Bruno Allaire-Lemay / Mbed 2 deprecated APP1test

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Dependencies:   mbed

Fork of APP1 by Team APP

Accelerometer.hpp@23:2531e72d92b9, 2017-02-09 (annotated)

Committer:
GaiSensei
Date:
Thu Feb 09 15:55:18 2017 +0000
Revision:
23:2531e72d92b9
Parent:
21:a111be2582be 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
dupm2216 21:a111be2582be 1 /////////////////////////////////////////////////////////////
dupm2216 21:a111be2582be 2 // APP 1: Systèmes à microprocesseurs //
dupm2216 21:a111be2582be 3 // //
dupm2216 21:a111be2582be 4 // Université de Sherbrooke //
dupm2216 21:a111be2582be 5 // Génie informatique //
dupm2216 21:a111be2582be 6 // Session 5, Hiver 2017 //
dupm2216 21:a111be2582be 7 // //
dupm2216 21:a111be2582be 8 // Date: 17 janvier 2017 //
dupm2216 21:a111be2582be 9 // //
dupm2216 21:a111be2582be 10 // Auteurs: Maxime Dupuis, dupm2216 //
dupm2216 21:a111be2582be 11 // Bruno Allaire-Lemay, allb2701 //
dupm2216 21:a111be2582be 12 /////////////////////////////////////////////////////////////
dupm2216 21:a111be2582be 13
dupm2216 3:1a9d0f0a50bf 14 #ifndef ACCELEROMETER_HPP
dupm2216 3:1a9d0f0a50bf 15 #define ACCELEROMETER_HPP
dupm2216 1:7becb0e903e3 16
dupm2216 1:7becb0e903e3 17 #include "mbed.h"
dupm2216 19:f5aa0ce5546b 18 #include "Utility.hpp"
dupm2216 1:7becb0e903e3 19
dupm2216 7:1e00dfecc92d 20 namespace accelerometer
dupm2216 1:7becb0e903e3 21 {
dupm2216 7:1e00dfecc92d 22 const int NUMBER_OF_DATA_REGISTERS = 6;
dupm2216 7:1e00dfecc92d 23 const char OUT_X_MSB_REGISTER = 0x01;
dupm2216 7:1e00dfecc92d 24 const char OUT_X_LSB_REGISTER = 0x02;
dupm2216 7:1e00dfecc92d 25 const char OUT_Y_MSB_REGISTER = 0x03;
dupm2216 7:1e00dfecc92d 26 const char OUT_Y_LSB_REGISTER = 0x04;
dupm2216 7:1e00dfecc92d 27 const char OUT_Z_MSB_REGISTER = 0x05;
dupm2216 7:1e00dfecc92d 28 const char OUT_Z_LSB_REGISTER = 0x06;
dupm2216 7:1e00dfecc92d 29
dupm2216 7:1e00dfecc92d 30 const char WHO_AM_I_REGISTER = 0x0D;
dupm2216 7:1e00dfecc92d 31 const char CTRL_REG1_REGISTER_ADDRESS = 0x2A;
dupm2216 7:1e00dfecc92d 32
dupm2216 7:1e00dfecc92d 33 const int I2C_ACCELEROMETER_ADDRESS = 0x1D;
dupm2216 7:1e00dfecc92d 34
dupm2216 7:1e00dfecc92d 35 enum Axis
dupm2216 7:1e00dfecc92d 36 {
dupm2216 7:1e00dfecc92d 37 AXIS_X,
dupm2216 7:1e00dfecc92d 38 AXIS_Y,
dupm2216 7:1e00dfecc92d 39 AXIS_Z,
dupm2216 7:1e00dfecc92d 40 AXIS_INVALID
dupm2216 7:1e00dfecc92d 41 };
dupm2216 7:1e00dfecc92d 42
dupm2216 7:1e00dfecc92d 43 int raw_axis_data_to_int(signed char raw_axis_data);
dupm2216 7:1e00dfecc92d 44 char get_axis_register(Axis axis);
dupm2216 7:1e00dfecc92d 45 double g_force_from_int_axis_data(const int axis_data);
dupm2216 7:1e00dfecc92d 46 double angle_from_int_axis_data(const int axis_data);
dupm2216 7:1e00dfecc92d 47
dupm2216 7:1e00dfecc92d 48 class Accelerometer
dupm2216 7:1e00dfecc92d 49 {
dupm2216 7:1e00dfecc92d 50 public:
dupm2216 7:1e00dfecc92d 51 Accelerometer(
dupm2216 7:1e00dfecc92d 52 PinName sda_pin,
dupm2216 19:f5aa0ce5546b 53 PinName scl_pin,
dupm2216 19:f5aa0ce5546b 54 const int filter_size,
dupm2216 7:1e00dfecc92d 55 const int slave_address = I2C_ACCELEROMETER_ADDRESS
dupm2216 7:1e00dfecc92d 56 );
dupm2216 7:1e00dfecc92d 57
dupm2216 7:1e00dfecc92d 58 void write_register(const char register_address, const char new_value);
dupm2216 7:1e00dfecc92d 59 char read_register(const char register_address);
dupm2216 7:1e00dfecc92d 60
dupm2216 7:1e00dfecc92d 61 //axis_data must be an array of length 6
dupm2216 7:1e00dfecc92d 62 void read_all_axis(signed char* axis_data);
dupm2216 7:1e00dfecc92d 63 void print_all_axis_data();
dupm2216 7:1e00dfecc92d 64
dupm2216 7:1e00dfecc92d 65 void set_standby();
dupm2216 7:1e00dfecc92d 66 void set_active();
dupm2216 7:1e00dfecc92d 67 void init();
dupm2216 7:1e00dfecc92d 68
dupm2216 7:1e00dfecc92d 69 //Read data from the 8 most significant bits (MSB) of a given axis
dupm2216 7:1e00dfecc92d 70 int read_axis_data_8_bits(Axis axis);
dupm2216 7:1e00dfecc92d 71
dupm2216 7:1e00dfecc92d 72 double get_angle_from_horizontal();
dupm2216 1:7becb0e903e3 73
dupm2216 7:1e00dfecc92d 74 private:
dupm2216 7:1e00dfecc92d 75 I2C device;
dupm2216 19:f5aa0ce5546b 76 utility::MovingAverageFilter filter;
dupm2216 7:1e00dfecc92d 77 const int slave_address;
dupm2216 19:f5aa0ce5546b 78
dupm2216 7:1e00dfecc92d 79 };
dupm2216 9:12519f9dd3cd 80 }
dupm2216 3:1a9d0f0a50bf 81 #endif