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/IMU_10DOF.h@4:f62337b907e5, 2013-08-29 (annotated)
- Committer:
- maetugr
- Date:
- Thu Aug 29 13:52:30 2013 +0000
- Revision:
- 4:f62337b907e5
- Parent:
- 1:798db5deb8b9
The Altitude Sensor is now implemented, it's really 10DOF now ;); TODO: Autocalibration
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 1:798db5deb8b9 | 1 | // by MaEtUgR |
maetugr | 1:798db5deb8b9 | 2 | |
maetugr | 1:798db5deb8b9 | 3 | #ifndef IMU_10DOF_H |
maetugr | 1:798db5deb8b9 | 4 | #define IMU_10DOF_H |
maetugr | 1:798db5deb8b9 | 5 | |
maetugr | 1:798db5deb8b9 | 6 | #include "mbed.h" |
maetugr | 1:798db5deb8b9 | 7 | #include "L3G4200D.h" // Gyro (Gyroscope) |
maetugr | 1:798db5deb8b9 | 8 | #include "ADXL345.h" // Acc (Accelerometer) |
maetugr | 1:798db5deb8b9 | 9 | #include "HMC5883.h" // Comp (Compass) |
maetugr | 4:f62337b907e5 | 10 | #include "BMP085.h" // Alt (Altitude sensor or Barometer) |
maetugr | 4:f62337b907e5 | 11 | #include "IMU_Filter.h" // Class to calculate position angles (algorithm from S.O.H. Madgwick, see header file for info) |
maetugr | 1:798db5deb8b9 | 12 | |
maetugr | 1:798db5deb8b9 | 13 | class IMU_10DOF |
maetugr | 1:798db5deb8b9 | 14 | { |
maetugr | 1:798db5deb8b9 | 15 | public: |
maetugr | 1:798db5deb8b9 | 16 | IMU_10DOF(PinName sda, PinName scl); |
maetugr | 4:f62337b907e5 | 17 | void readAngles(); // read all axis from register to array data |
maetugr | 4:f62337b907e5 | 18 | void readAltitude(); // read all axis from register to array data |
maetugr | 1:798db5deb8b9 | 19 | |
maetugr | 4:f62337b907e5 | 20 | float * angle; // where the measured and calculated data is saved |
maetugr | 4:f62337b907e5 | 21 | float temperature; |
maetugr | 4:f62337b907e5 | 22 | float pressure; |
maetugr | 4:f62337b907e5 | 23 | float altitude; |
maetugr | 1:798db5deb8b9 | 24 | |
maetugr | 1:798db5deb8b9 | 25 | float dt; // local time to calculate processing speed for entire loop and just reading sensors |
maetugr | 1:798db5deb8b9 | 26 | float dt_sensors; // | |
maetugr | 1:798db5deb8b9 | 27 | private: // | |
maetugr | 1:798db5deb8b9 | 28 | Timer LocalTimer; // | |
maetugr | 1:798db5deb8b9 | 29 | float time_for_dt; // | |
maetugr | 1:798db5deb8b9 | 30 | float time_for_dt_sensors; // | |
maetugr | 1:798db5deb8b9 | 31 | |
maetugr | 1:798db5deb8b9 | 32 | L3G4200D Gyro; // All sensors Hardwaredrivers |
maetugr | 1:798db5deb8b9 | 33 | ADXL345 Acc; |
maetugr | 1:798db5deb8b9 | 34 | HMC5883 Comp; |
maetugr | 4:f62337b907e5 | 35 | BMP085 Alt; |
maetugr | 4:f62337b907e5 | 36 | |
maetugr | 1:798db5deb8b9 | 37 | IMU_Filter Filter; // Filterclass to join sensor data |
maetugr | 1:798db5deb8b9 | 38 | }; |
maetugr | 1:798db5deb8b9 | 39 | |
maetugr | 1:798db5deb8b9 | 40 | #endif |