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Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

SensorsLibrary/FXAS21002.cpp@0:88faaa1afb83, 2016-04-11 (annotated)

Committer:
drelliak
Date:
Mon Apr 11 05:20:40 2016 +0000
Revision:
0:88faaa1afb83
Child:
9:bd0fb9d17803
Trekking Controller

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"
drelliak 0:88faaa1afb83 20 #include "mbed.h"
drelliak 0:88faaa1afb83 21
drelliak 0:88faaa1afb83 22 FXAS21002::FXAS21002(PinName sda, PinName scl) : gyroi2c(sda,scl)
drelliak 0:88faaa1afb83 23 {
drelliak 0:88faaa1afb83 24
drelliak 0:88faaa1afb83 25 }
drelliak 0:88faaa1afb83 26
drelliak 0:88faaa1afb83 27 void FXAS21002::gyro_config(void)
drelliak 0:88faaa1afb83 28 {
drelliak 0:88faaa1afb83 29 char d[2];
drelliak 0:88faaa1afb83 30 d[0] = FXAS21002_CTRL_REG1; //Puts device in standby mode
drelliak 0:88faaa1afb83 31 d[1] = 0x08;
drelliak 0:88faaa1afb83 32 gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);
drelliak 0:88faaa1afb83 33
drelliak 0:88faaa1afb83 34
drelliak 0:88faaa1afb83 35 d[0] = FXAS21002_CTRL_REG0; //sets FS =+/- 2000 dps
drelliak 0:88faaa1afb83 36 d[1] = 0x01;
drelliak 0:88faaa1afb83 37 gyroi2c.write(FXAS21002_I2C_ADDRESS, d, 2);
drelliak 0:88faaa1afb83 38
drelliak 0:88faaa1afb83 39
drelliak 0:88faaa1afb83 40 d[0] = FXAS21002_CTRL_REG1; //Puts device in active mode
drelliak 0:88faaa1afb83 41 d[1] = 0x0A;
drelliak 0:88faaa1afb83 42 gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);
drelliak 0:88faaa1afb83 43
drelliak 0:88faaa1afb83 44 }
drelliak 0:88faaa1afb83 45
drelliak 0:88faaa1afb83 46 void FXAS21002::acquire_gyro_data_dps(float * g_data)
drelliak 0:88faaa1afb83 47 {
drelliak 0:88faaa1afb83 48
drelliak 0:88faaa1afb83 49 char data_bytes[7];
drelliak 0:88faaa1afb83 50 gyroi2c.write(FXAS21002_I2C_ADDRESS,FXAS21002_STATUS,1,true); // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
drelliak 0:88faaa1afb83 51 gyroi2c.read(FXAS21002_I2C_ADDRESS,data_bytes,7);
drelliak 0:88faaa1afb83 52
drelliak 0:88faaa1afb83 53 g_data[0] = (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * 0.03125;//0.0625;
drelliak 0:88faaa1afb83 54 g_data[1] = (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * 0.03125;//0.0625;
drelliak 0:88faaa1afb83 55 g_data[2] = (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * 0.03125;//0.0625;
drelliak 0:88faaa1afb83 56
drelliak 0:88faaa1afb83 57 }
drelliak 0:88faaa1afb83 58
drelliak 0:88faaa1afb83 59
drelliak 0:88faaa1afb83 60
drelliak 0:88faaa1afb83 61