Larry Littlefield / IMU10DOF

IMU 10dof MEMS from DR Robot adapted from HK10DOF Changed gyro to ITG3200

Fork of HK10DOF by Aloïs Wolff

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: ADXL345_I2C.cpp

Revision:
2:df9029033480
Parent:
0:9a1682a09c50
--- a/ADXL345_I2C.cpp	Wed Jul 17 18:53:37 2013 +0000
+++ b/ADXL345_I2C.cpp	Tue Nov 18 05:46:50 2014 +0000
@@ -56,7 +56,7 @@
 ADXL345_I2C::ADXL345_I2C(PinName sda, PinName scl) : i2c_(sda, scl) {
 
     //400kHz, allowing us to use the fastest data rates.
-    i2c_.frequency(400000); //400000  
+    i2c_.frequency(50000); //400000  
 // initialize the BW data rate
     char tx[2];
     tx[0] = ADXL345_BW_RATE_REG;
@@ -152,7 +152,6 @@
     readings[2] = (int)buffer[5] << 8 | (int)buffer[4];
 
 }
-*/
 
 void ADXL345_I2C::getOutput(int16_t* x, int16_t* y, int16_t* z) {
   int16_t *readings;
@@ -164,7 +163,7 @@
   *y = readings[1]; 
   *z = readings[2]; 
 }
-
+*/
 
 char ADXL345_I2C::getDeviceID() {  
     return SingleByteRead(ADXL345_DEVID_REG);