Mateusz Jaskula / Mbed 2 deprecated KL25Z_TangoIO

KL25 driver for Tango Control System

Dependencies:   mbed

GY80/GY80.h@2:9fe6f1e273b4, 2014-08-28 (annotated)

Committer:
jskl
Date:
Thu Aug 28 07:50:06 2014 +0000
Revision:
2:9fe6f1e273b4
Parent:
0:5d27c333afa6 
Fixed bugs in JSON format replies

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jskl 0:5d27c333afa6 1 #ifndef SENSORS_H
jskl 0:5d27c333afa6 2 #define SENSORS_H
jskl 0:5d27c333afa6 3
jskl 0:5d27c333afa6 4 #include "mbed.h"
jskl 0:5d27c333afa6 5 #define I2C_FREQ 400000
jskl 0:5d27c333afa6 6 #define SCL PTC8
jskl 0:5d27c333afa6 7 #define SDA PTC9
jskl 0:5d27c333afa6 8
jskl 0:5d27c333afa6 9 #define ACCEL_ADDRESS (0xA6) // 0x53 = 0xA6 / 2
jskl 0:5d27c333afa6 10 #define MAGN_ADDRESS (0x3C) // 0x1E = 0x3C / 2
jskl 0:5d27c333afa6 11 #define GYRO_ADDRESS (0xD2) // 0x68 = 0xD0 / 2
jskl 0:5d27c333afa6 12
jskl 0:5d27c333afa6 13 // SENSOR CALIBRATION
jskl 0:5d27c333afa6 14 /*****************************************************************/
jskl 0:5d27c333afa6 15 // How to calibrate? Read the tutorial at http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs
jskl 0:5d27c333afa6 16 // Put MIN/MAX and OFFSET readings for your board here!
jskl 0:5d27c333afa6 17 // Accelerometer
jskl 0:5d27c333afa6 18 // "accel x,y,z (min/max) = X_MIN/X_MAX Y_MIN/Y_MAX Z_MIN/Z_MAX"
jskl 0:5d27c333afa6 19 #define ACCEL_X_MIN (-255.0f)
jskl 0:5d27c333afa6 20 #define ACCEL_X_MAX (260.0f)
jskl 0:5d27c333afa6 21 #define ACCEL_Y_MIN (-267.0f)
jskl 0:5d27c333afa6 22 #define ACCEL_Y_MAX (255.0f)
jskl 0:5d27c333afa6 23 #define ACCEL_Z_MIN (-278.0f)
jskl 0:5d27c333afa6 24 #define ACCEL_Z_MAX (238.0f)
jskl 0:5d27c333afa6 25
jskl 0:5d27c333afa6 26 // Magnetometer
jskl 0:5d27c333afa6 27 // "magn x,y,z (min/max) = X_MIN/X_MAX Y_MIN/Y_MAX Z_MIN/Z_MAX"
jskl 0:5d27c333afa6 28 #define MAGN_X_MIN (-520.0f)
jskl 0:5d27c333afa6 29 #define MAGN_X_MAX (850.0f)
jskl 0:5d27c333afa6 30 #define MAGN_Y_MIN (-640.0f)
jskl 0:5d27c333afa6 31 #define MAGN_Y_MAX (684.0f)
jskl 0:5d27c333afa6 32 #define MAGN_Z_MIN (-213.0f)
jskl 0:5d27c333afa6 33 #define MAGN_Z_MAX (850.0f)
jskl 0:5d27c333afa6 34
jskl 0:5d27c333afa6 35 // Gyroscope
jskl 0:5d27c333afa6 36 // "gyro x,y,z (current/average) = .../OFFSET_X .../OFFSET_Y .../OFFSET_Z
jskl 0:5d27c333afa6 37 #define GYRO_X_OFFSET (-20.5f)
jskl 0:5d27c333afa6 38 #define GYRO_Y_OFFSET (0.5f)
jskl 0:5d27c333afa6 39 #define GYRO_Z_OFFSET (10.5f)
jskl 0:5d27c333afa6 40
jskl 0:5d27c333afa6 41 //*****************************************************************************/
jskl 0:5d27c333afa6 42
jskl 0:5d27c333afa6 43 #define GRAVITY 255.0f //this equivalent to 1G in the raw data coming from the accelerometer
jskl 0:5d27c333afa6 44
jskl 0:5d27c333afa6 45 #define ACCEL_X_OFFSET ((ACCEL_X_MIN + ACCEL_X_MAX) / 2.0f)
jskl 0:5d27c333afa6 46 #define ACCEL_Y_OFFSET ((ACCEL_Y_MIN + ACCEL_Y_MAX) / 2.0f)
jskl 0:5d27c333afa6 47 #define ACCEL_Z_OFFSET ((ACCEL_Z_MIN + ACCEL_Z_MAX) / 2.0f)
jskl 0:5d27c333afa6 48 #define ACCEL_X_SCALE (GRAVITY / (ACCEL_X_MAX - ACCEL_X_OFFSET))
jskl 0:5d27c333afa6 49 #define ACCEL_Y_SCALE (GRAVITY / (ACCEL_Y_MAX - ACCEL_Y_OFFSET))
jskl 0:5d27c333afa6 50 #define ACCEL_Z_SCALE (GRAVITY / (ACCEL_Z_MAX - ACCEL_Z_OFFSET))
jskl 0:5d27c333afa6 51
jskl 0:5d27c333afa6 52 #define MAGN_X_OFFSET ((MAGN_X_MIN + MAGN_X_MAX) / 2.0f)
jskl 0:5d27c333afa6 53 #define MAGN_Y_OFFSET ((MAGN_Y_MIN + MAGN_Y_MAX) / 2.0f)
jskl 0:5d27c333afa6 54 #define MAGN_Z_OFFSET ((MAGN_Z_MIN + MAGN_Z_MAX) / 2.0f)
jskl 0:5d27c333afa6 55 #define MAGN_X_SCALE (100.0f / (MAGN_X_MAX - MAGN_X_OFFSET))
jskl 0:5d27c333afa6 56 #define MAGN_Y_SCALE (100.0f / (MAGN_Y_MAX - MAGN_Y_OFFSET))
jskl 0:5d27c333afa6 57 #define MAGN_Z_SCALE (100.0f / (MAGN_Z_MAX - MAGN_Z_OFFSET))
jskl 0:5d27c333afa6 58
jskl 0:5d27c333afa6 59 // Gyro gain (conversion from raw to degree per seconds)
jskl 0:5d27c333afa6 60 #define GYRO_GAIN 0.061035156f
jskl 0:5d27c333afa6 61 #define GYRO_GAIN_X 0.061035156f //X axis Gyro gain
jskl 0:5d27c333afa6 62 #define GYRO_GAIN_Y 0.061035156f //Y axis Gyro gain
jskl 0:5d27c333afa6 63 #define GYRO_GAIN_Z 0.061035156f //Z axis Gyro gain
jskl 0:5d27c333afa6 64
jskl 0:5d27c333afa6 65 #define DEG2RAD(x) (x * 0.01745329252) // *pi/180
jskl 0:5d27c333afa6 66 #define RAD2DEG(x) (x * 57.2957795131) // *180/pi
jskl 0:5d27c333afa6 67
jskl 0:5d27c333afa6 68 typedef char byte;
jskl 0:5d27c333afa6 69
jskl 0:5d27c333afa6 70 class GY80
jskl 0:5d27c333afa6 71 {
jskl 0:5d27c333afa6 72 public:
jskl 0:5d27c333afa6 73 I2C Wire;
jskl 0:5d27c333afa6 74 GY80();
jskl 0:5d27c333afa6 75 ~GY80();
jskl 0:5d27c333afa6 76 void Read_Accel(float* accel_v);
jskl 0:5d27c333afa6 77 void Read_Gyro(float* );
jskl 0:5d27c333afa6 78 void Read_Magn(float* );
jskl 0:5d27c333afa6 79
jskl 0:5d27c333afa6 80 private:
jskl 0:5d27c333afa6 81 short accel[3];
jskl 0:5d27c333afa6 82 short gyro[3];
jskl 0:5d27c333afa6 83 short mag[3];
jskl 0:5d27c333afa6 84 void Accel_Init();
jskl 0:5d27c333afa6 85 void Gyro_Init();
jskl 0:5d27c333afa6 86 void Magn_Init();
jskl 0:5d27c333afa6 87
jskl 0:5d27c333afa6 88 };
jskl 0:5d27c333afa6 89
jskl 0:5d27c333afa6 90 #endif