Daniel Kouba / IMU

Interface library for the Atmel Inertial One IMU. Contains drivers for the ITG 3200 3 axis gyro, BMA-150 3 axis accelerometer, and AK8975 3 axis compass

IMU.h@13:eca05448904d, 2012-02-16 (annotated)

Committer:
Ductapemaster
Date:
Thu Feb 16 08:56:11 2012 +0000
Revision:
13:eca05448904d
Parent:
12:cab3f7305522 
Cleaned up and consolidated gyro methods, implemented accelerometer methods, implemented struct for storing 3d data values now getter methods return that struct.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ductapemaster 12:cab3f7305522 1 /* Atmel Inertial One IMU Library
Ductapemaster 12:cab3f7305522 2 * Copyright (c) 2012 Daniel Kouba
Ductapemaster 12:cab3f7305522 3 *
Ductapemaster 12:cab3f7305522 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
Ductapemaster 12:cab3f7305522 5 * of this software and associated documentation files (the "Software"), to deal
Ductapemaster 12:cab3f7305522 6 * in the Software without restriction, including without limitation the rights
Ductapemaster 12:cab3f7305522 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Ductapemaster 12:cab3f7305522 8 * copies of the Software, and to permit persons to whom the Software is
Ductapemaster 12:cab3f7305522 9 * furnished to do so, subject to the following conditions:
Ductapemaster 12:cab3f7305522 10 *
Ductapemaster 12:cab3f7305522 11 * The above copyright notice and this permission notice shall be included in
Ductapemaster 12:cab3f7305522 12 * all copies or substantial portions of the Software.
Ductapemaster 12:cab3f7305522 13 *
Ductapemaster 12:cab3f7305522 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Ductapemaster 12:cab3f7305522 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Ductapemaster 12:cab3f7305522 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Ductapemaster 12:cab3f7305522 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Ductapemaster 12:cab3f7305522 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Ductapemaster 12:cab3f7305522 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Ductapemaster 12:cab3f7305522 20 * THE SOFTWARE.
Ductapemaster 12:cab3f7305522 21 */
Ductapemaster 12:cab3f7305522 22
Ductapemaster 12:cab3f7305522 23 #ifndef IMU_AIO_H //IMU Atmel Inertial One
Ductapemaster 12:cab3f7305522 24 #define IMU_AIO_H
Ductapemaster 12:cab3f7305522 25
Ductapemaster 12:cab3f7305522 26 #include "mbed.h"
Ductapemaster 12:cab3f7305522 27
Ductapemaster 12:cab3f7305522 28 /* Defines */
Ductapemaster 12:cab3f7305522 29
Ductapemaster 12:cab3f7305522 30 //7 bit I2C Addresses, shifted left to allow for read/write bit as LSB
Ductapemaster 12:cab3f7305522 31
Ductapemaster 12:cab3f7305522 32 #define GYRO_ADR 0x68 << 1
Ductapemaster 12:cab3f7305522 33 #define ACC_ADR 0x38 << 1
Ductapemaster 12:cab3f7305522 34 #define COMP_ADR 0x0C << 1
Ductapemaster 12:cab3f7305522 35
Ductapemaster 12:cab3f7305522 36 // ITG3200 Gyro Registers
Ductapemaster 12:cab3f7305522 37
Ductapemaster 12:cab3f7305522 38 #define GYRO_WHO_AM_I_REG 0x00
Ductapemaster 12:cab3f7305522 39 #define GYRO_SAMPLE_DIV_REG 0x15
Ductapemaster 12:cab3f7305522 40 #define GYRO_DLPF_REG 0x16
Ductapemaster 12:cab3f7305522 41 #define GYRO_INT_CFG_REG 0x17
Ductapemaster 12:cab3f7305522 42 #define GYRO_INT_STATUS_REG 0x1A
Ductapemaster 12:cab3f7305522 43 #define GYRO_TEMP_H_REG 0x1B
Ductapemaster 12:cab3f7305522 44 #define GYRO_TEMP_L_REG 0x1C
Ductapemaster 12:cab3f7305522 45 #define GYRO_XOUT_H_REG 0x1D
Ductapemaster 12:cab3f7305522 46 #define GYRO_XOUT_L_REG 0x1E
Ductapemaster 12:cab3f7305522 47 #define GYRO_YOUT_H_REG 0x1F
Ductapemaster 12:cab3f7305522 48 #define GYRO_YOUT_L_REG 0x20
Ductapemaster 12:cab3f7305522 49 #define GYRO_ZOUT_H_REG 0x21
Ductapemaster 12:cab3f7305522 50 #define GYRO_ZOUT_L_REG 0x22
Ductapemaster 12:cab3f7305522 51
Ductapemaster 12:cab3f7305522 52 // Gyro LPF bandwidths
Ductapemaster 12:cab3f7305522 53
Ductapemaster 12:cab3f7305522 54 #define BW_256HZ 0x00 //8kHz sample rate
Ductapemaster 12:cab3f7305522 55 #define BW_188HZ 0x01 //1kHz sample rate for 188Hz and below
Ductapemaster 12:cab3f7305522 56 #define BW_98HZ 0x02
Ductapemaster 12:cab3f7305522 57 #define BW_42HZ 0x03
Ductapemaster 12:cab3f7305522 58 #define BW_20HZ 0x04
Ductapemaster 12:cab3f7305522 59 #define BW_10HZ 0x05
Ductapemaster 12:cab3f7305522 60 #define BW_5HZ 0x06
Ductapemaster 12:cab3f7305522 61
Ductapemaster 12:cab3f7305522 62 // Gyro Initial FS_SEL Register Config
Ductapemaster 12:cab3f7305522 63
Ductapemaster 13:eca05448904d 64 #define FS_SEL_INIT 0x03 << 3
Ductapemaster 12:cab3f7305522 65
Ductapemaster 12:cab3f7305522 66 // BMA150 Accelerometer Registers
Ductapemaster 12:cab3f7305522 67
Ductapemaster 13:eca05448904d 68 #define ACC_XOUT_L_REG 0x02 //Acceleration data registers
Ductapemaster 13:eca05448904d 69 #define ACC_XOUT_H_REG 0x03
Ductapemaster 13:eca05448904d 70 #define ACC_YOUT_L_REG 0x04
Ductapemaster 13:eca05448904d 71 #define ACC_YOUT_H_REG 0x05
Ductapemaster 13:eca05448904d 72 #define ACC_ZOUT_L_REG 0x06
Ductapemaster 13:eca05448904d 73 #define ACC_ZOUT_H_REG 0x07
Ductapemaster 13:eca05448904d 74 #define ACC_TEMP_REG 0x08 //Temperature register, 0.5 deg. C / LSB
Ductapemaster 13:eca05448904d 75 #define ACC_CTRL_REG 0x0A //Control registers
Ductapemaster 13:eca05448904d 76 #define ACC_OPER_REG 0x14 //Operational registers
Ductapemaster 13:eca05448904d 77 #define ACC_INT_REG 0x15 //Interrupt registers
Ductapemaster 12:cab3f7305522 78
Ductapemaster 13:eca05448904d 79 // Accelerometer LPF bandwidths
Ductapemaster 12:cab3f7305522 80
Ductapemaster 13:eca05448904d 81 #define BW_25HZ 0x00
Ductapemaster 13:eca05448904d 82 #define BW_50HZ 0x01
Ductapemaster 13:eca05448904d 83 #define BW_100HZ 0x02
Ductapemaster 13:eca05448904d 84 #define BW_190HZ 0x03
Ductapemaster 13:eca05448904d 85 #define BW_375HZ 0x04
Ductapemaster 13:eca05448904d 86 #define BW_750HZ 0x05
Ductapemaster 13:eca05448904d 87 #define BW_1500HZ 0x06
Ductapemaster 13:eca05448904d 88
Ductapemaster 13:eca05448904d 89 // Accelerometer Range values
Ductapemaster 13:eca05448904d 90
Ductapemaster 13:eca05448904d 91 #define RANGE_2G 0x00
Ductapemaster 13:eca05448904d 92 #define RANGE_4G 0x01
Ductapemaster 13:eca05448904d 93 #define RANGE_8G 0x02
Ductapemaster 13:eca05448904d 94
Ductapemaster 12:cab3f7305522 95 // AK8973 Compass Registers
Ductapemaster 12:cab3f7305522 96
Ductapemaster 12:cab3f7305522 97
Ductapemaster 12:cab3f7305522 98 /** Atmel Inertial One IMU Control Class
Ductapemaster 12:cab3f7305522 99 *
Ductapemaster 12:cab3f7305522 100 * Includes control routines for:
Ductapemaster 12:cab3f7305522 101 * - ITG-3200 3-axis, 16 bit gyroscope
Ductapemaster 13:eca05448904d 102 * - BMA-150 3-axis, 10 bit accelerometer
Ductapemaster 12:cab3f7305522 103 * - AK8975 3-axis, 16 bit magnetometer
Ductapemaster 12:cab3f7305522 104 *
Ductapemaster 12:cab3f7305522 105 * Datasheets:
Ductapemaster 12:cab3f7305522 106 *
Ductapemaster 12:cab3f7305522 107 * http://www.atmel.com/dyn/resources/prod_documents/doc8354.pdf
Ductapemaster 12:cab3f7305522 108 *
Ductapemaster 12:cab3f7305522 109 * http://invensense.com/mems/gyro/documents/PS-ITG-3200A.pdf
Ductapemaster 12:cab3f7305522 110 *
Ductapemaster 12:cab3f7305522 111 * http://www.bosch-sensortec.com/content/language1/downloads/BMA150_DataSheet_Rev.1.5_30May2008.pdf
Ductapemaster 12:cab3f7305522 112 *
Ductapemaster 12:cab3f7305522 113 * http://pdf1.alldatasheet.com/datasheet-pdf/view/219477/AKM/AK8973/+Q18W89VYpLawLCDwv+/datasheet.pdf
Ductapemaster 12:cab3f7305522 114 *
Ductapemaster 12:cab3f7305522 115 */
Ductapemaster 12:cab3f7305522 116 class IMU {
Ductapemaster 12:cab3f7305522 117
Ductapemaster 12:cab3f7305522 118 public:
Ductapemaster 13:eca05448904d 119 struct data3d
Ductapemaster 13:eca05448904d 120 {
Ductapemaster 13:eca05448904d 121 int x, y, z;
Ductapemaster 13:eca05448904d 122 } gyro_data, acc_data, mag_data;
Ductapemaster 13:eca05448904d 123
Ductapemaster 13:eca05448904d 124 public:
Ductapemaster 12:cab3f7305522 125
Ductapemaster 12:cab3f7305522 126 /** Creates IMU object and initializes all three chips
Ductapemaster 12:cab3f7305522 127 *
Ductapemaster 12:cab3f7305522 128 * Gyro: FS_SEL register is set to 0x03, as required by datasheet
Ductapemaster 12:cab3f7305522 129 *
Ductapemaster 12:cab3f7305522 130 * Accelerometer:
Ductapemaster 12:cab3f7305522 131 *
Ductapemaster 12:cab3f7305522 132 * Compass:
Ductapemaster 12:cab3f7305522 133 *
Ductapemaster 12:cab3f7305522 134 * @param sda pin for I2C sda signal
Ductapemaster 12:cab3f7305522 135 * @param scl pin for I2C scl signal
Ductapemaster 12:cab3f7305522 136 */
Ductapemaster 12:cab3f7305522 137 IMU(PinName sda, PinName scl);
Ductapemaster 12:cab3f7305522 138
Ductapemaster 12:cab3f7305522 139 /* Gyro Methods */
Ductapemaster 12:cab3f7305522 140
Ductapemaster 12:cab3f7305522 141 /** Gets current ADC data from all axes of gyro (uses burst read mode)
Ductapemaster 12:cab3f7305522 142 *
Ductapemaster 13:eca05448904d 143 * @return data3d struct of X, Y, and Z axis gyro measurements (signed 16 bits)
Ductapemaster 12:cab3f7305522 144 */
Ductapemaster 13:eca05448904d 145 data3d getGyroData(void);
Ductapemaster 12:cab3f7305522 146
Ductapemaster 13:eca05448904d 147 /** Sets digital LPF bandwidth for all gyro channels - Not working currently
Ductapemaster 12:cab3f7305522 148 *
Ductapemaster 13:eca05448904d 149 * @param bw Filter Bandwidth (use defined bandwidths)
Ductapemaster 12:cab3f7305522 150 */
Ductapemaster 13:eca05448904d 151 void setGyroLPF(char bw);
Ductapemaster 12:cab3f7305522 152
Ductapemaster 12:cab3f7305522 153 /* Accelerometer Methods */
Ductapemaster 12:cab3f7305522 154
Ductapemaster 13:eca05448904d 155 /** Gets current X acceleration
Ductapemaster 13:eca05448904d 156 *
Ductapemaster 13:eca05448904d 157 * @return Raw X acceleration, 10 bits signed
Ductapemaster 13:eca05448904d 158 */
Ductapemaster 13:eca05448904d 159 int accX(void);
Ductapemaster 13:eca05448904d 160
Ductapemaster 13:eca05448904d 161 /** Gets current Y acceleration
Ductapemaster 13:eca05448904d 162 *
Ductapemaster 13:eca05448904d 163 * @return Raw Y acceleration, 10 bits signed
Ductapemaster 13:eca05448904d 164 */
Ductapemaster 13:eca05448904d 165 int accY(void);
Ductapemaster 13:eca05448904d 166
Ductapemaster 13:eca05448904d 167 /** Gets current Z acceleration
Ductapemaster 13:eca05448904d 168 *
Ductapemaster 13:eca05448904d 169 * @return Raw Z acceleration, 10 bits signed
Ductapemaster 13:eca05448904d 170 */
Ductapemaster 13:eca05448904d 171 int accZ(void);
Ductapemaster 12:cab3f7305522 172
Ductapemaster 13:eca05448904d 173 /** Gets current acceleration on all axes
Ductapemaster 13:eca05448904d 174 *
Ductapemaster 13:eca05448904d 175 * @return data3d struct of acceleration data, signed ints
Ductapemaster 13:eca05448904d 176 */
Ductapemaster 13:eca05448904d 177 data3d getAccData(void);
Ductapemaster 13:eca05448904d 178
Ductapemaster 13:eca05448904d 179 /** Sets digital LPF filter bandwidth
Ductapemaster 13:eca05448904d 180 *
Ductapemaster 13:eca05448904d 181 * @param bw Digital LPF filter bandwidth
Ductapemaster 13:eca05448904d 182 */
Ductapemaster 13:eca05448904d 183 void setAccLPF(char bw);
Ductapemaster 13:eca05448904d 184
Ductapemaster 13:eca05448904d 185 /** Sets accelerometer measurement range (+/-2, 4, or 8g's)
Ductapemaster 13:eca05448904d 186 *
Ductapemaster 13:eca05448904d 187 * @param range Range of g measurements
Ductapemaster 13:eca05448904d 188 */
Ductapemaster 13:eca05448904d 189 void setAccRange(char range);
Ductapemaster 13:eca05448904d 190
Ductapemaster 13:eca05448904d 191 /** Updates all image registers with data stored in EEPROM
Ductapemaster 13:eca05448904d 192 *
Ductapemaster 13:eca05448904d 193 */
Ductapemaster 13:eca05448904d 194 void accUpdateImage(void);
Ductapemaster 13:eca05448904d 195
Ductapemaster 13:eca05448904d 196 /** Set EEPROM write enable
Ductapemaster 13:eca05448904d 197 *
Ductapemaster 13:eca05448904d 198 * @param we Write enable value
Ductapemaster 13:eca05448904d 199 */
Ductapemaster 13:eca05448904d 200 void accEEWriteEn(bool we);
Ductapemaster 12:cab3f7305522 201
Ductapemaster 12:cab3f7305522 202 /* Compass Methods */
Ductapemaster 12:cab3f7305522 203
Ductapemaster 12:cab3f7305522 204
Ductapemaster 12:cab3f7305522 205
Ductapemaster 12:cab3f7305522 206 private:
Ductapemaster 12:cab3f7305522 207
Ductapemaster 12:cab3f7305522 208 I2C _i2c; //I2C object constructor
Ductapemaster 12:cab3f7305522 209
Ductapemaster 12:cab3f7305522 210 };
Ductapemaster 12:cab3f7305522 211
Ductapemaster 0:5a636973285e 212 #endif