Mark Petovello / Mbed 2 deprecated tilt_angles

Framework of classes and program to measure tilt angles using accelerometers

Dependencies:   C12832 mbed

Fork of tilt_angles by Mark Petovello

ENGO333_MPU9150.h@0:3bffc1862262, 2016-11-24 (annotated)

Committer:
mpetovello
Date:
Thu Nov 24 23:02:42 2016 +0000
Revision:
0:3bffc1862262
Lab 10 draft, 2016

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mpetovello 0:3bffc1862262 1 /**
mpetovello 0:3bffc1862262 2 * File : ENGO333_MPU9150.h
mpetovello 0:3bffc1862262 3 * Created by : Chandra Tjhai
mpetovello 0:3bffc1862262 4 * Created on : September 19, 2016
mpetovello 0:3bffc1862262 5 *
mpetovello 0:3bffc1862262 6 * Description :
mpetovello 0:3bffc1862262 7 * This library is created for ENGO 333 class. The inertial sensor needs to be
mpetovello 0:3bffc1862262 8 * mounted on the mbed Application Board. The I2C connection is automatically
mpetovello 0:3bffc1862262 9 * set to p28 (SDA) and p27 (SCL).
mpetovello 0:3bffc1862262 10 */
mpetovello 0:3bffc1862262 11
mpetovello 0:3bffc1862262 12 #ifndef ENGO333_MPU9150_H
mpetovello 0:3bffc1862262 13 #define ENGO333_MPU9150_H
mpetovello 0:3bffc1862262 14
mpetovello 0:3bffc1862262 15 #include "ENGO333_I2C.h"
mpetovello 0:3bffc1862262 16 #include "Tiltmeter.h"
mpetovello 0:3bffc1862262 17
mpetovello 0:3bffc1862262 18 /**
mpetovello 0:3bffc1862262 19 * Define Macros: Device I2C slave addresses (R/W)
mpetovello 0:3bffc1862262 20 */
mpetovello 0:3bffc1862262 21 #define MPU9150_ADDRESS (0x68 << 1)
mpetovello 0:3bffc1862262 22
mpetovello 0:3bffc1862262 23 /**
mpetovello 0:3bffc1862262 24 * Define Macros: Configuration Registers
mpetovello 0:3bffc1862262 25 */
mpetovello 0:3bffc1862262 26 #define MPU9150_CONFIG_REG 0x1A
mpetovello 0:3bffc1862262 27 #define MPU9150_ACCEL_CONFIG_REG 0x1C
mpetovello 0:3bffc1862262 28 #define MPU9150_INT_STATUS_REG 0x3A
mpetovello 0:3bffc1862262 29 #define MPU9150_INT_PIN_CFG_REG 0x37
mpetovello 0:3bffc1862262 30 #define MPU9150_PWR_MGMT_1_REG 0x6B
mpetovello 0:3bffc1862262 31 #define MPU9150_WHO_AM_I_REG 0x75
mpetovello 0:3bffc1862262 32
mpetovello 0:3bffc1862262 33 /**
mpetovello 0:3bffc1862262 34 * Define Macros: Measurement Data Registers
mpetovello 0:3bffc1862262 35 */
mpetovello 0:3bffc1862262 36 #define MPU9150_ACCEL_XOUT_H_REG 0x3B
mpetovello 0:3bffc1862262 37 #define MPU9150_ACCEL_YOUT_H_REG 0x3D
mpetovello 0:3bffc1862262 38 #define MPU9150_ACCEL_ZOUT_H_REG 0x3F
mpetovello 0:3bffc1862262 39
mpetovello 0:3bffc1862262 40 /**
mpetovello 0:3bffc1862262 41 * Define Macros: IMU Definitions
mpetovello 0:3bffc1862262 42 */
mpetovello 0:3bffc1862262 43 #define MPU9150_SLEEP_BIT 6
mpetovello 0:3bffc1862262 44 #define MPU9150_ACCEL_RANGE_2G 0
mpetovello 0:3bffc1862262 45 #define MPU9150_ACCEL_RANGE_4G 1
mpetovello 0:3bffc1862262 46 #define MPU9150_ACCEL_RANGE_8G 2
mpetovello 0:3bffc1862262 47 #define MPU9150_ACCEL_RANGE_16G 3
mpetovello 0:3bffc1862262 48 #define MPU9150_I_AM 0x68
mpetovello 0:3bffc1862262 49 #define MPU9150_I2C_FAST_MODE 400000
mpetovello 0:3bffc1862262 50 #define MPU9150_I2C_STD_MODE 100000
mpetovello 0:3bffc1862262 51
mpetovello 0:3bffc1862262 52 /**
mpetovello 0:3bffc1862262 53 * Class
mpetovello 0:3bffc1862262 54 * A class to handle MPU-9150 9-DOF sensor
mpetovello 0:3bffc1862262 55 */
mpetovello 0:3bffc1862262 56 class ENGO333_MPU9150
mpetovello 0:3bffc1862262 57 {
mpetovello 0:3bffc1862262 58 private:
mpetovello 0:3bffc1862262 59 ENGO333_I2C i2c;
mpetovello 0:3bffc1862262 60 float measAccel[3]; // Measured acceleration values in units of m/s/s
mpetovello 0:3bffc1862262 61
mpetovello 0:3bffc1862262 62 public:
mpetovello 0:3bffc1862262 63 /**
mpetovello 0:3bffc1862262 64 * Default Constructor
mpetovello 0:3bffc1862262 65 * Once called, triggering device initialization and set data variables to
mpetovello 0:3bffc1862262 66 * zero. Accelerometer is set to +-2G by default.
mpetovello 0:3bffc1862262 67 */
mpetovello 0:3bffc1862262 68 ENGO333_MPU9150();
mpetovello 0:3bffc1862262 69
mpetovello 0:3bffc1862262 70 /**
mpetovello 0:3bffc1862262 71 * Function :
mpetovello 0:3bffc1862262 72 * Enable/disable device sleep mode
mpetovello 0:3bffc1862262 73 *
mpetovello 0:3bffc1862262 74 * Argument :
mpetovello 0:3bffc1862262 75 * state = TRUE/FALSE
mpetovello 0:3bffc1862262 76 *
mpetovello 0:3bffc1862262 77 * Return :
mpetovello 0:3bffc1862262 78 * NONE
mpetovello 0:3bffc1862262 79 */
mpetovello 0:3bffc1862262 80 void setSleepMode(bool state);
mpetovello 0:3bffc1862262 81
mpetovello 0:3bffc1862262 82 /**
mpetovello 0:3bffc1862262 83 * Function :
mpetovello 0:3bffc1862262 84 * Test device's accelerometer connection
mpetovello 0:3bffc1862262 85 *
mpetovello 0:3bffc1862262 86 * Argument :
mpetovello 0:3bffc1862262 87 * NONE
mpetovello 0:3bffc1862262 88 *
mpetovello 0:3bffc1862262 89 * Return :
mpetovello 0:3bffc1862262 90 * Return TRUE if connection is good, otherwise FALSSE
mpetovello 0:3bffc1862262 91 */
mpetovello 0:3bffc1862262 92 virtual bool TestConnection();
mpetovello 0:3bffc1862262 93
mpetovello 0:3bffc1862262 94 /**
mpetovello 0:3bffc1862262 95 * Function :
mpetovello 0:3bffc1862262 96 * Set accelerometer full scale range, see MPU9150_ACCEL_RANGE_XG
mpetovello 0:3bffc1862262 97 *
mpetovello 0:3bffc1862262 98 * Argument :
mpetovello 0:3bffc1862262 99 * range = values of MPU9150_ACCEL_RANGE_XG
mpetovello 0:3bffc1862262 100 *
mpetovello 0:3bffc1862262 101 * Return :
mpetovello 0:3bffc1862262 102 * NONE
mpetovello 0:3bffc1862262 103 */
mpetovello 0:3bffc1862262 104 void setAccelRange(char range);
mpetovello 0:3bffc1862262 105
mpetovello 0:3bffc1862262 106 /**
mpetovello 0:3bffc1862262 107 * Function :
mpetovello 0:3bffc1862262 108 * Read raw accelerometer data, 3 axes
mpetovello 0:3bffc1862262 109 *
mpetovello 0:3bffc1862262 110 * Argument :
mpetovello 0:3bffc1862262 111 * NONE
mpetovello 0:3bffc1862262 112 *
mpetovello 0:3bffc1862262 113 * Return :
mpetovello 0:3bffc1862262 114 * NONE
mpetovello 0:3bffc1862262 115 */
mpetovello 0:3bffc1862262 116 virtual void ReadAccelerometers();
mpetovello 0:3bffc1862262 117
mpetovello 0:3bffc1862262 118 /**
mpetovello 0:3bffc1862262 119 * Function :
mpetovello 0:3bffc1862262 120 * Get raw X-axis acceleration
mpetovello 0:3bffc1862262 121 *
mpetovello 0:3bffc1862262 122 * Argument :
mpetovello 0:3bffc1862262 123 * NONE
mpetovello 0:3bffc1862262 124 *
mpetovello 0:3bffc1862262 125 * Return :
mpetovello 0:3bffc1862262 126 * Raw X-axis acceleration
mpetovello 0:3bffc1862262 127 */
mpetovello 0:3bffc1862262 128 virtual float GetAccelX() const;
mpetovello 0:3bffc1862262 129
mpetovello 0:3bffc1862262 130 /**
mpetovello 0:3bffc1862262 131 * Function :
mpetovello 0:3bffc1862262 132 * Get raw Y-axis acceleration
mpetovello 0:3bffc1862262 133 *
mpetovello 0:3bffc1862262 134 * Argument :
mpetovello 0:3bffc1862262 135 * NONE
mpetovello 0:3bffc1862262 136 *
mpetovello 0:3bffc1862262 137 * Return :
mpetovello 0:3bffc1862262 138 * Raw Y-axis acceleration
mpetovello 0:3bffc1862262 139 */
mpetovello 0:3bffc1862262 140 virtual float GetAccelY() const;
mpetovello 0:3bffc1862262 141
mpetovello 0:3bffc1862262 142 /**
mpetovello 0:3bffc1862262 143 * Function :
mpetovello 0:3bffc1862262 144 * Get raw Z-axis acceleration
mpetovello 0:3bffc1862262 145 *
mpetovello 0:3bffc1862262 146 * Argument :
mpetovello 0:3bffc1862262 147 * NONE
mpetovello 0:3bffc1862262 148 *
mpetovello 0:3bffc1862262 149 * Return :
mpetovello 0:3bffc1862262 150 * Raw Z-axis acceleration
mpetovello 0:3bffc1862262 151 */
mpetovello 0:3bffc1862262 152 virtual float GetAccelZ() const;
mpetovello 0:3bffc1862262 153
mpetovello 0:3bffc1862262 154 };
mpetovello 0:3bffc1862262 155
mpetovello 0:3bffc1862262 156 #endif
mpetovello 0:3bffc1862262 157
mpetovello 0:3bffc1862262 158