Diff: ALTIMU.h

Revision:

0:08c9e51e6fd6

Child:

1:8cc36ccb8d58

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ALTIMU.h	Mon Oct 15 02:14:19 2018 +0000
@@ -0,0 +1,45 @@
+#ifndef __ALTIMU_LIB
+#define __ALTIMU_LIB
+#include "mbed.h"
+
+#define LSM303_ADDR    0x3A
+#define L3GD20_ADDR    0xD6
+#define LPS25H_ADDR    0x5D
+
+class Altimu
+{
+    public:
+      /** Create a new interface for a Altimu10V4
+       *
+       * @param sda is the pin for the I2C SDA line
+       * @param scl is the pin for the I2C SCL line
+       */
+       Altimu(PinName sda, PinName scl);
+
+       /** Initialize  Altimu10V4
+        *
+        * @conf configure the i2c frequency.``
+        * @conf configure fifo filter.
+        * @conf set sample mode.
+        */
+        void Init(void);
+
+       // The section below, is reserved all three IMU function's.
+
+       /** read the raw accelerometer and compass values
+        *
+        * @param ax,ay,az is the accelerometer 3d vector, written by the function
+        * @param mx,my,mz is the magnetometer 3d vector, written by the function
+        */
+        bool read_LSM303D(float *ax, float *ay, float *az, float *mx, float *my, float *mz);
+        bool read_L3GD20(float *gx, float *gy, float *gz);
+        void read_LPS25H(float *press, float *alt);
+
+    private:
+      I2C _ALTIMU;           // I2C object
+
+      bool write_reg(int addr_i2c,int addr_reg, char v);    // I2C Write data register.
+      bool read_reg(int addr_i2c,int addr_reg, char *v);    // I2C Read data register.
+      bool recv(char sad, char sub, char *buf, int length); // I2C Read n data
+};
+#endif