Diff: BMI160.h

Revision:

1:55d35606b477

Parent:

0:362698102bff

Child:

2:f9ddabfe2eb6

--- a/BMI160.h	Mon Oct 17 23:45:10 2016 +0000
+++ b/BMI160.h	Tue Oct 18 17:47:44 2016 +0000
@@ -9,31 +9,6 @@
 #include "mbed.h"
 #include "ST7567.h"
 
-/* defines the axis for acc */
-#define ACC_NOOF_AXIS       3
-
-/* bmi160 slave address */
-#define BMI160_ADDR         ((0x68)<<1)
-
-/*Valor para Transformar de Radiano para Graus*/
-#define RAD_DEG           57.29577951
-
-
-/* buffer to store acc samples */
-int16_t acc_sample_buffer[ACC_NOOF_AXIS] = {0x5555, 0x5555, 0x5555};
- 
-double acc_result_buffer[ACC_NOOF_AXIS] = {0x5555, 0x5555, 0x5555};
- 
-double accel_ang_x, accel_ang_y;
- 
-char i2c_reg_buffer[2] = {0};
-
-//Instancia o LCD
-ST7567 lcd(D11, D13, D12, D9, D10); // mosi, sclk, reset, A0, nCS
-
- /*Comunicacao I2C*/
-I2C i2c(P2_3, P2_4);
-
 class BMI160{
     public:
         void configureAccelerometer();
@@ -43,85 +18,5 @@
         void lcdClear();
 };
 
-void BMI160::lcdClear(){
-    for(int i=0;i<5;i++)
-        lcd.printf("\n");
-}
-void BMI160::configureAccelerometer(){
-    //lcd.printf("Configurando BMI160...\n\r");
-   // wait_ms(250);
-    //lcdClear();
-    
-    /*Config Freq. I2C Bus*/
-    i2c.frequency(20000);
-    
-    /*Reset BMI160*/
-    i2c_reg_buffer[0] = 0x7E;
-    i2c_reg_buffer[1] = 0xB6;    
-    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
-    wait_ms(200);
-    //lcd.printf("BMI160 Resetado\n\r");
-    wait_ms(1000);
-    //lcdClear();
-    
-    /*Habilita o Acelerometro*/
-    i2c_reg_buffer[0] = 0x7E;
-    i2c_reg_buffer[1] = 0x11; //PMU Normal   
-    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
-    //lcd.printf("Acc Habilitado\n\r");
-   //wait_ms(1000);
-    //lcdClear();
-    
-    /*Config o Data Rate ACC em 1600Hz*/
-    i2c_reg_buffer[0] = 0x40;
-    i2c_reg_buffer[1] = 0x2C;    
-    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
-    //lcd.printf("Data Rate ACC Selecionado a 1600Hz\n\r");
-    //lcdClear();
-    
-    //wait_ms(2000);
-   // lcd.printf("BMI160 Configurado\n\r");
-   // lcdClear();
-}
-
-void BMI160::calculateMovement(){  
-        
-    /*Ajusta dados brutos Acelerometro em unidades de g */
-    acc_result_buffer[0] = (acc_sample_buffer[0]/16384.0);
-    acc_result_buffer[1] = (acc_sample_buffer[1]/16384.0);
-    acc_result_buffer[2] = (acc_sample_buffer[2]/16384.0);
-                
-    /*Calcula os Angulos de Inclinacao com valor do Acelerometro*/
-    accel_ang_x=atan(acc_result_buffer[0]/sqrt(pow(acc_result_buffer[1],2) + pow(acc_result_buffer[2],2)))*RAD_DEG;
-    accel_ang_y=atan(acc_result_buffer[1]/sqrt(pow(acc_result_buffer[0],2) + pow(acc_result_buffer[2],2)))*RAD_DEG;
-  
-  
-    /*Imprime os dados ACC pre-formatados*/
-    lcd.printf("Acc(G): %.3f,%.3f,%.3f\n\r",acc_result_buffer[0], acc_result_buffer[1], acc_result_buffer[2]);
-    lcd.printf("Angles(x,y): %.3f,%.3f\n\r", accel_ang_x, accel_ang_y);
-    wait_ms(3000);
-    lcdClear();
-}
-
-void BMI160::readAccelerometer(){
-    
-    while(1) { 
-        /*Le os Registradores do Acelerometro*/
-        i2c_reg_buffer[0] = 0x12;
-        i2c.write(BMI160_ADDR, i2c_reg_buffer, 1, true);
-        i2c.read(BMI160_ADDR, (char *)&acc_sample_buffer, sizeof(acc_sample_buffer), false);
-        calculateMovement();
-    }
-}
-
-void BMI160::runTempCommands(){
-    configureAccelerometer();
-    readAccelerometer();
-    
-}
-
-
-
-
 
 #endif