Diff: ENGO333_MPU9150.h

Revision:

0:3bffc1862262

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ENGO333_MPU9150.h	Thu Nov 24 23:02:42 2016 +0000
@@ -0,0 +1,158 @@
+/**
+ * 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
+ 
+