File content as of revision 2:9bac32f6c9a0:

#include "mbed.h"
#ifndef MBED_LG1300L_H
#define MBED_LG1300L_H
/** CruizCore XG1300L IMU interface
 *  Used for communicating with an XG1300L IMU over I2C
 *  @code
 *#include "mbed.h"
 *#include "TextLCD.h"
 *#include "LG1300L.h"
 *
 *TextLCD lcd(p15, p16, p17, p18, p19, p20); // rs, e, d4-d7
 *
 *Serial pc(USBTX, USBRX); // tx, rx
 *  
 *I2C i2c(p28,p27);
 *DigitalOut LED (LED1);
 *
 *int main() {
 *    LG1300L IMU(i2c, 2);
 *
 *    while(1) {
 *        float angle = IMU.GetAngle();
 *        float ROT= IMU.GetROT();
 *        float X_ACC = IMU.GetACC_X();
 *        float Y_ACC = IMU. GetACC_Y();
 *        float Z_ACC = IMU. GetACC_Z();
 *        pc.printf("///////////////////////////////////\n");
 *        pc.printf("//ANGLE: %f\n", angle);
 *        pc.printf("//ROT: %f\n", ROT);
 *        pc.printf("//X-Axis: %f\n", X_ACC );
 *        pc.printf("//Y-Axis: %f\n", Y_ACC );
 *        pc.printf("//Z-axis: %f\n", Z_ACC );
 *        pc.printf("///////////////////////////////////\n");
 *        wait(1);
 *    }
 *}
 *    @endcode
 */




class LG1300L{
public:

    /** Create an IMU readout interface   
     *
     * @param i2c The instantiated I2C bus to be used
     * @param ACC_SETTING the desired initialization range for the
     * @note Create an IMU readout interface 
     accelerometers, choices are +-2G, +-4G, or +-8G
     */
LG1300L(I2C& i2c, int ACC_SETTING);

    /** Returns a float containing the current Accumulated Angle  
     * @returns the Accumulated Angle
     */
float GetAngle();
    /** Returns a float containing the current ROT  
     * @returns the Rate of Turn 
     */
float GetROT();
    /** Returns a float containing the current acceleration on
     * the X axis. 
     * @returns the acceleration on the X_Axis   
     *  
     */
float GetACC_X();
    /** Returns a float containing the current acceleration on
     *the Y axis. 
     * @returns the acceleration on the Y_Axis       
     */
float GetACC_Y();
    /** Returns a float containing the current acceleration on
     *the Z axis.
     * @returns the acceleration on the Z_Axis       
     */
float GetACC_Z();
private:

void init();

    char ANGLE_LSB_REG[1];
    char ANGLE_MSB_REG[1];
    char ROT_LSB_REG[1];
    char ROT_MSB_REG[1];  
    char X_ACC_LSB_REG[1];
    char X_ACC_MSB_REG[1];
    char Y_ACC_LSB_REG[1];
    char Y_ACC_MSB_REG[1];
    char Z_ACC_LSB_REG[1];
    char Z_ACC_MSB_REG[1];      
    

    char RESET_REG[1];
    char SELECT_2G_REG[1];
    char SELECT_4G_REG[1];
    char SELECT_8G_REG[1];

float CALC_ANG, CALC_ROT, CALC_X, CALC_Y, CALC_Z;
int ACC_RANGE;
signed short ANGLE_MSB;
signed short ANGLE_LSB;
signed short ROT_MSB;
signed short ROT_LSB;
signed short ACC_X_MSB;
signed short ACC_X_LSB;
signed short ACC_Y_MSB;
signed short ACC_Y_LSB;
signed short ACC_Z_MSB;
signed short ACC_Z_LSB;
protected:

I2C& IMU;
char data[2];
const int IMU_ADDR;
};

#endif