Aaron Berk
SparkFun 9DOF Razor IMU with AHRS [http://code.google.com/p/sf9domahrs/]
dof9RazorImuAhrs.h@0:ef171fe2a7e5, 2010-06-17 (annotated)
- Committer:
- aberk
- Date:
- Thu Jun 17 10:05:46 2010 +0000
- Revision:
- 0:ef171fe2a7e5
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| aberk | 0:ef171fe2a7e5 | 1 | //****************************************************************************/ |
| aberk | 0:ef171fe2a7e5 | 2 | // Description: |
| aberk | 0:ef171fe2a7e5 | 3 | // |
| aberk | 0:ef171fe2a7e5 | 4 | // Read attitude and heading reference system [AHRS] data from the SparkFun |
| aberk | 0:ef171fe2a7e5 | 5 | // 9DOF Razor Inertial Measurement Unit [IMU]. |
| aberk | 0:ef171fe2a7e5 | 6 | // |
| aberk | 0:ef171fe2a7e5 | 7 | // AHRS code: |
| aberk | 0:ef171fe2a7e5 | 8 | // |
| aberk | 0:ef171fe2a7e5 | 9 | // http://code.google.com/p/sf9domahrs/ |
| aberk | 0:ef171fe2a7e5 | 10 | // |
| aberk | 0:ef171fe2a7e5 | 11 | // 9DOF Razor IMU: |
| aberk | 0:ef171fe2a7e5 | 12 | // |
| aberk | 0:ef171fe2a7e5 | 13 | // http://www.sparkfun.com/commerce/product_info.php?products_id=9623 |
| aberk | 0:ef171fe2a7e5 | 14 | //****************************************************************************/ |
| aberk | 0:ef171fe2a7e5 | 15 | |
| aberk | 0:ef171fe2a7e5 | 16 | #ifndef DOF9_RAZOR_IMU_H |
| aberk | 0:ef171fe2a7e5 | 17 | #define DOF9_RAZOR_IMU_H |
| aberk | 0:ef171fe2a7e5 | 18 | |
| aberk | 0:ef171fe2a7e5 | 19 | //****************************************************************************/ |
| aberk | 0:ef171fe2a7e5 | 20 | // Includes |
| aberk | 0:ef171fe2a7e5 | 21 | //****************************************************************************/ |
| aberk | 0:ef171fe2a7e5 | 22 | #include "mbed.h" |
| aberk | 0:ef171fe2a7e5 | 23 | |
| aberk | 0:ef171fe2a7e5 | 24 | //****************************************************************************/ |
| aberk | 0:ef171fe2a7e5 | 25 | // Defines |
| aberk | 0:ef171fe2a7e5 | 26 | //****************************************************************************/ |
| aberk | 0:ef171fe2a7e5 | 27 | #define PRINT_EULER 1 //Corrected heading data. |
| aberk | 0:ef171fe2a7e5 | 28 | #define PRINT_ANALOGS 0 //Razor spits out raw gyro/accelerometer/magneto |
| aberk | 0:ef171fe2a7e5 | 29 | //data. |
| aberk | 0:ef171fe2a7e5 | 30 | //Set as a define when compiling AHRS code. |
| aberk | 0:ef171fe2a7e5 | 31 | #define BAUD_RATE 57600 //Default in AHRS code. |
| aberk | 0:ef171fe2a7e5 | 32 | |
| aberk | 0:ef171fe2a7e5 | 33 | class dof9RazorImuAhrs { |
| aberk | 0:ef171fe2a7e5 | 34 | |
| aberk | 0:ef171fe2a7e5 | 35 | public: |
| aberk | 0:ef171fe2a7e5 | 36 | |
| aberk | 0:ef171fe2a7e5 | 37 | /** |
| aberk | 0:ef171fe2a7e5 | 38 | * Constructor. |
| aberk | 0:ef171fe2a7e5 | 39 | * |
| aberk | 0:ef171fe2a7e5 | 40 | * Parameters: |
| aberk | 0:ef171fe2a7e5 | 41 | * |
| aberk | 0:ef171fe2a7e5 | 42 | * tx - Pin to use for Serial transmission. |
| aberk | 0:ef171fe2a7e5 | 43 | * rx - Pin to use for Serial receive. |
| aberk | 0:ef171fe2a7e5 | 44 | */ |
| aberk | 0:ef171fe2a7e5 | 45 | dof9RazorImuAhrs(PinName tx, PinName rx); |
| aberk | 0:ef171fe2a7e5 | 46 | |
| aberk | 0:ef171fe2a7e5 | 47 | /** |
| aberk | 0:ef171fe2a7e5 | 48 | * Update all of the heading data. |
| aberk | 0:ef171fe2a7e5 | 49 | */ |
| aberk | 0:ef171fe2a7e5 | 50 | void update(void); |
| aberk | 0:ef171fe2a7e5 | 51 | |
| aberk | 0:ef171fe2a7e5 | 52 | float getRoll(void); |
| aberk | 0:ef171fe2a7e5 | 53 | float getPitch(void); |
| aberk | 0:ef171fe2a7e5 | 54 | float getYaw(void); |
| aberk | 0:ef171fe2a7e5 | 55 | |
| aberk | 0:ef171fe2a7e5 | 56 | float getGyroX(void); |
| aberk | 0:ef171fe2a7e5 | 57 | float getGyroY(void); |
| aberk | 0:ef171fe2a7e5 | 58 | float getGyroZ(void); |
| aberk | 0:ef171fe2a7e5 | 59 | |
| aberk | 0:ef171fe2a7e5 | 60 | float getAccX(void); |
| aberk | 0:ef171fe2a7e5 | 61 | float getAccY(void); |
| aberk | 0:ef171fe2a7e5 | 62 | float getAccZ(void); |
| aberk | 0:ef171fe2a7e5 | 63 | |
| aberk | 0:ef171fe2a7e5 | 64 | float getMagX(void); |
| aberk | 0:ef171fe2a7e5 | 65 | float getMagY(void); |
| aberk | 0:ef171fe2a7e5 | 66 | float getMagZ(void); |
| aberk | 0:ef171fe2a7e5 | 67 | |
| aberk | 0:ef171fe2a7e5 | 68 | private: |
| aberk | 0:ef171fe2a7e5 | 69 | |
| aberk | 0:ef171fe2a7e5 | 70 | Serial* razor; |
| aberk | 0:ef171fe2a7e5 | 71 | |
| aberk | 0:ef171fe2a7e5 | 72 | float roll; |
| aberk | 0:ef171fe2a7e5 | 73 | float pitch; |
| aberk | 0:ef171fe2a7e5 | 74 | float yaw; |
| aberk | 0:ef171fe2a7e5 | 75 | |
| aberk | 0:ef171fe2a7e5 | 76 | float gyro_x; |
| aberk | 0:ef171fe2a7e5 | 77 | float gyro_y; |
| aberk | 0:ef171fe2a7e5 | 78 | float gyro_z; |
| aberk | 0:ef171fe2a7e5 | 79 | |
| aberk | 0:ef171fe2a7e5 | 80 | float acc_x; |
| aberk | 0:ef171fe2a7e5 | 81 | float acc_y; |
| aberk | 0:ef171fe2a7e5 | 82 | float acc_z; |
| aberk | 0:ef171fe2a7e5 | 83 | |
| aberk | 0:ef171fe2a7e5 | 84 | float mag_x; |
| aberk | 0:ef171fe2a7e5 | 85 | float mag_y; |
| aberk | 0:ef171fe2a7e5 | 86 | float mag_z; |
| aberk | 0:ef171fe2a7e5 | 87 | |
| aberk | 0:ef171fe2a7e5 | 88 | }; |
| aberk | 0:ef171fe2a7e5 | 89 | |
| aberk | 0:ef171fe2a7e5 | 90 | #endif /* DOF9_RAZOR_IMU_H */ |