/**
* @brief Initializes the gyro/accelerometer and the magnetometer unit of the imu.
* As well as the arduino subsystem
*/
void setup() {
Wire.begin();
delay(1500);
/********/
/* GYRO */
/********/
gyro.init();
gyro.writeReg(L3G_CTRL_REG4, 0x00); // 245 dps scale
gyro.writeReg(L3G_CTRL_REG1, 0x0F); // normal power mode, all axes enabled, 100 Hz
//8.75 mdps/LSB
/****************/
/* MAGNETOMETER */
/****************/
compass.init();
compass.enableDefault();
compass.writeReg(LSM303::CTRL2, 0x08); // 4 g scale: AFS = 001
//0.122 mg/LSB
compass.writeReg(LSM303::CTRL5, 0x10); // Magnetometer Low Resolution 50 Hz
//Magnetometer 4 gauss scale : 0.16mgauss/LSB
//ROS-TF base frame of the imu_data
imu_msg.header.frame_id="base_imu_link";
//Register ROS messages
nh.initNode();
nh.advertise(imu_pub);
nh.advertise(mag_pub);
//starting value for the timer
timer=millis();
}
void Accel_Init()
{
compass.init();
compass.enableDefault();
switch (compass.getDeviceType())
{
case LSM303::device_D:
compass.writeReg(LSM303::CTRL2, 0x18); // 8 g full scale: AFS = 011
break;
case LSM303::device_DLHC:
compass.writeReg(LSM303::CTRL_REG4_A, 0x28); // 8 g full scale: FS = 10; high resolution output mode
break;
default: // DLM, DLH
compass.writeReg(LSM303::CTRL_REG4_A, 0x30); // 8 g full scale: FS = 11
}
//compass.heading((LSM303::vector<int>){0, 0, -1});
//compass.m_min = (LSM303::vector<int16_t>){-2304, -2194, -2156};
//compass.m_max = (LSM303::vector<int16_t>){+2771, +2860, +2753};
}