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

Diff: IMU/IMU_10DOF.cpp

Revision:
4:f62337b907e5
Parent:
1:798db5deb8b9
--- a/IMU/IMU_10DOF.cpp	Tue Aug 27 22:18:25 2013 +0000
+++ b/IMU/IMU_10DOF.cpp	Thu Aug 29 13:52:30 2013 +0000
@@ -1,17 +1,18 @@
 #include "IMU_10DOF.h"
 
-IMU_10DOF::IMU_10DOF(PinName sda, PinName scl) : Gyro(sda, scl), Acc(sda, scl), Comp(sda, scl)
+IMU_10DOF::IMU_10DOF(PinName sda, PinName scl) : Gyro(sda, scl), Acc(sda, scl), Comp(sda, scl), Alt(sda,scl)
 {
     dt = 0;
     dt_sensors = 0;
     time_for_dt = 0;
     time_for_dt_sensors = 0;
-    angle = Filter.angle;
+    
+    angle = Filter.angle;           // initialize array pointer
     
     LocalTimer.start();
 }
 
-void IMU_10DOF::read()
+void IMU_10DOF::readAngles()
 {
     time_for_dt_sensors = LocalTimer.read(); // start time for measuring sensors
     Gyro.read(); // reading sensor data
@@ -24,4 +25,12 @@
     time_for_dt = LocalTimer.read();      // set new time for next measurement
     
     Filter.compute(dt, Gyro.data, Acc.data, Comp.data);
+}
+
+void IMU_10DOF::readAltitude()
+{
+    Alt.read();
+    temperature = Alt.Temperature; // copy all resulting measurements
+    pressure    = Alt.Pressure;
+    altitude    = Alt.Altitude;
 }
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