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: ADXL345_I2C.cpp
- Revision:
- 2:df9029033480
- Parent:
- 0:9a1682a09c50
diff -r 85fcfcb7b137 -r df9029033480 ADXL345_I2C.cpp --- 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);