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Diffstat (limited to 'peripheral/libupm/src/mpu9150/mpu9150.h')
-rw-r--r-- | peripheral/libupm/src/mpu9150/mpu9150.h | 132 |
1 files changed, 0 insertions, 132 deletions
diff --git a/peripheral/libupm/src/mpu9150/mpu9150.h b/peripheral/libupm/src/mpu9150/mpu9150.h deleted file mode 100644 index 2a53fea..0000000 --- a/peripheral/libupm/src/mpu9150/mpu9150.h +++ /dev/null @@ -1,132 +0,0 @@ -/* - * Author: Jon Trulson <jtrulson@ics.com> - * Copyright (c) 2015 Intel Corporation. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be - * included in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE - * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION - * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION - * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - */ - -#pragma once - -#include "mpu60x0.h" -#include "ak8975.h" - -#define MPU9150_I2C_BUS 0 -#define MPU9150_DEFAULT_I2C_ADDR MPU60X0_DEFAULT_I2C_ADDR - - -namespace upm { - - /** - * @brief MPU9150 accelerometer library - * @defgroup mpu9150 libupm-mpu9150 - * @ingroup seeed i2c gpio accelerometer compass - */ - - /** - * @library mpu9150 - * @sensor mpu9150 - * @comname MPU9150 Inertial Measurement Unit - * @altname Grove IMU 9DOF - * @type accelerometer compass - * @man seeed - * @web http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v1.0 - * @con i2c gpio - * - * @brief API for MPU9150 chip (Accelerometer, Gyro and Magnometer Sensor) - * - * This module defines the MPU9150 interface for libmpu9150 - * - * @image html mpu9150.jpg - * @snippet mpu9150.cxx Interesting - */ - - class MPU9150: public MPU60X0 - { - public: - /** - * MPU9150 constructor - * - * @param bus I2C bus to use - * @param address The address for this device - * @param magAddress The address of the connected magnetometer - */ - MPU9150 (int bus=MPU9150_I2C_BUS, int address=MPU9150_DEFAULT_I2C_ADDR, - int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=false); - - /** - * MPU9150 destructor - */ - ~MPU9150 (); - - /** - * Set up initial values and start operation - * - * @return true if successful - */ - bool init(); - - /** - * Take a measurement and store the current sensor values - * internally. Note, these user facing registers are only updated - * from the internal device sensor values when the i2c serial - * traffic is 'idle'. So, if you are reading the values too fast, - * the bus may never be idle, and you will just end up reading - * the same values over and over. - * - * Unfortunately, it is is not clear how long 'idle' actually - * means, so if you see this behavior, reduce the rate at which - * you are calling update(). - */ - void update(); - - /** - * Return the compensated values for the x, y, and z axes. The - * unit of measurement is in micro-teslas (uT). - * - * @param x Pointer to returned X axis value - * @param y Pointer to returned Y axis value - * @param z Pointer to returned Z axis value - */ - void getMagnetometer(float *x, float *y, float *z); - -#ifdef SWIGJAVA - /** - * Return the compensated values for the x, y, and z axes. The - * unit of measurement is in micro-teslas (uT). - * - * @return Array containing X, Y, Z magnetometer values - */ - float *getMagnetometer(); -#endif - - - - protected: - // magnetometer instance - AK8975* m_mag; - - - private: - int m_i2cBus; - uint8_t m_magAddress; - bool m_enableAk8975; - }; - -} |