Revision 2:fae851819c43, committed 2013-07-05

Comitter:

YSB

Date:

Fri Jul 05 04:17:19 2013 +0000

Parent:

1:8a920397b510

Commit message:

IMUfilter

Changed in this revision

--- a/IMUfilter.h	Mon Sep 06 14:18:33 2010 +0000
+++ b/IMUfilter.h	Fri Jul 05 04:17:19 2013 +0000
@@ -1,53 +1,20 @@
-/**
- * @author Aaron Berk
- *
- * @section LICENSE
- *
- * Copyright (c) 2010 ARM Limited
- *
- * 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.
- *
- * @section DESCRIPTION
- *
- * IMU orientation filter developed by Sebastian Madgwick.
- *
- * Find more details about his paper here:
- *
- * http://code.google.com/p/imumargalgorithm30042010sohm/
- */
-
 #ifndef IMU_FILTER_H
 #define IMU_FILTER_H
 
-/**
- * Includes
- */
 #include "mbed.h"
 
-/**
- * Defines
- */
 #define PI 3.1415926536
+#define g0 9.812865328//Gravity at Earth's surface in m/s/s
+#define SAMPLES 4//Number of samples to average.
+#define CALIBRATION_SAMPLES 64//128//Number of samples to be averaged for a null bias calculation//during calibration.
+#define toDegrees(x) (x * 57.2957795)//Convert from radians to degrees.
+#define toRadians(x) (x * 0.01745329252)//Convert from degrees to radians.
+#define GYROSCOPE_GAIN (1 / 14.375)//ITG-3200 sensitivity is 14.375 LSB/(degrees/sec).
+#define ACCELEROMETER_GAIN (0.004 * g0)//Full scale resolution on the ADXL345 is 4mg/LSB.
+#define GYRO_RATE   0.005//Sampling gyroscope at 200Hz.
+#define ACC_RATE    0.005//Sampling accelerometer at 200Hz.
+#define FILTER_RATE 0.1//Updating filter at 40Hz.
 
-/**
- * IMU orientation filter.
- */
 class IMUfilter {
 
 public: