Modified FXAS21000 library. changed _i2c to a pointer allowing you to pass an existing I2C object to the library instead of initializing a new one each time. This is mainly to make this library more practical to use alongside other I2C sensors.
Fork of FXAS21000 by
FXAS21000.cpp
- Committer:
- clwillingham
- Date:
- 2015-08-17
- Revision:
- 4:c411fbb2cc2f
- Parent:
- 2:cd21ef326977
File content as of revision 4:c411fbb2cc2f:
#include "FXAS21000.h" FXAS21000::FXAS21000(PinName sda, PinName scl) { _i2c = new I2C(sda, scl); begin(); } FXAS21000::FXAS21000(I2C *i2c): _i2c(i2c){ begin(); } void FXAS21000::RegRead( char reg, char * d, int len) { char cmd[1]; cmd[0] = reg; char i2c_addr = FXAS21000_SLAVE_ADDR; _i2c->write( i2c_addr, cmd, 1, true); _i2c->read ( i2c_addr, d, len); } void FXAS21000::begin(void) { char data[2]; // write 0000 1000 = 0x08 to gyro control register 1 to place FXAS21000 into // standby // [7-1] = 0000 000 // [0]: active=0 data[0] = FXAS21000_CTRL_REG1; data[1] = 0x08; _i2c->write( FXAS21000_SLAVE_ADDR, data, 2); // write 0001 1011 to CRTL_REG0 register data[0] = FXAS21000_CTRL_REG0; data[1] = 0x1B; _i2c->write( FXAS21000_SLAVE_ADDR, data, 2); // write 0000 1001 to gyro control register 1 data[0] = FXAS21000_CTRL_REG1; data[1] = 0x0A; _i2c->write( FXAS21000_SLAVE_ADDR, data, 2); } char FXAS21000::getWhoAmI(void) { char d; RegRead( FXAS21000_WHOAMI, &d, 1); return(d); } void FXAS21000::ReadXYZ(float * a) { char d[7]; int16_t t[6]; RegRead( FXAS21000_STATUS, d, 7); t[0] = ((d[1] * 256) + ((unsigned short) d[2])); t[1] = ((d[3] * 256) + ((unsigned short) d[4])); t[2] = ((d[5] * 256) + ((unsigned short) d[6])); //printf("%X\r\n", (int) d[0]); a[0] = (float) t[0] * 0.003125; a[1] = (float) t[1] * 0.003125; a[2] = (float) t[2] * 0.003125; } void FXAS21000::ReadXYZraw(int16_t * t) { char d[7]; RegRead( FXAS21000_STATUS, d, 7); t[0] = ((d[1] * 256) + ((unsigned short) d[2])); t[1] = ((d[3] * 256) + ((unsigned short) d[4])); t[2] = ((d[5] * 256) + ((unsigned short) d[6])); }