Matthias Grob
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
diff -r 3e7450f1a938 -r 798db5deb8b9 IMU/IMU_10DOF.h
--- /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