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@3:450acaa4f52d, 2014-11-18 (annotated)
- Committer:
- svkatielee
- Date:
- Tue Nov 18 06:25:57 2014 +0000
- Revision:
- 3:450acaa4f52d
- Parent:
- 0:9a1682a09c50
Updated the code from off-line, for switching platform to NUCLEO-F401RE and IMU from HK to DFRobot
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pommzorz | 0:9a1682a09c50 | 1 | /** |
pommzorz | 0:9a1682a09c50 | 2 | * Copyright (c) 2011 Pololu Corporation. For more information, see |
pommzorz | 0:9a1682a09c50 | 3 | * |
pommzorz | 0:9a1682a09c50 | 4 | * http://www.pololu.com/ |
pommzorz | 0:9a1682a09c50 | 5 | * http://forum.pololu.com/ |
pommzorz | 0:9a1682a09c50 | 6 | * |
pommzorz | 0:9a1682a09c50 | 7 | * Permission is hereby granted, free of charge, to any person |
pommzorz | 0:9a1682a09c50 | 8 | * obtaining a copy of this software and associated documentation |
pommzorz | 0:9a1682a09c50 | 9 | * files (the "Software"), to deal in the Software without |
pommzorz | 0:9a1682a09c50 | 10 | * restriction, including without limitation the rights to use, |
pommzorz | 0:9a1682a09c50 | 11 | * copy, modify, merge, publish, distribute, sublicense, and/or sell |
pommzorz | 0:9a1682a09c50 | 12 | * copies of the Software, and to permit persons to whom the |
pommzorz | 0:9a1682a09c50 | 13 | * Software is furnished to do so, subject to the following |
pommzorz | 0:9a1682a09c50 | 14 | * conditions: |
pommzorz | 0:9a1682a09c50 | 15 | * |
pommzorz | 0:9a1682a09c50 | 16 | * The above copyright notice and this permission notice shall be |
pommzorz | 0:9a1682a09c50 | 17 | * included in all copies or substantial portions of the Software. |
pommzorz | 0:9a1682a09c50 | 18 | * |
pommzorz | 0:9a1682a09c50 | 19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
pommzorz | 0:9a1682a09c50 | 20 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
pommzorz | 0:9a1682a09c50 | 21 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
pommzorz | 0:9a1682a09c50 | 22 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
pommzorz | 0:9a1682a09c50 | 23 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
pommzorz | 0:9a1682a09c50 | 24 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
pommzorz | 0:9a1682a09c50 | 25 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
pommzorz | 0:9a1682a09c50 | 26 | * OTHER DEALINGS IN THE SOFTWARE. |
pommzorz | 0:9a1682a09c50 | 27 | */ |
pommzorz | 0:9a1682a09c50 | 28 | |
pommzorz | 0:9a1682a09c50 | 29 | #include "mbed.h" |
pommzorz | 0:9a1682a09c50 | 30 | #include "L3G4200D.h" |
pommzorz | 0:9a1682a09c50 | 31 | #include <math.h> |
pommzorz | 0:9a1682a09c50 | 32 | |
pommzorz | 0:9a1682a09c50 | 33 | // Defines //////////////////////////////////////////////////////////////// |
pommzorz | 0:9a1682a09c50 | 34 | |
pommzorz | 0:9a1682a09c50 | 35 | // The Arduino two-wire interface uses a 7-bit number for the address, |
pommzorz | 0:9a1682a09c50 | 36 | // and sets the last bit correctly based on reads and writes |
pommzorz | 0:9a1682a09c50 | 37 | // mbed I2C libraries take the 7-bit address shifted left 1 bit |
pommzorz | 0:9a1682a09c50 | 38 | // #define GYR_ADDRESS (0xD2 >> 1) |
pommzorz | 0:9a1682a09c50 | 39 | #define GYR_ADDRESS 0xD2 |
pommzorz | 0:9a1682a09c50 | 40 | |
pommzorz | 0:9a1682a09c50 | 41 | // Public Methods ////////////////////////////////////////////////////////////// |
pommzorz | 0:9a1682a09c50 | 42 | |
pommzorz | 0:9a1682a09c50 | 43 | // Constructor |
pommzorz | 0:9a1682a09c50 | 44 | L3G4200D::L3G4200D(PinName sda, PinName scl): |
pommzorz | 0:9a1682a09c50 | 45 | _device(sda, scl) |
pommzorz | 0:9a1682a09c50 | 46 | { |
pommzorz | 0:9a1682a09c50 | 47 | _device.frequency(400000); |
pommzorz | 0:9a1682a09c50 | 48 | // Turns on the L3G4200D's gyro and places it in normal mode. |
pommzorz | 0:9a1682a09c50 | 49 | // 0x0F = 0b00001111 |
pommzorz | 0:9a1682a09c50 | 50 | // Normal power mode, all axes enabled |
pommzorz | 0:9a1682a09c50 | 51 | writeReg(L3G4200D_CTRL_REG1, 0x0F); |
pommzorz | 0:9a1682a09c50 | 52 | writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale |
pommzorz | 0:9a1682a09c50 | 53 | |
pommzorz | 0:9a1682a09c50 | 54 | setGains(1.0,1.0,1.0); |
pommzorz | 0:9a1682a09c50 | 55 | setOffsets(0.0,0.0,0.0); |
pommzorz | 0:9a1682a09c50 | 56 | |
pommzorz | 0:9a1682a09c50 | 57 | } |
pommzorz | 0:9a1682a09c50 | 58 | |
pommzorz | 0:9a1682a09c50 | 59 | // Writes a gyro register |
pommzorz | 0:9a1682a09c50 | 60 | void L3G4200D::writeReg(byte reg, byte value) |
pommzorz | 0:9a1682a09c50 | 61 | { |
pommzorz | 0:9a1682a09c50 | 62 | data[0] = reg; |
pommzorz | 0:9a1682a09c50 | 63 | data[1] = value; |
pommzorz | 0:9a1682a09c50 | 64 | |
pommzorz | 0:9a1682a09c50 | 65 | _device.write(GYR_ADDRESS, data, 2); |
pommzorz | 0:9a1682a09c50 | 66 | } |
pommzorz | 0:9a1682a09c50 | 67 | |
pommzorz | 0:9a1682a09c50 | 68 | // Reads a gyro register |
pommzorz | 0:9a1682a09c50 | 69 | byte L3G4200D::readReg(byte reg) |
pommzorz | 0:9a1682a09c50 | 70 | { |
pommzorz | 0:9a1682a09c50 | 71 | byte value = 0; |
pommzorz | 0:9a1682a09c50 | 72 | |
pommzorz | 0:9a1682a09c50 | 73 | _device.write(GYR_ADDRESS, ®, 1); |
pommzorz | 0:9a1682a09c50 | 74 | _device.read(GYR_ADDRESS, &value, 1); |
pommzorz | 0:9a1682a09c50 | 75 | |
pommzorz | 0:9a1682a09c50 | 76 | return value; |
pommzorz | 0:9a1682a09c50 | 77 | } |
pommzorz | 0:9a1682a09c50 | 78 | |
pommzorz | 0:9a1682a09c50 | 79 | void L3G4200D::setGains(float _Xgain, float _Ygain, float _Zgain) { |
pommzorz | 0:9a1682a09c50 | 80 | gains[0] = _Xgain; |
pommzorz | 0:9a1682a09c50 | 81 | gains[1] = _Ygain; |
pommzorz | 0:9a1682a09c50 | 82 | gains[2] = _Zgain; |
pommzorz | 0:9a1682a09c50 | 83 | } |
pommzorz | 0:9a1682a09c50 | 84 | |
pommzorz | 0:9a1682a09c50 | 85 | void L3G4200D::setOffsets(int _Xoffset, int _Yoffset, int _Zoffset) { |
pommzorz | 0:9a1682a09c50 | 86 | offsets[0] = _Xoffset; |
pommzorz | 0:9a1682a09c50 | 87 | offsets[1] = _Yoffset; |
pommzorz | 0:9a1682a09c50 | 88 | offsets[2] = _Zoffset; |
pommzorz | 0:9a1682a09c50 | 89 | } |
pommzorz | 0:9a1682a09c50 | 90 | |
pommzorz | 0:9a1682a09c50 | 91 | void L3G4200D::setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol) { |
pommzorz | 0:9a1682a09c50 | 92 | polarities[0] = _Xpol ? -1 : 1; |
pommzorz | 0:9a1682a09c50 | 93 | polarities[1] = _Ypol ? -1 : 1; |
pommzorz | 0:9a1682a09c50 | 94 | polarities[2] = _Zpol ? -1 : 1; |
pommzorz | 0:9a1682a09c50 | 95 | } |
pommzorz | 0:9a1682a09c50 | 96 | |
pommzorz | 0:9a1682a09c50 | 97 | |
pommzorz | 0:9a1682a09c50 | 98 | void L3G4200D::zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS) { |
pommzorz | 0:9a1682a09c50 | 99 | int xyz[3]; |
pommzorz | 0:9a1682a09c50 | 100 | float tmpOffsets[] = {0,0,0}; |
pommzorz | 0:9a1682a09c50 | 101 | |
pommzorz | 0:9a1682a09c50 | 102 | for (int i = 0;i < totSamples;i++){ |
pommzorz | 0:9a1682a09c50 | 103 | wait_ms(sampleDelayMS); |
pommzorz | 0:9a1682a09c50 | 104 | read(xyz); |
pommzorz | 0:9a1682a09c50 | 105 | tmpOffsets[0] += xyz[0]; |
pommzorz | 0:9a1682a09c50 | 106 | tmpOffsets[1] += xyz[1]; |
pommzorz | 0:9a1682a09c50 | 107 | tmpOffsets[2] += xyz[2]; |
pommzorz | 0:9a1682a09c50 | 108 | } |
pommzorz | 0:9a1682a09c50 | 109 | setOffsets(-tmpOffsets[0] / totSamples, -tmpOffsets[1] / totSamples, -tmpOffsets[2] / totSamples); |
pommzorz | 0:9a1682a09c50 | 110 | } |
pommzorz | 0:9a1682a09c50 | 111 | |
pommzorz | 0:9a1682a09c50 | 112 | |
pommzorz | 0:9a1682a09c50 | 113 | // Reads the 3 gyro channels and stores them in vector g |
pommzorz | 0:9a1682a09c50 | 114 | void L3G4200D::read(int *g) |
pommzorz | 0:9a1682a09c50 | 115 | { |
pommzorz | 0:9a1682a09c50 | 116 | // assert the MSB of the address to get the gyro |
pommzorz | 0:9a1682a09c50 | 117 | // to do slave-transmit subaddress updating. |
pommzorz | 0:9a1682a09c50 | 118 | data[0] = L3G4200D_OUT_X_L | (1 << 7); |
pommzorz | 0:9a1682a09c50 | 119 | _device.write(GYR_ADDRESS, data, 1); |
pommzorz | 0:9a1682a09c50 | 120 | |
pommzorz | 0:9a1682a09c50 | 121 | // Wire.requestFrom(GYR_ADDRESS, 6); |
pommzorz | 0:9a1682a09c50 | 122 | // while (Wire.available() < 6); |
pommzorz | 0:9a1682a09c50 | 123 | |
pommzorz | 0:9a1682a09c50 | 124 | _device.read(GYR_ADDRESS, data, 6); |
pommzorz | 0:9a1682a09c50 | 125 | |
pommzorz | 0:9a1682a09c50 | 126 | uint8_t xla = data[0]; |
pommzorz | 0:9a1682a09c50 | 127 | uint8_t xha = data[1]; |
pommzorz | 0:9a1682a09c50 | 128 | uint8_t yla = data[2]; |
pommzorz | 0:9a1682a09c50 | 129 | uint8_t yha = data[3]; |
pommzorz | 0:9a1682a09c50 | 130 | uint8_t zla = data[4]; |
pommzorz | 0:9a1682a09c50 | 131 | uint8_t zha = data[5]; |
pommzorz | 0:9a1682a09c50 | 132 | |
pommzorz | 0:9a1682a09c50 | 133 | g[0] = (short) (yha << 8 | yla); |
pommzorz | 0:9a1682a09c50 | 134 | g[1] = (short) (xha << 8 | xla); |
pommzorz | 0:9a1682a09c50 | 135 | g[2] = (short) (zha << 8 | zla); |
pommzorz | 0:9a1682a09c50 | 136 | } |
pommzorz | 0:9a1682a09c50 | 137 | |
pommzorz | 0:9a1682a09c50 | 138 | void L3G4200D::readRawCal(int *_GyroXYZ) { |
pommzorz | 0:9a1682a09c50 | 139 | read(_GyroXYZ); |
pommzorz | 0:9a1682a09c50 | 140 | _GyroXYZ[0] += offsets[0]; |
pommzorz | 0:9a1682a09c50 | 141 | _GyroXYZ[1] += offsets[1]; |
pommzorz | 0:9a1682a09c50 | 142 | _GyroXYZ[2] += offsets[2]; |
pommzorz | 0:9a1682a09c50 | 143 | } |
pommzorz | 0:9a1682a09c50 | 144 | |
pommzorz | 0:9a1682a09c50 | 145 | |
pommzorz | 0:9a1682a09c50 | 146 | |
pommzorz | 0:9a1682a09c50 | 147 | void L3G4200D::read3(int x, int y, int z) { |
pommzorz | 0:9a1682a09c50 | 148 | int* readings; |
pommzorz | 0:9a1682a09c50 | 149 | read(readings); |
pommzorz | 0:9a1682a09c50 | 150 | |
pommzorz | 0:9a1682a09c50 | 151 | // each axis reading comes in 10 bit resolution, ie 2 bytes. Least Significat Byte first!! |
pommzorz | 0:9a1682a09c50 | 152 | // thus we are converting both bytes in to one int |
pommzorz | 0:9a1682a09c50 | 153 | x = readings[0]; |
pommzorz | 0:9a1682a09c50 | 154 | y = readings[1]; |
pommzorz | 0:9a1682a09c50 | 155 | z = readings[2]; |
pommzorz | 0:9a1682a09c50 | 156 | } |
pommzorz | 0:9a1682a09c50 | 157 | |
pommzorz | 0:9a1682a09c50 | 158 | void L3G4200D::readFin(float *_GyroXYZ){ |
pommzorz | 0:9a1682a09c50 | 159 | int xyz[3]; |
pommzorz | 0:9a1682a09c50 | 160 | |
pommzorz | 0:9a1682a09c50 | 161 | readRawCal(xyz); // x,y,z will contain calibrated integer values from the sensor |
pommzorz | 0:9a1682a09c50 | 162 | _GyroXYZ[0] = xyz[0] / 14.375 * polarities[0] * gains[0]; |
pommzorz | 0:9a1682a09c50 | 163 | _GyroXYZ[1] = xyz[1]/ 14.375 * polarities[1] * gains[1]; |
pommzorz | 0:9a1682a09c50 | 164 | _GyroXYZ[2] = xyz[2] / 14.375 * polarities[2] * gains[2]; |
pommzorz | 0:9a1682a09c50 | 165 | } |