Hepta9axis.h

00001 #ifndef MBED_HEPTA9AXIS_H
00002 #define MBED_HEPTA9AXIS_H
00003 #include "mbed.h"
00004 
00005 class Hepta9axis
00006 {
00007 public:
00008     I2C n_axis;
00009     int addr_accel_gyro;
00010     int addr_compus;
00011     Hepta9axis(
00012         PinName sda,
00013         PinName scl,
00014         int aaddr,
00015         int agaddr
00016     );
00017     void setup();
00018     void sen_acc(float *ax,float *ay,float *az);
00019     void sen_gyro(float *gx,float *gy,float *gz);
00020     void sen_mag(float *mx,float *my,float *mz);
00021     void sen_gyro_u16(char* gx_u16,char* gy_u16,char* gz_u16);
00022     void sen_acc_u16(char* ax_u16,char* ay_u16,char* az_u16);
00023     void sen_mag_u16(char* mx_u16,char* my_u16,char* mz_u16);
00024 
00025 private:
00026     char cmd[2];
00027     char g1[8],g2[8];
00028     char a1[8],a2[8];
00029     char m1[8],m2[8];
00030     short int st2;
00031     short int xl,xh,yl,yh,zl,zh;
00032     short int gxl,gxh,gyl,gyh,gzl,gzh;
00033     short int mxl,mxh,myl,myh,mzl,mzh;
00034 
00035 };
00036 
00037 #endif