 = (B1 * (B6 * B6) >> 12) >> 16; X3 = ((X1 + X2) + 2) >> 2; B4 = AC4 * (X3 + 32768) >> 15; B7 = (unsigned long)(UPressure - B3) * (50000 >> oss); if (B7 < 0x80000000) { P = (2 * B7) / B4; } else { P = 2* (B7 / B4); } X1 = (P >> 8) * (P >> 8); X1 = (X1 * 3038) >> 16; X2 = (-7357 * P) >> 16; P = P + ((X1 + X2 + 3791) >> 4); Pressure = (float)P / 100.0; }*/