dexterind-imu.h File Reference

Dexter Industries IMU Sensor driver. More...

#include "common.h"

Go to the source code of this file.

Defines
#define	DIMU_GYRO_I2C_ADDR   0xD2
#define	DIMU_GYRO_RANGE_250   0x00
#define	DIMU_GYRO_RANGE_500   0x10
#define	DIMU_GYRO_RANGE_2000   0x30
#define	DIMU_CTRL4_BLOCKDATA   0x80
#define	DIMU_GYRO_CTRL_REG1   0x20
#define	DIMU_GYRO_CTRL_REG2   0x21
#define	DIMU_GYRO_CTRL_REG3   0x22
#define	DIMU_GYRO_CTRL_REG4   0x23
#define	DIMU_GYRO_CTRL_REG5   0x24
#define	DIMU_GYRO_ALL_AXES   0x28
#define	DIMU_GYRO_X_AXIS   0x2A
#define	DIMU_GYRO_Y_AXIS   0x28
#define	DIMU_GYRO_Z_AXIS   0x2C
#define	DIMU_ACC_I2C_ADDR   0x3A
#define	DIMU_ACC_RANGE_2G   0x04
#define	DIMU_ACC_RANGE_4G   0x08
#define	DIMU_ACC_RANGE_8G   0x00
#define	DIMU_ACC_MODE_STBY   0x00
#define	DIMU_ACC_MODE_MEAS   0x01
#define	DIMU_ACC_MODE_LVLD   0x02
#define	DIMU_ACC_MODE_PLSE   0x03
#define	DIMU_ACC_X_AXIS   0x00
#define	DIMU_ACC_Y_AXIS   0x02
#define	DIMU_ACC_Z_AXIS   0x04
#define	DIMUreadGyroXAxis(X)   DIMUreadGyroAxis(X, DIMU_GYRO_X_AXIS)
#define	DIMUreadGyroYAxis(X)   DIMUreadGyroAxis(X, DIMU_GYRO_Y_AXIS)
#define	DIMUreadGyroZAxis(X)   DIMUreadGyroAxis(X, DIMU_GYRO_Z_AXIS)
#define	DIMUreadAccelXAxis10Bit(X)   DIMUreadAccelAxis10Bit(X, DIMU_ACC_X_AXIS)
#define	DIMUreadAccelYAxis10Bit(X)   DIMUreadAccelAxis10Bit(X, DIMU_ACC_Y_AXIS)
#define	DIMUreadAccelZAxis10Bit(X)   DIMUreadAccelAxis10Bit(X, DIMU_ACC_Z_AXIS)
#define	DIMUreadAccelXAxis8Bit(X)   DIMUreadAccelAxis8Bit(X, DIMU_ACC_X_AXIS)
#define	DIMUreadAccelYAxis8Bit(X)   DIMUreadAccelAxis8Bit(X, DIMU_ACC_Y_AXIS)
#define	DIMUreadAccelZAxis8Bit(X)   DIMUreadAccelAxis8Bit(X, DIMU_ACC_Z_AXIS)
Functions
bool	DIMUconfigGyro (tSensors link, ubyte range, bool lpfenable=true)
float	DIMUreadGyroAxis (tSensors link, ubyte axis)
void	DIMUreadGyroAxes (tSensors link, float &_x, float &_y, float &_z)
bool	DIMUconfigAccel (tSensors link, ubyte range)
float	DIMUreadAccelAxis8Bit (tSensors link, ubyte axis)
bool	DIMUsetAccelAxisOffset (tSensors link, ubyte drift_reg, ubyte drift_LSB, ubyte drift_MSB)
float	DIMUreadAccelAxis10Bit (tSensors link, ubyte axis, bool calibrate=false)
void	DIMUreadAccelAxes8Bit (tSensors link, float &_x, float &_y, float &_z)
void	DIMUreadAccelAxes10Bit (tSensors link, float &_x, float &_y, float &_z)
void	DIMUcalAccel (tSensors link)
bool	DIMUconfigIMU (tSensors link, ubyte accelRange=DIMU_ACC_RANGE_8G, ubyte gyroRange=DIMU_GYRO_RANGE_250, bool lpfenable=true)
Variables
float	DIMU_Gyro_divisor [4] = {0.0, 0.0, 0.0, 0.0}
float	DIMU_Accel_divisor [4] = {0.0, 0.0, 0.0, 0.0}
tByteArray	DIMU_I2CRequest
tByteArray	DIMU_I2CReply

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Detailed Description

Dexter Industries IMU Sensor driver.

dexterind-imu.h provides an API for the Dexter Industries IMU Sensor.

Changelog:

• 0.1: Initial release

Credits:

• Big thanks to Dexter Industries for providing me with the hardware necessary to write and test this.

License: You may use this code as you wish, provided you give credit where its due.

THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER.

Author:

Xander Soldaat (xander_at_botbench.com)

Date:

07 August 2011

Version:

0.1

Definition in file dexterind-imu.h.