Diff: CMPS12_KRAI/CMPS12_KRAI.h

Revision:

0:49e87dcad299

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CMPS12_KRAI/CMPS12_KRAI.h	Fri Jun 18 11:04:08 2021 +0000
@@ -0,0 +1,100 @@
+/*
+ * adopted from
+ * CMPS03 by: Aarom Berk
+ * 
+ * Bismillahirahmanirrahim
+ */
+
+#ifndef CMPS12_KRAI_H
+#define CMPS12_KRAI_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+#define CMPS_DEFAULT_I2C_ADDRESS 0xC0
+//set register kompas
+#define SOFTWARE_REVISION_REG    0x0
+#define COMPASS_BEARING_WORD_REG 0x2
+#define COMPASS_PITCH_WORD_REG 0x4
+#define COMPASS_ROLL_WORD_REG 0x5
+
+/** Interface to read compass using I2C communciation
+ * compass type : CMPS 12
+ */
+class CMPS12_KRAI {
+
+    I2C* i2c;
+    int  i2cAddress;
+
+public:
+
+    /** Create CMPS12 inteface
+     * 
+     *
+     * @param sda mbed pin to use for I2C SDA
+     * @param scl mbed pin to use for I2C SCL
+     * @param address I2C address of this device.
+     */
+    CMPS12_KRAI(PinName sda, PinName scl, int address);
+
+    /** Membaca revisi dari kompas
+     * 
+     */
+    char readSoftwareRevision(void);
+
+    /** Membaca nilai dari kompas
+     * 
+     * Range nilai 0 - 3599
+     */
+    int getAngle(void);
+    
+    /** Membaca nilai sudut pitch dari kompas
+     * 
+     * Range nilai 0 - 3599
+     */
+    int getPitch(void);
+    
+    /** Membaca nilai sudut roll dari kompas
+     * 
+     * Range nilai (+/-90)
+     */
+    int getRoll(void);
+
+    /** Kalibrasi kompas 
+     *  
+     */
+    void calibrate(void);
+
+    /** Stop calibrate
+     * 
+     */
+    void stopCalibrate(void);
+    
+    int getAccelX(void);
+
+    void compassResetOffsetValue();
+    /**
+     * Reset offset value from compass, set the initial condition from compass to be reference theta
+     * 
+     */
+
+    void compassUpdateValue();
+    /**
+     * Update value from compass using theta reference 
+     */
+
+    float compassValue();
+    /**
+     * Get the compass value, theta will be in degree from -180 to 180
+     */
+    
+private :
+    float _offset_compass_value;
+    float _theta_origin;
+    float _theta_offset;
+
+};
+
+#endif /* CMPS_KRAI_H */