Diff: IMU.h

Revision:

13:eca05448904d

Parent:

12:cab3f7305522

--- a/IMU.h	Thu Feb 02 08:50:58 2012 +0000
+++ b/IMU.h	Thu Feb 16 08:56:11 2012 +0000
@@ -61,12 +61,37 @@
  
  // Gyro Initial FS_SEL Register Config
  
- #define FS_SEL_INIT   0x03 << 3
+ #define FS_SEL_INIT    0x03 << 3
   
  // BMA150 Accelerometer Registers
  
+ #define ACC_XOUT_L_REG            0x02     //Acceleration data registers
+ #define ACC_XOUT_H_REG            0x03
+ #define ACC_YOUT_L_REG            0x04
+ #define ACC_YOUT_H_REG            0x05
+ #define ACC_ZOUT_L_REG            0x06
+ #define ACC_ZOUT_H_REG            0x07
+ #define ACC_TEMP_REG              0x08     //Temperature register, 0.5 deg. C / LSB
+ #define ACC_CTRL_REG              0x0A     //Control registers
+ #define ACC_OPER_REG              0x14     //Operational registers
+ #define ACC_INT_REG               0x15     //Interrupt registers
  
+ // Accelerometer LPF bandwidths
  
+ #define BW_25HZ        0x00
+ #define BW_50HZ        0x01
+ #define BW_100HZ       0x02
+ #define BW_190HZ       0x03
+ #define BW_375HZ       0x04
+ #define BW_750HZ       0x05
+ #define BW_1500HZ      0x06
+ 
+ // Accelerometer Range values
+ 
+ #define RANGE_2G       0x00
+ #define RANGE_4G       0x01
+ #define RANGE_8G       0x02
+   
  // AK8973 Compass Registers
 
  
@@ -74,7 +99,7 @@
  * 
  * Includes control routines for:
  * - ITG-3200 3-axis, 16 bit gyroscope
- * - BMA-150 3-axis, 16 bit accelerometer
+ * - BMA-150 3-axis, 10 bit accelerometer
  * - AK8975 3-axis, 16 bit magnetometer
  *
  * Datasheets:
@@ -91,6 +116,12 @@
  class IMU {
  
  public:
+    struct data3d
+    {
+        int x, y, z;
+    } gyro_data, acc_data, mag_data;
+ 
+ public:    
  
     /** Creates IMU object and initializes all three chips
     *
@@ -107,39 +138,66 @@
     
     /* Gyro Methods */
     
-    /** Gets current X axis gyro measurement
-    *
-    * @return Raw X axis ADC measurement (signed 16 bits)
-    */
-    int gyroX(void);
-    
-    /** Gets current Y axis gyro measurement
-    * 
-    * @return Raw Y axis ADC measurement (signed 16 bits)
-    */
-    int gyroY(void);
-    
-    /** Gets current Z axis gyro measurement
-    * 
-    * @return Raw Z axis ADC measurement (signed 16 bits)
-    */
-    int gyroZ(void);
-    
     /** Gets current ADC data from all axes of gyro (uses burst read mode)
     * 
-    * @return Array of X, Y, and Z axis gyro measurements (signed 16 bits)
+    * @return data3d struct of X, Y, and Z axis gyro measurements (signed 16 bits)
     */
-    int* gyroXYZ(void);
+    data3d getGyroData(void);
     
-    /** Sets digital LPF bandwidth for all gyro channels
+    /** Sets digital LPF bandwidth for all gyro channels - Not working currently
     * 
-    * @param _BW Filter Bandwidth (use defined bandwidths)
+    * @param bw Filter Bandwidth (use defined bandwidths)
     */
-    void gyroSetLPF(char _BW);
+    void setGyroLPF(char bw);
     
     /* Accelerometer Methods */
     
+    /** Gets current X acceleration
+    *
+    * @return Raw X acceleration, 10 bits signed
+    */
+    int accX(void);
+
+    /** Gets current Y acceleration
+    *
+    * @return Raw Y acceleration, 10 bits signed
+    */
+    int accY(void);
+
+    /** Gets current Z acceleration
+    *
+    * @return Raw Z acceleration, 10 bits signed
+    */
+    int accZ(void);
     
+    /** Gets current acceleration on all axes
+    *
+    * @return data3d struct of acceleration data, signed ints
+    */
+    data3d getAccData(void);
+    
+    /** Sets digital LPF filter bandwidth
+    *
+    * @param bw Digital LPF filter bandwidth
+    */
+    void setAccLPF(char bw);
+
+    /** Sets accelerometer measurement range (+/-2, 4, or 8g's)
+    *
+    * @param range Range of g measurements
+    */    
+    void setAccRange(char range);
+    
+    /** Updates all image registers with data stored in EEPROM
+    *
+    */    
+    void accUpdateImage(void);
+
+    /** Set EEPROM write enable
+    *
+    * @param we Write enable value
+    */    
+    void accEEWriteEn(bool we);
     
     /* Compass Methods */