CMPS12_KRAI.h

00001 /*
00002  * adopted from
00003  * CMPS03 by: Aarom Berk
00004  * 
00005  * Bismillahirahmanirrahim
00006  */
00007 
00008 #ifndef CMPS12_KRAI_H
00009 #define CMPS12_KRAI_H
00010 
00011 /**
00012  * Includes
00013  */
00014 #include "mbed.h"
00015 
00016 #define CMPS_DEFAULT_I2C_ADDRESS 0xC0
00017 //set register kompas
00018 #define SOFTWARE_REVISION_REG    0x0
00019 #define COMPASS_BEARING_WORD_REG 0x2
00020 #define COMPASS_PITCH_WORD_REG 0x4
00021 #define COMPASS_ROLL_WORD_REG 0x5
00022 
00023 /** Interface to read compass using I2C communciation
00024  * compass type : CMPS 12
00025  */
00026 class CMPS12_KRAI {
00027 
00028     I2C* i2c;
00029     int  i2cAddress;
00030 
00031 public:
00032 
00033     /** Create CMPS12 inteface
00034      * 
00035      *
00036      * @param sda mbed pin to use for I2C SDA
00037      * @param scl mbed pin to use for I2C SCL
00038      * @param address I2C address of this device.
00039      */
00040     CMPS12_KRAI(PinName sda, PinName scl, int address);
00041 
00042     /** Membaca revisi dari kompas
00043      * 
00044      */
00045     char readSoftwareRevision(void);
00046 
00047     /** Membaca nilai dari kompas
00048      * 
00049      * Range nilai 0 - 3599
00050      */
00051     int getAngle(void);
00052     
00053     /** Membaca nilai sudut pitch dari kompas
00054      * 
00055      * Range nilai 0 - 3599
00056      */
00057     int getPitch(void);
00058     
00059     /** Membaca nilai sudut roll dari kompas
00060      * 
00061      * Range nilai (+/-90)
00062      */
00063     int getRoll(void);
00064 
00065     /** Kalibrasi kompas 
00066      *  
00067      */
00068     void calibrate(void);
00069 
00070     /** Stop calibrate
00071      * 
00072      */
00073     void stopCalibrate(void);
00074     
00075     int getAccelX(void);
00076 };
00077 
00078 #endif /* CMPS_KRAI_H */