Revision 0:7d6134e052e0, committed 2019-11-23

Comitter:

chtjhai

Date:

Sat Nov 23 04:58:09 2019 +0000

Commit message:

Simple tiltmeter using accelerometer

Changed in this revision

diff -r 000000000000 -r 7d6134e052e0 C12832.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/C12832.lib	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/mpetovello/code/C12832/#878d97d7c263

diff -r 000000000000 -r 7d6134e052e0 ENGO333_I2C.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ENGO333_I2C.cpp	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,40 @@
+#include "ENGO333_I2C.h"
+
+ENGO333_I2C::ENGO333_I2C(PinName sda, PinName scl) : i2c(sda, scl)
+{
+    // Do nothing
+}
+
+ENGO333_I2C::~ENGO333_I2C()
+{
+    // Do nothing
+}
+
+void ENGO333_I2C::setSpeed(int freq)
+{
+    this->i2c.frequency(freq);
+}
+
+void ENGO333_I2C::writeOneByte(char deviceAddress, char registerAddress, char value)
+{
+    char temp[2];
+    temp[0] = registerAddress;
+    temp[1] = value;
+    this->i2c.write(deviceAddress, temp, 2);
+}
+
+char ENGO333_I2C::readOneByte(char deviceAddress, char registerAddress)
+{
+    char temp = 0;
+    this->i2c.write(deviceAddress, &registerAddress, 1);
+    this->i2c.read(deviceAddress, &temp, 1);
+    return (char)temp;
+}
+
+void ENGO333_I2C::readBytes(char deviceAddress, char registerAddress, char* value, int length)
+{
+    this->i2c.write(deviceAddress, &registerAddress, 1);
+    this->i2c.read(deviceAddress, value, length);
+}
+
+

diff -r 000000000000 -r 7d6134e052e0 ENGO333_I2C.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ENGO333_I2C.h	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,85 @@
+/**
+ * File : ENGO333_I2C.h
+ * Created by : Chandra Tjhai
+ * Created on : September 10, 2016
+ *
+ * Description :
+ * This file contains a class to handle I2C bus operation for ENGO 333.
+ */
+
+#ifndef ENGO333_I2C_H
+#define ENGO333_I2C_H
+
+#include "mbed.h"
+
+/**
+ * Class
+ *  A class to handle I2C read/write operation
+ */
+class ENGO333_I2C
+{
+private:
+    I2C i2c;    // Object for handling I2C bus operations
+    
+public:
+    /**
+     * Constructor
+     *
+     * Input
+     *  sda = SDA or I2C serial data pin
+     *  scl = SCL or I2C serial clock pin
+     */
+    ENGO333_I2C(PinName sda, PinName scl);
+    
+    /**
+     * Destructor
+     */
+    ~ENGO333_I2C();
+    
+    /**
+     * Function :
+     *  Set I2C bus frequency
+     *
+     * Input :
+     *  freq = desired frequency in Hz
+     */
+    void setSpeed(int freq);
+    
+    /**
+     * Function :
+     *  Write one byte data into device's register
+     *
+     * Input :
+     *  deviceAddress = Device's I2C address
+     *  registerAddress = Device's register address to be written on
+     *  value = Value to be written on device's register address
+     */
+    void writeOneByte(char deviceAddress, char registerAddress, char value);
+    
+    /**
+     * Function :
+     *  Read one byte from device's register address
+     *
+     * Input :
+     *  deviceAddress = Device's I2C address
+     *  registerAddress = Device's register address to be read
+     *
+     * Return :
+     *  One byte data read from device's register
+     */
+    char readOneByte(char deviceAddress, char registerAddress);
+    
+    /**
+     * Function :
+     *  Read multiple bytes from device's register address
+     *
+     * Input :
+     *  deviceAddress = Device's I2C address
+     *  registerAddress = Device's register address to be read
+     *  value = Array of data to store values read from device's register
+     */
+    void readBytes(char deviceAddress, char registerAddress, char* value, int length);
+};
+
+#endif
+

diff -r 000000000000 -r 7d6134e052e0 ENGO333_MMA7660.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ENGO333_MMA7660.cpp	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,83 @@
+#include "ENGO333_MMA7660.h"
+
+const float GRAVITY = 9.8086;
+
+ENGO333_MMA7660::ENGO333_MMA7660() : i2c(p28, p27)
+{
+    SetActiveMode();
+    SetSamplingRateAM(MMA7660_AMSR8);
+    measAccel[0] = measAccel[1] = measAccel[2] = 0;
+}
+
+bool ENGO333_MMA7660::TestConnection() 
+{
+    char data[3] = {128, 128, 128};
+    bool alert;
+
+    // Check data validity
+    alert = false;
+    i2c.readBytes(MMA7660_ADDRESS, MMA7660_XOUT_REG, data, 3);
+    for (int i = 0; i < 3; ++i) {
+        if (data[i] > 63)
+            alert = true;
+    }
+    
+    if (alert == false) {
+        return true;
+    } else {
+        return false;
+    }
+}
+
+void ENGO333_MMA7660::SetActiveMode()
+{
+    i2c.writeOneByte(MMA7660_ADDRESS, MMA7660_MODE_REG, 0x01);
+}
+
+void ENGO333_MMA7660::SetSamplingRateAM(MMA7660_AMSR_t samplingRate)
+{
+    char oldValue, newValue;
+    oldValue = i2c.readOneByte(MMA7660_ADDRESS, MMA7660_SR_REG);
+    oldValue = oldValue & 0x07;
+    newValue = oldValue | samplingRate;
+    i2c.writeOneByte(MMA7660_ADDRESS, MMA7660_SR_REG, newValue);
+}
+
+void ENGO333_MMA7660::ReadAccelerometers()
+{
+    char data[3];
+    bool alert;
+
+    // Check data validity
+    do {
+        alert = false;
+        i2c.readBytes(MMA7660_ADDRESS, MMA7660_XOUT_REG, data, 3);
+        for (int i = 0; i < 3; ++i) {
+            if (data[i] > 63)
+                alert = true;
+            if (data[i] > 31)
+                data[i] += 128 + 64;
+        }
+    } while (alert);
+    
+    measAccel[0] = (signed char)(data[0]) / MMA7660_SCALE * GRAVITY;
+    measAccel[1] = (signed char)(data[1]) / MMA7660_SCALE * GRAVITY;
+    measAccel[2] = (signed char)(data[2]) / MMA7660_SCALE * GRAVITY;
+}
+
+float ENGO333_MMA7660::GetAccelX() const
+{
+    return measAccel[0];
+}
+
+float ENGO333_MMA7660::GetAccelY() const
+{
+    return measAccel[1];
+}
+
+float ENGO333_MMA7660::GetAccelZ() const
+{
+    return measAccel[2];
+}
+
+

diff -r 000000000000 -r 7d6134e052e0 ENGO333_MMA7660.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ENGO333_MMA7660.h	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,154 @@
+/**
+ * File : ENGO333_MMA7660.h
+ * Created by : Chandra Tjhai
+ * Created on : September 10, 2016
+ *
+ * Description :
+ * This library is created for ENGO 333 class. The accelerometer is mounted
+ * on the mbed Application Board. The I2C connection is permanently set to p28
+ * (SDA) and p27 (SCL).
+ */
+
+#ifndef ENGO333_MMA7660_H
+#define ENGO333_MMA7660_H
+
+#include "ENGO333_I2C.h"
+#include "Tiltmeter.h"
+
+// Sensor I2C address
+#define MMA7660_ADDRESS 0x98
+
+// Define sensor registers
+#define MMA7660_XOUT_REG 0x00
+#define MMA7660_YOUT_REG 0x01
+#define MMA7660_ZOUT_REG 0x02
+#define MMA7660_TILT_REG 0x03
+#define MMA7660_SRST_REG 0x04
+#define MMA7660_SPCNT_REG 0x05
+#define MMA7660_INTSU_REG 0x06
+#define MMA7660_MODE_REG 0x07
+#define MMA7660_SR_REG 0x08
+#define MMA7660_PDET_REF 0x09
+#define MMA7660_PD_REG 0x0A
+
+// Define acceleration scale
+#define MMA7660_SCALE (21.33)
+
+// Define AMSR values
+typedef enum
+{
+    MMA7660_AMSR120 = 0,
+    MMA7660_AMSR64 = 1,
+    MMA7660_AMSR32 = 2,
+    MMA7660_AMSR16 = 3,
+    MMA7660_AMSR8 = 4,
+    MMA7660_AMSR4 = 5,
+    MMA7660_AMSR2 = 6,
+    MMA7660_AMSR1 = 7
+}MMA7660_AMSR_t;
+
+/**
+ * Class
+ *  A class to handle MMA7660 3-DOF accelerometer
+ */
+class ENGO333_MMA7660
+{
+private:
+    ENGO333_I2C i2c;    // I2C communication connection
+    float measAccel[3];  // Measured acceleration values in units of m/s/s
+
+public:
+    /**
+     * Default Constructor
+     *  Once called, trigger active mode and set MMA7660_AMSR8
+     */
+    ENGO333_MMA7660();
+    
+    /**
+     * Function :
+     *  Test device's accelerometer connection. MMA7660 does not have identifier
+     *  registers. Thus, this function will simply take measurements and check 
+     *  their validity.
+     *
+     * Argument :
+     *  NONE
+     *
+     * Return :
+     *  Return TRUE if connection is good, otherwise FALSSE
+     */
+    virtual bool TestConnection();
+
+
+private:
+
+   // Read the accelerometer data and store the values for later use. You can access the values by
+   // calling the GetAccelX(), GetAccelY() and/or GetAccelZ();
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    Nothing
+   //
+   // Remarks:
+   //    The data will be stored in the 'MeasuredAccel' member variable in units of m/s/s
+   virtual void ReadAccelerometers();
+
+
+   // Get the most recently measured X-axis acceleration as stored during the last call to
+   // ReadAccelerometer()
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    The function returns the most recently measured X-axis acceleration in units of m/s/s
+   virtual float GetAccelX() const;
+
+
+   // Get the most recently measured Y-axis acceleration as stored during the last call to
+   // ReadAccelerometer()
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    The function returns the most recently measured Y-axis acceleration in units of m/s/s
+   virtual float GetAccelY() const;
+
+
+   // Get the most recently measured Z-axis acceleration as stored during the last call to
+   // ReadAccelerometer()
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    The function returns the most recently measured Z-axis acceleration in units of m/s/s
+   virtual float GetAccelZ() const;
+   
+   
+   // Set the device to 'active' mode
+   //
+   // Arguments: 
+   //    None
+   //
+   // Returns:
+   //    Nothing
+   void SetActiveMode();
+   
+   
+   // Set the device sampling rate through AM bits, see MMA7660_SR_REG
+   //
+   // Arguments:
+   //    samplingRate = setting of AM bits in MMA7660_SR_REG
+   //
+   // Returns:
+   //    Nothing
+   void SetSamplingRateAM(MMA7660_AMSR_t samplingRate);
+    
+};
+
+#endif
+
+

diff -r 000000000000 -r 7d6134e052e0 ENGO333_MPU9150.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ENGO333_MPU9150.cpp	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,73 @@
+#include "ENGO333_MPU9150.h"
+
+const float GRAVITY = 9.8086;
+
+ENGO333_MPU9150::ENGO333_MPU9150() : i2c(p28, p27)
+{
+    i2c.setSpeed(MPU9150_I2C_FAST_MODE);
+    setSleepMode(false);
+    setAccelRange(MPU9150_ACCEL_RANGE_2G);
+    
+    measAccel[0] = measAccel[1] = measAccel[2] = 0;
+}
+
+void ENGO333_MPU9150::setSleepMode(bool state)
+{
+    char temp;
+    temp = i2c.readOneByte(MPU9150_ADDRESS, MPU9150_PWR_MGMT_1_REG);
+    if (state == true)
+        temp |= 1 << MPU9150_SLEEP_BIT;
+    if (state == false)
+        temp &= ~(1 << MPU9150_SLEEP_BIT);
+    i2c.writeOneByte(MPU9150_ADDRESS, MPU9150_PWR_MGMT_1_REG, temp);
+}
+
+bool ENGO333_MPU9150::TestConnection()
+{
+    char temp;
+    temp = i2c.readOneByte(MPU9150_ADDRESS, MPU9150_WHO_AM_I_REG);
+    return (temp == (0x68 & 0xFE));
+}
+
+void ENGO333_MPU9150::setAccelRange(char range)
+{
+    char temp;
+    range = range & 0x03;
+    
+    temp = i2c.readOneByte(MPU9150_ADDRESS, MPU9150_ACCEL_CONFIG_REG);
+    temp &= ~(3 << 3);
+    temp = temp + (range << 3);
+    i2c.writeOneByte(MPU9150_ADDRESS, MPU9150_ACCEL_CONFIG_REG, temp);
+}
+
+void ENGO333_MPU9150::ReadAccelerometers()
+{
+    char temp[6];
+    
+    while ((i2c.readOneByte(MPU9150_ADDRESS, MPU9150_INT_STATUS_REG) & 0x01) != 0x01)
+    {
+        // wait data to be ready
+    }
+    
+    i2c.readBytes(MPU9150_ADDRESS, MPU9150_ACCEL_XOUT_H_REG, temp, 6);
+    measAccel[0] = ((short)((temp[0] << 8) + temp[1])) / 16384.0 * GRAVITY;
+    measAccel[1] = ((short)((temp[2] << 8) + temp[3])) / 16384.0 * GRAVITY;
+    measAccel[2] = ((short)((temp[4] << 8) + temp[5])) / 16384.0 * GRAVITY;
+}
+
+float ENGO333_MPU9150::GetAccelX() const
+{
+    return measAccel[0];
+}
+
+float ENGO333_MPU9150::GetAccelY() const
+{
+    return measAccel[1];
+}
+
+float ENGO333_MPU9150::GetAccelZ() const
+{
+    return measAccel[2];
+}
+
+

diff -r 000000000000 -r 7d6134e052e0 ENGO333_MPU9150.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ENGO333_MPU9150.h	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,159 @@
+/**
+ * File : ENGO333_MPU9150.h
+ * Created by : Chandra Tjhai
+ * Created on : September 19, 2016
+ *
+ * Description :
+ * This library is created for ENGO 333 class. The inertial sensor needs to be 
+ * mounted on the mbed Application Board. The I2C connection is automatically 
+ * set to p28 (SDA) and p27 (SCL).
+ */
+ 
+#ifndef ENGO333_MPU9150_H
+#define ENGO333_MPU9150_H
+
+#include "ENGO333_I2C.h"
+#include "Tiltmeter.h"
+
+/**
+ * Define Macros: Device I2C slave addresses (R/W)
+ */
+#define MPU9150_ADDRESS         (0x68 << 1)
+
+ /**
+ * Define Macros: Configuration Registers
+ */
+#define MPU9150_CONFIG_REG              0x1A
+#define MPU9150_ACCEL_CONFIG_REG        0x1C
+#define MPU9150_INT_STATUS_REG          0x3A
+#define MPU9150_INT_PIN_CFG_REG         0x37
+#define MPU9150_PWR_MGMT_1_REG          0x6B
+#define MPU9150_WHO_AM_I_REG            0x75
+
+/**
+ * Define Macros: Measurement Data Registers
+ */
+#define MPU9150_ACCEL_XOUT_H_REG        0x3B
+#define MPU9150_ACCEL_YOUT_H_REG        0x3D
+#define MPU9150_ACCEL_ZOUT_H_REG        0x3F
+
+/**
+ * Define Macros: IMU Definitions
+ */
+#define MPU9150_SLEEP_BIT               6
+#define MPU9150_ACCEL_RANGE_2G          0
+#define MPU9150_ACCEL_RANGE_4G          1
+#define MPU9150_ACCEL_RANGE_8G          2
+#define MPU9150_ACCEL_RANGE_16G         3
+#define MPU9150_I_AM                    0x68
+#define MPU9150_I2C_FAST_MODE           400000
+#define MPU9150_I2C_STD_MODE            100000
+
+/**
+ * Class
+ *  A class to handle MPU-9150 9-DOF sensor
+ */
+class ENGO333_MPU9150
+{
+private:
+    ENGO333_I2C i2c;
+    float measAccel[3];  // Measured acceleration values in units of m/s/s
+
+public:
+    /**
+     * Default Constructor
+     *  Once called, triggering device initialization and set data variables to 
+     *  zero. Accelerometer is set to +-2G by default.
+     */
+    ENGO333_MPU9150();
+    
+    /**
+     * Function :
+     *  Enable/disable device sleep mode
+     * 
+     * Argument :
+     *  state = TRUE/FALSE
+     *
+     * Return :
+     *  NONE
+     */
+    void setSleepMode(bool state);
+    
+    /**
+     * Function :
+     *  Test device's accelerometer connection
+     * 
+     * Argument :
+     *  NONE
+     *
+     * Return :
+     *  Return TRUE if connection is good, otherwise FALSSE
+     */
+    virtual bool TestConnection();
+    
+     /**
+     * Function :
+     *  Set accelerometer full scale range, see MPU9150_ACCEL_RANGE_XG
+     * 
+     * Argument :
+     *  range = values of MPU9150_ACCEL_RANGE_XG
+     *
+     * Return :
+     *  NONE
+     */
+    void setAccelRange(char range);
+    
+    /**
+     * Function :
+     *  Read raw accelerometer data, 3 axes
+     * 
+     * Argument :
+     *  NONE
+     *
+     * Return :
+     *  NONE
+     */
+    virtual void ReadAccelerometers();
+    
+     /**
+     * Function :
+     *  Get raw X-axis acceleration
+     * 
+     * Argument :
+     *  NONE
+     *
+     * Return :
+     *  Raw X-axis acceleration
+     */
+    virtual float GetAccelX() const;
+    
+    /**
+     * Function :
+     *  Get raw Y-axis acceleration
+     * 
+     * Argument :
+     *  NONE
+     *
+     * Return :
+     *  Raw Y-axis acceleration
+     */
+    virtual float GetAccelY() const;
+    
+    /**
+     * Function :
+     *  Get raw Z-axis acceleration
+     * 
+     * Argument :
+     *  NONE
+     *
+     * Return :
+     *  Raw Z-axis acceleration
+     */
+    virtual float GetAccelZ() const;
+    
+};
+
+#endif
+ 
+
+

diff -r 000000000000 -r 7d6134e052e0 Tiltmeter.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Tiltmeter.cpp	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,8 @@
+#include "Tiltmeter.h"
+
+#include "math.h"
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+// Paste your code from the pre-lab assignment here
+
+

diff -r 000000000000 -r 7d6134e052e0 Tiltmeter.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Tiltmeter.h	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,112 @@
+#ifndef TILTMETER_H
+#define TILTMETER_H
+
+class Tiltmeter
+{
+public:
+
+   // Default constructor
+   Tiltmeter();
+
+
+   // Detect the presence of tiltmeter sensor and ensure its status is appropriately set.
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    The function returns true if the sensor is present and ready to use, and false otherwise.
+   virtual bool TestConnection() = 0;
+
+
+   // Compute the tilt angles and store them internally; you can access the computed values by
+   // calling the GetRoll() and GetPitch() functions.
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    Nothing
+   void ComputeTiltAngles();
+
+
+   // Get the most recent roll angle as computed by calling ComputeTilt()
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    The function returns the roll angle in units of degrees
+   float GetRoll() const;
+
+
+   // Get the most recent roll angle as computed by calling ComputeTilt()
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    The function returns the roll angle in units of degrees
+   float GetPitch() const;
+
+
+private:
+
+   // Read the accelerometer data and store the values for later use. You can access the values by
+   // calling the GetAccelX(), GetAccelY() and/or GetAccelZ();
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    Nothing
+   //
+   // Remarks:
+   //    The data will be stored in the 'MeasuredAccel' member variable in units of m/s/s
+   virtual void ReadAccelerometers() = 0;
+
+
+   // Get the most recently measured X-axis acceleration as stored during the last call to
+   // ReadAccelerometer()
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    The function returns the most recently measured X-axis acceleration in units of m/s/s
+   virtual float GetAccelX() const = 0;
+
+
+   // Get the most recently measured Y-axis acceleration as stored during the last call to
+   // ReadAccelerometer()
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    The function returns the most recently measured Y-axis acceleration in units of m/s/s
+   virtual float GetAccelY() const = 0;
+
+
+   // Get the most recently measured Z-axis acceleration as stored during the last call to
+   // ReadAccelerometer()
+   //
+   // Arguments:
+   //    None
+   //
+   // Returns:
+   //    The function returns the most recently measured Z-axis acceleration in units of m/s/s
+   virtual float GetAccelZ() const = 0;
+
+
+private:
+
+   // Variables to store the roll and pitch values in units of degrees
+   float RollAngle, PitchAngle;
+
+
+};
+
+#endif
+
+

diff -r 000000000000 -r 7d6134e052e0 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,172 @@
+#include "mbed.h"
+#include <string>
+#include "C12832.h"
+#include "ENGO333_MMA7660.h"
+#include "ENGO333_MPU9150.h"
+#include "Tiltmeter.h"
+
+// Enumeration of accelerometer types
+// For more information, see the following links
+//  - https://en.cppreference.com/w/c/language/enum
+//  - http://www.cplusplus.com/doc/tutorial/other_data_types/
+enum AccelType
+{
+    MMA7660,    // MMA7660 accelerometer on the mbed application board
+    MPU9150     // MPU9150 IMU (external to mbed application board)
+};
+
+
+// Function to prompt the user to select between the MMA7660 accelerometer or
+// the MPU9150 IMU. The user can select between these choices by moving the 
+// joystick left or right; they make their selection by pressing the joystick
+// button.
+//
+// Arguments:
+//    lcd = The LCD screen to use for display
+//    joystick = Object linked to the joystick to be used
+//
+// Returns:
+//    The function returns an enumeration identifying the sensor selected
+AccelType SelectAccelerometer( C12832& lcd, BusIn& joystick );
+
+
+int main()
+{
+    //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+    // START: Setup/variable declaration
+
+
+    // Create LCD object for LCD screen operations
+    C12832 lcd(p5, p7, p6, p8, p11);
+
+    // Create digital outputs for LED1 and LED2 that will be used to indicate
+    // if things are working properly -- both values are to LOW (off)
+    DigitalOut led1(LED1);
+    DigitalOut led2(LED2);
+    led1 = 0;
+    led2 = 0;
+
+    // Create bus input for joystick
+    BusIn joystick(p13, p16, p14);     // Binary [ Centre | Right | Left ] joystick
+    
+    
+    // END: Setup/variable declaration
+    //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+    // START: Take Measurements
+    
+    
+    // Create an accelerometer object
+    ENGO333_MMA7660 accelerometer;  
+    
+    
+    // Detect sensor
+    if( accelerometer.TestConnection() ) 
+    {
+        // Turn on the first LED to show that the connection was detected
+        led1 = 1;
+    } 
+    else 
+    {
+        lcd.locate(1, 11);
+        lcd.printf("ERROR: Unknown sensor");
+        return 1;
+    }
+
+
+    // Prepare the screen
+    lcd.cls();
+    lcd.locate(1, 1);
+    lcd.printf("Press joystick to measure");
+
+    
+    // Variable to store the value/status of the joystick. It is initialized
+    // to represent pushing the joystick button. Since the loop below 
+    while( true ) 
+    {
+        // Check if the joystick button is being pressed
+        if (joystick.read() == 4) 
+        {
+            // Turn on second LED to indicate a measurement is being made
+            led2 = 1;
+            
+            
+            // Get the tilt angles
+            accelerometer.ComputeTiltAngles();            
+            
+            
+            // Print the roll
+            lcd.locate(1, 11);
+            lcd.printf("Roll (deg)");
+            lcd.locate(50, 11);
+            lcd.printf(": % 8.2f", accelerometer.GetRoll());
+            
+            // Print the pitch
+            lcd.locate(1, 21);
+            lcd.printf("Pitch (deg)");
+            lcd.locate(50, 21);
+            lcd.printf(": % 8.2f", accelerometer.GetPitch());
+            
+            
+            // Short delay to avoid multiple measurements being displayed
+            wait_ms(250);
+
+
+            // Turn off second LED to indicate a measurement is complete
+            led2 = 0;
+        }
+        
+    }
+    
+    
+    // END: Take Measurements
+    //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+    
+}
+
+
+AccelType SelectAccelerometer( C12832& lcd, BusIn& joystick )
+{
+    // This is the current choice
+    AccelType choice = MMA7660;
+    
+    // This is the string to display the current choice (using asterisk)
+    string sensorChoice = "MMA7660 *       MPU9150";
+    
+    // Print the default choice
+    lcd.cls();
+    lcd.locate(1, 1);
+    lcd.printf("Move L/R to select sensor:");
+    lcd.locate(1, 18);
+    lcd.printf("%s", sensorChoice.c_str());
+
+  
+    // Create while-loop for user to select sensor
+    while(1) 
+    {
+        // read the joystick
+        int joy = joystick.read();
+        
+        
+        if (joy == 2)       // joystick pushed to the right
+        {                  
+            sensorChoice = "MMA7660       * MPU9150";
+            choice = MPU9150;
+            lcd.locate(1, 18);
+            lcd.printf("%s", sensorChoice.c_str());
+        } 
+        else if (joy == 1)  // joystick pushed to the left
+        {
+            sensorChoice = "MMA7660 *       MPU9150";
+            choice = MMA7660;
+            lcd.locate(1, 18);
+            lcd.printf("%s", sensorChoice.c_str());
+        } 
+        else if (joy == 4)  // joystick "button" pushed (i.e., "select")
+        {      
+            break;
+        } 
+    }
+    
+    // return the current choice
+    return choice;
+}

diff -r 000000000000 -r 7d6134e052e0 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Nov 23 04:58:09 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file