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FRDM_FXS_MULTI_B_for_TT_Mxx
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FXAS21000.cpp
00001 #include "FXAS21000.h" 00002 00003 FXAS21000::FXAS21000(PinName sda, PinName scl) : _i2c(sda, scl) { 00004 00005 begin(); 00006 } 00007 00008 void FXAS21000::RegRead( char reg, char * d, int len) 00009 { 00010 char cmd[1]; 00011 cmd[0] = reg; 00012 char i2c_addr = FXAS21000_SLAVE_ADDR; 00013 _i2c.write( i2c_addr, cmd, 1, true); 00014 _i2c.read ( i2c_addr, d, len); 00015 } 00016 00017 void FXAS21000::begin(void) 00018 { 00019 char data[2]; 00020 // write 0000 1000 = 0x08 to gyro control register 1 to place FXAS21000 into 00021 // standby 00022 // [7-1] = 0000 000 00023 // [0]: active=0 00024 data[0] = FXAS21000_CTRL_REG1; 00025 data[1] = 0x08; 00026 _i2c.write( FXAS21000_SLAVE_ADDR, data, 2); 00027 00028 // write 0001 1011 to CRTL_REG0 register 00029 data[0] = FXAS21000_CTRL_REG0; 00030 data[1] = 0x1B; 00031 _i2c.write( FXAS21000_SLAVE_ADDR, data, 2); 00032 00033 // write 0000 1001 to gyro control register 1 00034 data[0] = FXAS21000_CTRL_REG1; 00035 data[1] = 0x0A; 00036 _i2c.write( FXAS21000_SLAVE_ADDR, data, 2); 00037 } 00038 00039 char FXAS21000::getWhoAmI(void) 00040 { 00041 char d; 00042 RegRead( FXAS21000_WHOAMI, &d, 1); 00043 return(d); 00044 } 00045 00046 void FXAS21000::ReadXYZ(float * a) 00047 { 00048 char d[7]; 00049 int16_t t[6]; 00050 00051 RegRead( FXAS21000_STATUS, d, 7); 00052 t[0] = ((d[1] * 256) + ((unsigned short) d[2])); 00053 t[1] = ((d[3] * 256) + ((unsigned short) d[4])); 00054 t[2] = ((d[5] * 256) + ((unsigned short) d[6])); 00055 //printf("%X\r\n", (int) d[0]); 00056 00057 a[0] = (float) t[0] * 0.003125; 00058 a[1] = (float) t[1] * 0.003125; 00059 a[2] = (float) t[2] * 0.003125; 00060 00061 } 00062 00063 void FXAS21000::ReadXYZraw(int16_t * t) 00064 { 00065 char d[7]; 00066 00067 RegRead( FXAS21000_STATUS, d, 7); 00068 t[0] = ((d[1] * 256) + ((unsigned short) d[2])); 00069 t[1] = ((d[3] * 256) + ((unsigned short) d[4])); 00070 t[2] = ((d[5] * 256) + ((unsigned short) d[6])); 00071 }
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