Matthias Grob / Mbed 2 deprecated IMU_10DOF

An fully working IMU-Filter and Sensor drivers for the 10DOF-Board over I2C. All in one simple class. Include, calibrate sensors, call read, get angles. (3D Visualisation code for Python also included) Sensors: L3G4200D, ADXL345, HMC5883, BMP085

Dependencies:   mbed

IMU/Sensors/Gyro/L3G4200D.h@4:f62337b907e5, 2013-08-29 (annotated)

Committer:
maetugr
Date:
Thu Aug 29 13:52:30 2013 +0000
Revision:
4:f62337b907e5
Parent:
0:3e7450f1a938 
The Altitude Sensor is now implemented, it's really 10DOF now ;); TODO: Autocalibration

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:3e7450f1a938 1 // based on http://mbed.org/users/shimniok/code/L3G4200D/
maetugr 0:3e7450f1a938 2
maetugr 0:3e7450f1a938 3 #ifndef L3G4200D_H
maetugr 0:3e7450f1a938 4 #define L3G4200D_H
maetugr 0:3e7450f1a938 5
maetugr 0:3e7450f1a938 6 #include "mbed.h"
maetugr 0:3e7450f1a938 7 #include "I2C_Sensor.h"
maetugr 0:3e7450f1a938 8
maetugr 0:3e7450f1a938 9 #define L3G4200D_I2C_ADDRESS 0xD0
maetugr 0:3e7450f1a938 10
maetugr 0:3e7450f1a938 11 // register addresses
maetugr 0:3e7450f1a938 12 #define L3G4200D_WHO_AM_I 0x0F
maetugr 0:3e7450f1a938 13
maetugr 0:3e7450f1a938 14 #define L3G4200D_CTRL_REG1 0x20
maetugr 0:3e7450f1a938 15 #define L3G4200D_CTRL_REG2 0x21
maetugr 0:3e7450f1a938 16 #define L3G4200D_CTRL_REG3 0x22
maetugr 0:3e7450f1a938 17 #define L3G4200D_CTRL_REG4 0x23
maetugr 0:3e7450f1a938 18 #define L3G4200D_CTRL_REG5 0x24
maetugr 0:3e7450f1a938 19 #define L3G4200D_REFERENCE 0x25
maetugr 0:3e7450f1a938 20 #define L3G4200D_OUT_TEMP 0x26
maetugr 0:3e7450f1a938 21 #define L3G4200D_STATUS_REG 0x27
maetugr 0:3e7450f1a938 22
maetugr 0:3e7450f1a938 23 #define L3G4200D_OUT_X_L 0x28
maetugr 0:3e7450f1a938 24 #define L3G4200D_OUT_X_H 0x29
maetugr 0:3e7450f1a938 25 #define L3G4200D_OUT_Y_L 0x2A
maetugr 0:3e7450f1a938 26 #define L3G4200D_OUT_Y_H 0x2B
maetugr 0:3e7450f1a938 27 #define L3G4200D_OUT_Z_L 0x2C
maetugr 0:3e7450f1a938 28 #define L3G4200D_OUT_Z_H 0x2D
maetugr 0:3e7450f1a938 29
maetugr 0:3e7450f1a938 30 #define L3G4200D_FIFO_CTRL_REG 0x2E
maetugr 0:3e7450f1a938 31 #define L3G4200D_FIFO_SRC_REG 0x2F
maetugr 0:3e7450f1a938 32
maetugr 0:3e7450f1a938 33 #define L3G4200D_INT1_CFG 0x30
maetugr 0:3e7450f1a938 34 #define L3G4200D_INT1_SRC 0x31
maetugr 0:3e7450f1a938 35 #define L3G4200D_INT1_THS_XH 0x32
maetugr 0:3e7450f1a938 36 #define L3G4200D_INT1_THS_XL 0x33
maetugr 0:3e7450f1a938 37 #define L3G4200D_INT1_THS_YH 0x34
maetugr 0:3e7450f1a938 38 #define L3G4200D_INT1_THS_YL 0x35
maetugr 0:3e7450f1a938 39 #define L3G4200D_INT1_THS_ZH 0x36
maetugr 0:3e7450f1a938 40 #define L3G4200D_INT1_THS_ZL 0x37
maetugr 0:3e7450f1a938 41 #define L3G4200D_INT1_DURATION 0x38
maetugr 0:3e7450f1a938 42
maetugr 4:f62337b907e5 43 class L3G4200D : public I2C_Sensor {
maetugr 0:3e7450f1a938 44 public:
maetugr 0:3e7450f1a938 45 L3G4200D(PinName sda, PinName scl); // constructor, uses I2C_Sensor class
maetugr 0:3e7450f1a938 46 virtual void read(); // read all axis from register to array data
maetugr 0:3e7450f1a938 47 float offset[3]; // offset that's subtracted from every measurement
maetugr 0:3e7450f1a938 48 void calibrate(int times, float separation_time); // calibration from 'times' measurements with 'separation_time' time between (get an offset while not moving)
maetugr 0:3e7450f1a938 49 int readTemp(); // read temperature from sensor
maetugr 0:3e7450f1a938 50
maetugr 0:3e7450f1a938 51 private:
maetugr 0:3e7450f1a938 52 virtual void readraw();
maetugr 0:3e7450f1a938 53 };
maetugr 0:3e7450f1a938 54
maetugr 0:3e7450f1a938 55 #endif