NIT Fukui
/
Serial6050Yaw
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Dependents: R1Arobo_Maika_B 2021Arobo_UMAPYOI 2021Arobo_YUMIPYOI
Diff: Serial6050.cpp
- Revision:
- 0:c3d09c97649b
- Child:
- 1:97a3a91ce950
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Serial6050.cpp Thu Sep 20 01:13:45 2018 +0000
@@ -0,0 +1,35 @@
+#include "Serial6050.h"
+
+Serial6050::Serial6050(PinName tx, PinName rx, PinName resetPin)
+ : serial(tx, rx, 38400), rst(resetPin)
+{
+}
+
+void Serial6050::init()
+{
+ rst = 0;
+ wait(0.2);
+ rst = 1;
+ while(1) {
+ serial.putc(100);
+ if(serial.readable()) {
+ if(serial.getc() == 0x80) break;
+ }
+ }
+ serial.attach(this, &Serial6050::intReceive, RawSerial::RxIrq);
+ wait(0.1);
+ reset();
+}
+
+void Serial6050::reset()
+{
+ resetValue = higher >> 7 + lower - 8192;
+}
+
+
+
+float Serial6050::read()
+{
+ int value = higher >> 7 + lower;
+ return (value - 8192 - resetValue) / 10.0;
+}
\ No newline at end of file