BMX055.hpp

00001 #ifndef BMX055_HPP
00002 #define BMX055_HPP
00003 
00004 #include "mbed.h"
00005 
00006 //  Aux class
00007 template <typename T = float, unsigned char D = 3>
00008 class FixedLengthVector
00009 {
00010 public:
00011     const unsigned char degree; // length of array, or num of elements
00012     
00013     T * const e; // elements
00014     
00015     //elements' alias
00016     T &w, &x, &y, &z;
00017     
00018 
00019     FixedLengthVector (T* arg_init_vec = array_filled_0(D))
00020         :degree(value_checked_degree(D))
00021         ,e(new T[degree])
00022         ,w(e[0])
00023         ,x((degree > 3 ? e[1] : e[0]))
00024         ,y((degree > 3 ? e[2] : e[1]))
00025         ,z((degree > 3 ? e[3] : (degree == 3 ? e[2] : e[1])))
00026     {        
00027         for (int i = 0; i < degree; i++) e[i] = arg_init_vec[i];
00028     }
00029 
00030 
00031 private:
00032     static inline unsigned char value_checked_degree (unsigned char arg_degree)
00033     {
00034         if (arg_degree < 2) return 2;
00035         else return arg_degree;
00036     }
00037     
00038     static inline T * array_filled_0 (unsigned char arg_degree)
00039     {
00040         unsigned char l_degree = value_checked_degree(arg_degree);
00041         T* tmp = new T[l_degree];
00042 
00043         for(int i = 0; i < l_degree; i++) tmp[i] = 0;
00044         return tmp;
00045     }
00046 
00047 };
00048 
00049 class BMX055
00050 {
00051 public:
00052     /** Main buffers which store 3 cubic data
00053      * 
00054      *  Acc: all x,y,z has 12 bits payload
00055      *  Gyr: all x,y,z has 16 bits payload
00056      *  Mag: x,y have 13 bits and z have 15 bits payload
00057      */
00058     FixedLengthVector<signed short, 3> acc, gyr, mag;
00059     
00060     // I2C pin of LPC 1768 is (p9, p10) or (p28, p27);
00061     BMX055(
00062         const char arg_addr_acc = 0x19, 
00063         const char arg_addr_gyr = 0x69, 
00064         const char arg_addr_mag = 0x13,
00065         PinName arg_SDA = p9, 
00066         PinName arg_SCL = p10)
00067     : m_addr_acc(arg_addr_acc << 1)
00068     , m_addr_gyr(arg_addr_gyr << 1)
00069     , m_addr_mag(arg_addr_mag << 1)
00070     {
00071         Init_I2C(arg_SDA, arg_SCL);
00072     }
00073     void Update();
00074     void UpdateIMU();
00075     
00076 private:
00077     I2C* i2c;
00078     const char m_addr_acc;
00079     const char m_addr_gyr;
00080     const char m_addr_mag;
00081     void Init_I2C(PinName arg_SDA, PinName arg_SCL);
00082 
00083 };
00084 #endif