Diff: SensorsLibrary/FXAS21002.h

Revision:

12:273752f540be

Parent:

9:bd0fb9d17803

Child:

14:e8cd237c8639

--- a/SensorsLibrary/FXAS21002.h	Sat Apr 30 14:18:43 2016 -0300
+++ b/SensorsLibrary/FXAS21002.h	Sat Apr 30 21:23:13 2016 +0000
@@ -27,7 +27,7 @@
 #define FXAS21002_CTRL_REG0 0x0D
 #define FXAS21002_CTRL_REG1 0x13
 #define FXAS21002_WHO_AM_I_VALUE 0xD1
-
+#define GYRO_OFFSET 0.0093
 /*  Gyroscope mechanical modes
 *   Mode    Full-scale range [Deg/s]    Sensitivity [(mDeg/s)/LSB]
 *   1       +- 2000                     62.5
@@ -41,7 +41,7 @@
     MODE_2 = 0x01,
     MODE_3 = 0x02,
     MODE_4 = 0x03
-}
+};
 
 class FXAS21002
 {
@@ -53,10 +53,18 @@
     void gyro_config(gyro_mode mode);
         
     void acquire_gyro_data_dps(float * du);
+    void start_measure(float period_us);
+    void stop_measure(void);
+    float get_angle(void);
     
     private:
+    void set_gyro(gyro_mode mode);
+    void integrate_gyro_angle(void);
+    Ticker interrupt;
     I2C gyroi2c;
-    float sensivity;
+    float sensitivity;
+    float angle;
+    float period;
 };
 
 #endif
\ No newline at end of file