Diff: IMU.h

Revision:

0:3fb3c13f3cf5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMU.h	Wed Apr 15 12:53:31 2020 +0000
@@ -0,0 +1,104 @@
+/*
+ * IMU.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef IMU_H_
+#define IMU_H_
+
+#include <cstdlib>
+#include <mbed.h>
+#include "ThreadFlag.h"
+#include "LowpassFilter.h"
+/**
+ * This is a device driver class for the ST LSM9DS1 inertial measurement unit.
+ */
+class IMU {
+
+    public:
+        
+                    IMU(SPI& spi, DigitalOut& csAG, DigitalOut& csM);
+        virtual     ~IMU();
+        float       readAccelerationX();
+        float       readAccelerationY();
+        float       readAccelerationZ();
+        float       readGyroX();
+        float       readGyroY();
+        float       readGyroZ();
+        float       readMagnetometerX();
+        float       readMagnetometerY();
+        float       readMagnetometerZ();
+        float       readHeading();
+
+    private:
+        
+        static const char   WHO_AM_I = 0x0F;
+        static const char   CTRL_REG1_G = 0x10;
+        static const char   CTRL_REG2_G = 0x11;
+        static const char   CTRL_REG3_G = 0x12;
+        static const char   OUT_X_L_G = 0x18;
+        static const char   OUT_X_H_G = 0x19;
+        static const char   OUT_Y_L_G = 0x1A;
+        static const char   OUT_Y_H_G = 0x1B;
+        static const char   OUT_Z_L_G = 0x1C;
+        static const char   OUT_Z_H_G = 0x1D;
+        static const char   CTRL_REG4 = 0x1E;
+        static const char   CTRL_REG5_XL = 0x1F;
+        static const char   CTRL_REG6_XL = 0x20;
+        static const char   CTRL_REG7_XL = 0x21;
+        static const char   CTRL_REG8 = 0x22;
+        static const char   CTRL_REG9 = 0x23;
+        static const char   CTRL_REG10 = 0x24;
+        static const char   OUT_X_L_XL = 0x28;
+        static const char   OUT_X_H_XL = 0x29;
+        static const char   OUT_Y_L_XL = 0x2A;
+        static const char   OUT_Y_H_XL = 0x2B;
+        static const char   OUT_Z_L_XL = 0x2C;
+        static const char   OUT_Z_H_XL = 0x2D;
+        
+        static const char   WHO_AM_I_M = 0x0F;
+        static const char   CTRL_REG1_M = 0x20;
+        static const char   CTRL_REG2_M = 0x21;
+        static const char   CTRL_REG3_M = 0x22;
+        static const char   CTRL_REG4_M = 0x23;
+        static const char   CTRL_REG5_M = 0x24;
+        static const char   OUT_X_L_M = 0x28;
+        static const char   OUT_X_H_M = 0x29;
+        static const char   OUT_Y_L_M = 0x2A;
+        static const char   OUT_Y_H_M = 0x2B;
+        static const char   OUT_Z_L_M = 0x2C;
+        static const char   OUT_Z_H_M = 0x2D;
+        
+        static const unsigned int   STACK_SIZE = 4096;          // stack size of thread, given in [bytes]
+        static const float          PERIOD;                     // the period of the timer interrupt, given in [s]
+        static const float          M_PI;                       // the mathematical constant PI
+        static const float          PERIOD_LP;
+        static const float          LOWPASS_FILTER_FREQUENCY;
+        
+        float mxMin;
+        float mxMax;
+        float myMin;
+        float myMax;
+    
+        float myX_korr;
+        float myY_korr;
+        
+        SPI&            spi;
+        DigitalOut&     csAG;
+        DigitalOut&     csM;
+        Mutex           mutex;
+        ThreadFlag      threadFlag;
+        Thread          thread;
+        Ticker          ticker;
+        LowpassFilter   FilterX;
+        LowpassFilter   FilterY;
+        
+        void    writeRegister(DigitalOut& cs, char address, char value);
+        char    readRegister(DigitalOut& cs, char address);
+        void    sendThreadFlag();
+        void    run();
+};
+
+#endif /* IMU_H_ */
+