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.
L3G4200D.cpp
- Committer:
- pommzorz
- Date:
- 2013-07-17
- Revision:
- 0:9a1682a09c50
File content as of revision 0:9a1682a09c50:
/** * 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]; }