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.h
- Revision:
- 4:c4db4e2ffdd7
- Parent:
- 3:450acaa4f52d
--- a/L3G4200D.h Tue Nov 18 06:25:57 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,119 +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. - */ - -#ifndef __L3G4200D_H -#define __L3G4200D_H - -#include "mbed.h" - -// register addresses - -#define L3G4200D_WHO_AM_I 0x0F - -#define L3G4200D_CTRL_REG1 0x20 -#define L3G4200D_CTRL_REG2 0x21 -#define L3G4200D_CTRL_REG3 0x22 -#define L3G4200D_CTRL_REG4 0x23 -#define L3G4200D_CTRL_REG5 0x24 -#define L3G4200D_REFERENCE 0x25 -#define L3G4200D_OUT_TEMP 0x26 -#define L3G4200D_STATUS_REG 0x27 - -#define L3G4200D_OUT_X_L 0x28 -#define L3G4200D_OUT_X_H 0x29 -#define L3G4200D_OUT_Y_L 0x2A -#define L3G4200D_OUT_Y_H 0x2B -#define L3G4200D_OUT_Z_L 0x2C -#define L3G4200D_OUT_Z_H 0x2D - -#define L3G4200D_FIFO_CTRL_REG 0x2E -#define L3G4200D_FIFO_SRC_REG 0x2F - -#define L3G4200D_INT1_CFG 0x30 -#define L3G4200D_INT1_SRC 0x31 -#define L3G4200D_INT1_THS_XH 0x32 -#define L3G4200D_INT1_THS_XL 0x33 -#define L3G4200D_INT1_THS_YH 0x34 -#define L3G4200D_INT1_THS_YL 0x35 -#define L3G4200D_INT1_THS_ZH 0x36 -#define L3G4200D_INT1_THS_ZL 0x37 -#define L3G4200D_INT1_DURATION 0x38 - -typedef char byte; - -/** Interface library for the ST L3G4200D 3-axis gyro - * - * Ported from Pololu L3G4200D library for Arduino by - * Michael Shimniok http://bot-thoughts.com - * - * @code - * #include "mbed.h" - * #include "L3G4200D.h" - * L3G4200D gyro(p28, p27); - * ... - * int g[3]; - * gyro.read(g); - * @endcode - */ -class L3G4200D -{ - public: - /** Create a new L3G4200D I2C interface - * @param sda is the pin for the I2C SDA line - * @param scl is the pin for the I2C SCL line - */ - L3G4200D(PinName sda, PinName scl); - - /** Read gyro values - * @param g Array containing x, y, and z gyro values - * @return g Array containing x, y, and z gyro values - */ - void read(int *g); - void read3(int x, int y, int z); - void zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS); - void readRawCal(int *_GyroXYZ); - void readFin(float *_GyroXYZ); // includes gain and offset - - private: - float gains[3]; - int offsets[3]; - float polarities[3]; - - void setGains(float _Xgain, float _Ygain, float _Zgain); - void setOffsets(int _Xoffset, int _Yoffset, int _Zoffset); - void setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol); // true = Reversed false = default - - - byte data[6]; - int _rates[3]; - I2C _device; - void writeReg(byte reg, byte value); - byte readReg(byte reg); - void enableDefault(void); -}; - -#endif