IMU 10dof MEMS from DR Robot adapted from HK10DOF Changed gyro to ITG3200
Fork of HK10DOF by
WARNING: This project is not complete, but this library seems ok so far.
I have the module DFRobotics.com 10DOF MEMS IMU. I wanted a concise module for resolving direction and movement.
I found HK10DOF library (http://developer.mbed.org/users/pommzorz/code/HK10DOF/) with quaternions. But it used a different gyro. So I modified that code to use the same higher level calls but use the ITG3200 low level calls.
Diff: L3G4200D.cpp
- Revision:
- 4:c4db4e2ffdd7
- Parent:
- 3:450acaa4f52d
--- a/L3G4200D.cpp Tue Nov 18 06:25:57 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,165 +0,0 @@ -/** - * Copyright (c) 2011 Pololu Corporation. For more information, see - * - * http://www.pololu.com/ - * http://forum.pololu.com/ - * - * Permission is hereby granted, free of charge, to any person - * obtaining a copy of this software and associated documentation - * files (the "Software"), to deal in the Software without - * restriction, including without limitation the rights to use, - * copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the - * Software is furnished to do so, subject to the following - * conditions: - * - * The above copyright notice and this permission notice shall be - * included in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES - * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT - * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, - * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING - * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR - * OTHER DEALINGS IN THE SOFTWARE. - */ - -#include "mbed.h" -#include "L3G4200D.h" -#include <math.h> - -// Defines //////////////////////////////////////////////////////////////// - -// The Arduino two-wire interface uses a 7-bit number for the address, -// and sets the last bit correctly based on reads and writes -// mbed I2C libraries take the 7-bit address shifted left 1 bit -// #define GYR_ADDRESS (0xD2 >> 1) -#define GYR_ADDRESS 0xD2 - -// Public Methods ////////////////////////////////////////////////////////////// - -// Constructor -L3G4200D::L3G4200D(PinName sda, PinName scl): - _device(sda, scl) -{ - _device.frequency(400000); - // Turns on the L3G4200D's gyro and places it in normal mode. - // 0x0F = 0b00001111 - // Normal power mode, all axes enabled - writeReg(L3G4200D_CTRL_REG1, 0x0F); - writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale - - setGains(1.0,1.0,1.0); - setOffsets(0.0,0.0,0.0); - -} - -// Writes a gyro register -void L3G4200D::writeReg(byte reg, byte value) -{ - data[0] = reg; - data[1] = value; - - _device.write(GYR_ADDRESS, data, 2); -} - -// Reads a gyro register -byte L3G4200D::readReg(byte reg) -{ - byte value = 0; - - _device.write(GYR_ADDRESS, ®, 1); - _device.read(GYR_ADDRESS, &value, 1); - - return value; -} - -void L3G4200D::setGains(float _Xgain, float _Ygain, float _Zgain) { - gains[0] = _Xgain; - gains[1] = _Ygain; - gains[2] = _Zgain; -} - -void L3G4200D::setOffsets(int _Xoffset, int _Yoffset, int _Zoffset) { - offsets[0] = _Xoffset; - offsets[1] = _Yoffset; - offsets[2] = _Zoffset; -} - -void L3G4200D::setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol) { - polarities[0] = _Xpol ? -1 : 1; - polarities[1] = _Ypol ? -1 : 1; - polarities[2] = _Zpol ? -1 : 1; -} - - -void L3G4200D::zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS) { - int xyz[3]; - float tmpOffsets[] = {0,0,0}; - - for (int i = 0;i < totSamples;i++){ - wait_ms(sampleDelayMS); - read(xyz); - tmpOffsets[0] += xyz[0]; - tmpOffsets[1] += xyz[1]; - tmpOffsets[2] += xyz[2]; - } - setOffsets(-tmpOffsets[0] / totSamples, -tmpOffsets[1] / totSamples, -tmpOffsets[2] / totSamples); -} - - -// Reads the 3 gyro channels and stores them in vector g -void L3G4200D::read(int *g) -{ - // assert the MSB of the address to get the gyro - // to do slave-transmit subaddress updating. - data[0] = L3G4200D_OUT_X_L | (1 << 7); - _device.write(GYR_ADDRESS, data, 1); - -// Wire.requestFrom(GYR_ADDRESS, 6); -// while (Wire.available() < 6); - - _device.read(GYR_ADDRESS, data, 6); - - uint8_t xla = data[0]; - uint8_t xha = data[1]; - uint8_t yla = data[2]; - uint8_t yha = data[3]; - uint8_t zla = data[4]; - uint8_t zha = data[5]; - - g[0] = (short) (yha << 8 | yla); - g[1] = (short) (xha << 8 | xla); - g[2] = (short) (zha << 8 | zla); -} - -void L3G4200D::readRawCal(int *_GyroXYZ) { - read(_GyroXYZ); - _GyroXYZ[0] += offsets[0]; - _GyroXYZ[1] += offsets[1]; - _GyroXYZ[2] += offsets[2]; -} - - - -void L3G4200D::read3(int x, int y, int z) { - int* readings; - read(readings); - - // each axis reading comes in 10 bit resolution, ie 2 bytes. Least Significat Byte first!! - // thus we are converting both bytes in to one int - x = readings[0]; - y = readings[1]; - z = readings[2]; -} - -void L3G4200D::readFin(float *_GyroXYZ){ - int xyz[3]; - - readRawCal(xyz); // x,y,z will contain calibrated integer values from the sensor - _GyroXYZ[0] = xyz[0] / 14.375 * polarities[0] * gains[0]; - _GyroXYZ[1] = xyz[1]/ 14.375 * polarities[1] * gains[1]; - _GyroXYZ[2] = xyz[2] / 14.375 * polarities[2] * gains[2]; -}