Diff: app/MPU9250Config.cpp

Revision:

0:f2815503561f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/app/MPU9250Config.cpp	Wed Jul 06 20:40:36 2016 +0000
@@ -0,0 +1,173 @@
+/*
+ * MPU9250Config.cpp
+ *
+ *  Created on: 23.05.2016
+ *      Author: Adrian
+ */
+
+#include "MPU9250Config.h"
+
+MPU9250Config::MPU9250Config() {
+	// TODO Auto-generated constructor stub
+
+}
+
+MPU9250Config::~MPU9250Config() {
+	// TODO Auto-generated destructor stub
+}
+
+void MPU9250Config::build(MPU9250_MODE desiredMode){
+	switch(desiredMode){
+	case MPU9250_MODE_1:
+		setAccelerometerScale(MPU9250_FULL_SCALE_2G);
+		setGyroscopeScale(MPU9250_GYRO_FULL_SCALE_250DPS);
+		setMagnetometerBitResolution(MPU9250_MAG_16_BIT);
+		setMagnetometerMeasureMode(MPU9250_MAG_CONTINUOUS_MEASUREMENT_1);
+		break;
+	case MPU9250_MODE_2:
+		setAccelerometerScale(MPU9250_FULL_SCALE_4G);
+		setGyroscopeScale(MPU9250_GYRO_FULL_SCALE_500DPS);
+		setMagnetometerBitResolution(MPU9250_MAG_16_BIT);
+		setMagnetometerMeasureMode(MPU9250_MAG_CONTINUOUS_MEASUREMENT_1);
+		break;
+	case MPU9250_MODE_3:
+		setAccelerometerScale(MPU9250_FULL_SCALE_8G);
+		setGyroscopeScale(MPU9250_GYRO_FULL_SCALE_1000DPS);
+		setMagnetometerBitResolution(MPU9250_MAG_16_BIT);
+		setMagnetometerMeasureMode(MPU9250_MAG_CONTINUOUS_MEASUREMENT_1);
+		break;
+	case MPU9250_MODE_4:
+		setAccelerometerScale(MPU9250_FULL_SCALE_2G);
+		setGyroscopeScale(MPU9250_GYRO_FULL_SCALE_250DPS);
+		setMagnetometerBitResolution(MPU9250_MAG_16_BIT);
+		setMagnetometerMeasureMode(MPU9250_MAG_CONTINUOUS_MEASUREMENT_1);
+		setInterruptPinConfiguration(MPU9250_INT_ANYRD_2CLEAR_MASK|
+				MPU9250_LATCH_INT_EN_MASK);
+		setWakeOnMotionThreshold(MPU9250_WOM_THRESHOLD_1020_MG);
+		break;
+	}
+}
+
+void MPU9250Config::setAccelerometerScale(uint8_t accelerometerScale){
+	this->accelerometerScale = accelerometerScale;
+}
+
+void MPU9250Config::setGyroscopeScale(uint8_t gyroscopeScale){
+	this->gyroscopeScale = gyroscopeScale;
+}
+
+void MPU9250Config::setMagnetometerBitResolution(uint8_t magnetometerBitResolution){
+	this->magnetometerBitResolution = magnetometerBitResolution;
+}
+
+void MPU9250Config::setMagnetometerMeasureMode(uint8_t magnetometermeasureMode){
+	this->magnetometerMeasureMode = magnetometermeasureMode;
+}
+
+void MPU9250Config::setInterruptPinConfiguration(uint8_t interruptPinConfiguration){
+	this->interruptPinConfiguration = interruptPinConfiguration;
+}
+
+void MPU9250Config::setInterruptEnableConfiguration(uint8_t interruptEnbaleConfiguration){
+	this->interruptEnableConfiguration = interruptEnableConfiguration;
+}
+
+void MPU9250Config::setWakeOnMotionThreshold(uint8_t wakeOnMotionThreshold){
+	this->wakeOnMotionThreshold;
+}
+
+uint8_t MPU9250Config::getAccelerometerScale(){
+	return accelerometerScale;
+}
+
+uint8_t MPU9250Config::getGyroscopeScale(){
+	return gyroscopeScale;
+}
+
+uint8_t MPU9250Config::getMagnetometerBitResolution(){
+	return magnetometerBitResolution;
+}
+
+uint8_t MPU9250Config::getMagnetometerMeasureMode(){
+	return magnetometerMeasureMode;
+}
+float MPU9250Config::getAccelerationDivider(){
+	float divider;
+
+	switch(accelerometerScale){
+		case MPU9250_FULL_SCALE_2G:
+			divider = 32768/2;
+			break;
+		case MPU9250_FULL_SCALE_4G:
+			divider = 32768/4;
+			break;
+		case MPU9250_FULL_SCALE_8G:
+			divider = 32768/8;
+			break;
+		case MPU9250_FULL_SCALE_16G:
+			divider = 32768/16;
+			break;
+		default:
+			divider = 1;
+			break;
+	}
+
+	return divider;
+}
+
+float MPU9250Config::getGyroDivider(){
+	float divider;
+
+	switch(accelerometerScale){
+		case MPU9250_GYRO_FULL_SCALE_250DPS:
+			divider = 32768/250;
+			break;
+		case MPU9250_GYRO_FULL_SCALE_500DPS:
+			divider = 32768/500;
+			break;
+		case MPU9250_GYRO_FULL_SCALE_1000DPS:
+			divider = 32768/1000;
+			break;
+		case MPU9250_GYRO_FULL_SCALE_2000DPS:
+			divider = 32768/2000;
+			break;
+		default:
+			divider = 1;
+			break;
+	}
+
+	return divider;
+}
+
+float MPU9250Config::getTeslaDivider(){
+	float divider;
+
+	switch(magnetometerBitResolution){
+		case MPU9250_MAG_14_BIT:
+			divider = 8190/4192;
+			break;
+		case MPU9250_MAG_16_BIT:
+			divider = 32768/4192;
+			break;
+		default:
+			divider = 1;
+			break;
+	}
+
+	return divider;
+}
+
+uint8_t MPU9250Config::getInterruptPinConfiguration(){
+	return interruptPinConfiguration;
+}
+
+uint8_t MPU9250Config::getInterruptEnableConfiguration(){
+	return interruptEnableConfiguration;
+}
+
+uint8_t MPU9250Config::getWakeOnMotionThreshold(){
+	return wakeOnMotionThreshold;
+}
+
+
+