mindsensors-imu.h File Reference

Mindsensors AbsoluteIMU Sensor driver. More...

#include "common.h"

Go to the source code of this file.

Defines
#define	MSIMU_IMU_I2C_ADDR   0x22
#define	MSIMU_REG_CMD   0x41
#define	MSIMU_REG_TILT_ALL_AXES   0x42
#define	MSIMU_REG_ACC_ALL_AXES   0x45
#define	MSIMU_REG_COMPASS_HEADING   0x4B
#define	MSIMU_REG_COMPASS_ALL_FIELDS   0x4D
#define	MSIMU_REG_GYRO_ALL_AXES   0x53
#define	MSIMU_REG_GYRO_FILTER   0x5A
#define	MSIMU_CMD_COMPASS_START_CAL   0x43
#define	MSIMU_CMD_COMPASS_STOP_CAL   0x63
#define	MSIMU_CMD_ACC_RANGE_2G   0x31
#define	MSIMU_CMD_ACC_RANGE_4G   0x32
#define	MSIMU_CMD_ACC_RANGE_8G   0x33
#define	MSIMU_CMD_ACC_RANGE_16G   0x34
#define	MSIMU_GYRO_FILTER_NONE   0
#define	MSIMU_GYRO_FILTER_LEVEL_1   1
#define	MSIMU_GYRO_FILTER_LEVEL_2   2
#define	MSIMU_GYRO_FILTER_LEVEL_3   3
#define	MSIMU_GYRO_FILTER_LEVEL_4   4
#define	MSIMU_GYRO_FILTER_LEVEL_5   5
#define	MSIMU_GYRO_FILTER_LEVEL_6   6
#define	MSIMU_GYRO_FILTER_LEVEL_7   7
#define	MSIMU_TILT_X_AXIS   MSIMU_REG_TILT_X_AXIS
#define	MSIMU_TILT_Y_AXIS   MSIMU_REG_TILT_Y_AXIS
#define	MSIMU_TILT_Z_AXIS   MSIMU_REG_TILT_Z_AXIS
#define	MSIMU_ACC_X_AXIS   MSIMU_REG_ACC_X_AXIS
#define	MSIMU_ACC_Y_AXIS   MSIMU_REG_ACC_Y_AXIS
#define	MSIMU_ACC_Z_AXIS   MSIMU_REG_ACC_Z_AXIS
#define	MSIMU_GYRO_X_AXIS   MSIMU_REG_GYRO_X_AXIS
#define	MSIMU_GYRO_Y_AXIS   MSIMU_REG_GYRO_Y_AXIS
#define	MSIMU_GYRO_Z_AXIS   MSIMU_REG_GYRO_Z_AXIS
Functions
bool	_MSIMUsendCMD (tSensors link, ubyte cmd)
bool	MSIMUreadTiltAxes (tSensors link, int &_x, int &_y, int &_z)
bool	MSIMUreadGyroAxes (tSensors link, int &_x, int &_y, int &_z)
bool	MSIMUreadAccelAxes (tSensors link, int &_x, int &_y, int &_z)
bool	MSIMUreadMagneticFields (tSensors link, int &_x, int &_y, int &_z)
int	MSIMUreadHeading (tSensors link)
bool	MSIMUsetGyroFilter (tSensors link, ubyte level)
Variables
tByteArray	MSIMU_I2CRequest
tByteArray	MSIMU_I2CReply

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Detailed Description

Mindsensors AbsoluteIMU Sensor driver.

mindsensors-imu.h provides an API for the Mindsensors AbsoluteIMU Sensor.

Changelog:

• 0.1: Initial release

Credits:

• Big thanks to Mindsensors 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:

23 August 2012

Version:

0.1

Definition in file mindsensors-imu.h.