TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

Ironcup Mar 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

SensorsLibrary/FXAS21002.cpp@22:b7cca3089dfe, 2020-09-21 (annotated)

Committer:
starling
Date:
Mon Sep 21 21:45:08 2020 +0000
Revision:
22:b7cca3089dfe
Parent:
14:e8cd237c8639 
01 mar 2020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
drelliak 0:88faaa1afb83 1 /* Copyright (c) 2015 NXP Semiconductors. MIT License
drelliak 0:88faaa1afb83 2 *
drelliak 0:88faaa1afb83 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
drelliak 0:88faaa1afb83 4 * and associated documentation files (the "Software"), to deal in the Software without
drelliak 0:88faaa1afb83 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
drelliak 0:88faaa1afb83 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
drelliak 0:88faaa1afb83 7 * Software is furnished to do so, subject to the following conditions:
drelliak 0:88faaa1afb83 8 *
drelliak 0:88faaa1afb83 9 * The above copyright notice and this permission notice shall be included in all copies or
drelliak 0:88faaa1afb83 10 * substantial portions of the Software.
drelliak 0:88faaa1afb83 11 *
drelliak 0:88faaa1afb83 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
drelliak 0:88faaa1afb83 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
drelliak 0:88faaa1afb83 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
drelliak 0:88faaa1afb83 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
drelliak 0:88faaa1afb83 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
drelliak 0:88faaa1afb83 17 */
drelliak 0:88faaa1afb83 18
drelliak 0:88faaa1afb83 19 #include "FXAS21002.h"
Alexandre Seidy 9:bd0fb9d17803 20 #include "mbed.h"
drelliak 0:88faaa1afb83 21 FXAS21002::FXAS21002(PinName sda, PinName scl) : gyroi2c(sda,scl)
Alexandre Seidy 9:bd0fb9d17803 22 {
drelliak 0:88faaa1afb83 23
Alexandre Seidy 9:bd0fb9d17803 24 }
Alexandre Seidy 9:bd0fb9d17803 25
drelliak 12:273752f540be 26 void FXAS21002::set_gyro(gyro_mode mode) // Protected method
drelliak 12:273752f540be 27 {
Alexandre Seidy 9:bd0fb9d17803 28 char d[2];
Alexandre Seidy 9:bd0fb9d17803 29 d[0] = FXAS21002_CTRL_REG1; //Puts device in standby mode
Alexandre Seidy 9:bd0fb9d17803 30 d[1] = 0x08;
Alexandre Seidy 9:bd0fb9d17803 31 gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);
Alexandre Seidy 9:bd0fb9d17803 32
Alexandre Seidy 9:bd0fb9d17803 33 d[0] = FXAS21002_CTRL_REG0; //Sets FSR and Sensitivity
drelliak 14:e8cd237c8639 34 d[1] = mode + 0x80;
Alexandre Seidy 9:bd0fb9d17803 35 gyroi2c.write(FXAS21002_I2C_ADDRESS, d, 2);
Alexandre Seidy 9:bd0fb9d17803 36
Alexandre Seidy 9:bd0fb9d17803 37 d[0] = FXAS21002_CTRL_REG1; //Puts device in active mode
Alexandre Seidy 9:bd0fb9d17803 38 d[1] = 0x0A;
Alexandre Seidy 9:bd0fb9d17803 39 gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);
Alexandre Seidy 9:bd0fb9d17803 40 }
Alexandre Seidy 9:bd0fb9d17803 41
drelliak 12:273752f540be 42
drelliak 12:273752f540be 43 void FXAS21002::stop_measure(void)
drelliak 12:273752f540be 44 {
drelliak 14:e8cd237c8639 45 interrupt.detach();
drelliak 14:e8cd237c8639 46 angle = 0;
drelliak 12:273752f540be 47 }
drelliak 12:273752f540be 48
drelliak 12:273752f540be 49 float FXAS21002::get_angle(void)
drelliak 12:273752f540be 50 {
drelliak 12:273752f540be 51 return angle;
drelliak 12:273752f540be 52 }
drelliak 12:273752f540be 53
drelliak 12:273752f540be 54 void FXAS21002::integrate_gyro_angle(void)
drelliak 12:273752f540be 55 {
drelliak 12:273752f540be 56 float gyro_data[3];
drelliak 12:273752f540be 57 acquire_gyro_data_dps(gyro_data);
starling 22:b7cca3089dfe 58
drelliak 12:273752f540be 59 angle = angle + (gyro_data[2]-GYRO_OFFSET)*(period/1000000);
drelliak 12:273752f540be 60 if(angle > 180)
drelliak 12:273752f540be 61 angle = angle - 360;
drelliak 12:273752f540be 62 if(angle < -180)
drelliak 12:273752f540be 63 angle = angle + 360;
drelliak 12:273752f540be 64 }
drelliak 12:273752f540be 65
drelliak 12:273752f540be 66 void FXAS21002::start_measure(float period_us)
drelliak 12:273752f540be 67 {
drelliak 12:273752f540be 68 period = period_us;
drelliak 12:273752f540be 69 interrupt.attach_us(this,&FXAS21002::integrate_gyro_angle,period);
drelliak 12:273752f540be 70 angle = 0;
drelliak 12:273752f540be 71 }
drelliak 12:273752f540be 72
Alexandre Seidy 9:bd0fb9d17803 73 void FXAS21002::gyro_config(void)
Alexandre Seidy 9:bd0fb9d17803 74 {
Alexandre Seidy 11:7f569811a5f1 75 set_gyro(MODE_2); //Default implementation
Alexandre Seidy 9:bd0fb9d17803 76 sensitivity = 0.03125;
Alexandre Seidy 9:bd0fb9d17803 77 }
drelliak 0:88faaa1afb83 78
drelliak 12:273752f540be 79 void FXAS21002::gyro_config(gyro_mode mode)
drelliak 12:273752f540be 80 {
Alexandre Seidy 9:bd0fb9d17803 81 set_gyro(mode);
Alexandre Seidy 9:bd0fb9d17803 82 switch(mode)
Alexandre Seidy 9:bd0fb9d17803 83 {
Alexandre Seidy 9:bd0fb9d17803 84 case MODE_1: sensitivity = 0.0625; break;
Alexandre Seidy 9:bd0fb9d17803 85 case MODE_2: sensitivity = 0.03125; break;
Alexandre Seidy 9:bd0fb9d17803 86 case MODE_3: sensitivity = 0.015625; break;
Alexandre Seidy 11:7f569811a5f1 87 case MODE_4: sensitivity = 0.0078125; break;
Alexandre Seidy 9:bd0fb9d17803 88 }
Alexandre Seidy 9:bd0fb9d17803 89 }
Alexandre Seidy 9:bd0fb9d17803 90
Alexandre Seidy 9:bd0fb9d17803 91 void FXAS21002::acquire_gyro_data_dps(float * g_data)
Alexandre Seidy 9:bd0fb9d17803 92 {
drelliak 0:88faaa1afb83 93
drelliak 0:88faaa1afb83 94 char data_bytes[7];
Alexandre Seidy 9:bd0fb9d17803 95 gyroi2c.write(FXAS21002_I2C_ADDRESS,FXAS21002_STATUS,1,true); // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
Alexandre Seidy 9:bd0fb9d17803 96 gyroi2c.read(FXAS21002_I2C_ADDRESS,data_bytes,7);
Alexandre Seidy 9:bd0fb9d17803 97
Alexandre Seidy 9:bd0fb9d17803 98 g_data[0] = (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * sensitivity;
Alexandre Seidy 9:bd0fb9d17803 99 g_data[1] = (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * sensitivity;
Alexandre Seidy 9:bd0fb9d17803 100 g_data[2] = (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * sensitivity;
drelliak 0:88faaa1afb83 101
Alexandre Seidy 9:bd0fb9d17803 102 }
drelliak 0:88faaa1afb83 103
drelliak 0:88faaa1afb83 104
drelliak 0:88faaa1afb83 105
drelliak 0:88faaa1afb83 106