Diff: dof9RazorImuAhrs.h

Revision:

0:ef171fe2a7e5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dof9RazorImuAhrs.h	Thu Jun 17 10:05:46 2010 +0000
@@ -0,0 +1,90 @@
+//****************************************************************************/
+// Description:
+//
+//  Read attitude and heading reference system [AHRS] data from the SparkFun
+//  9DOF Razor Inertial Measurement Unit [IMU].
+//
+// AHRS code:
+//
+//  http://code.google.com/p/sf9domahrs/
+//
+// 9DOF Razor IMU:
+//
+//  http://www.sparkfun.com/commerce/product_info.php?products_id=9623
+//****************************************************************************/
+
+#ifndef DOF9_RAZOR_IMU_H
+#define DOF9_RAZOR_IMU_H
+
+//****************************************************************************/
+// Includes
+//****************************************************************************/
+#include "mbed.h"
+
+//****************************************************************************/
+// Defines
+//****************************************************************************/
+#define PRINT_EULER   1     //Corrected heading data.
+#define PRINT_ANALOGS 0     //Razor spits out raw gyro/accelerometer/magneto
+                            //data.
+                            //Set as a define when compiling AHRS code.
+#define BAUD_RATE     57600 //Default in AHRS code.
+
+class dof9RazorImuAhrs {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * Parameters:
+     *
+     *  tx - Pin to use for Serial transmission.
+     *  rx - Pin to use for Serial receive.
+     */
+    dof9RazorImuAhrs(PinName tx, PinName rx);
+    
+    /**
+     * Update all of the heading data.
+     */
+    void update(void);
+    
+    float getRoll(void);
+    float getPitch(void);
+    float getYaw(void);
+    
+    float getGyroX(void);
+    float getGyroY(void);
+    float getGyroZ(void);
+    
+    float getAccX(void);
+    float getAccY(void);
+    float getAccZ(void);
+    
+    float getMagX(void);
+    float getMagY(void);
+    float getMagZ(void);
+
+private:
+
+    Serial* razor;
+
+    float roll;
+    float pitch;
+    float yaw;
+    
+    float gyro_x;
+    float gyro_y;
+    float gyro_z;
+    
+    float acc_x;
+    float acc_y;
+    float acc_z;
+    
+    float mag_x;
+    float mag_y;
+    float mag_z;
+
+};
+
+#endif /* DOF9_RAZOR_IMU_H */