Revision 9:bd0fb9d17803, committed 2016-04-30

Comitter:

Alexandre Seidy

Date:

Sat Apr 30 12:57:17 2016 -0300

Parent:

2:fd19f7f45e83

Child:

10:6735a8309f62

Commit message:

Added gyroscope sensitivity configuration

Changed in this revision

--- a/SensorsLibrary/FXAS21002.cpp	Mon Apr 11 05:51:34 2016 +0000
+++ b/SensorsLibrary/FXAS21002.cpp	Sat Apr 30 12:57:17 2016 -0300
@@ -17,44 +17,57 @@
 */
 
 #include "FXAS21002.h"
- #include "mbed.h"
+#include "mbed.h"
 
 FXAS21002::FXAS21002(PinName sda, PinName scl) : gyroi2c(sda,scl)
- {
-       
- }
-    
- void FXAS21002::gyro_config(void)
- {
-   char d[2];
-   d[0] = FXAS21002_CTRL_REG1;                       //Puts device in standby mode
-   d[1] = 0x08;
-   gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);   
-          
+{
    
-   d[0] = FXAS21002_CTRL_REG0;                       //sets FS =+/- 2000 dps
-   d[1] = 0x01;
-   gyroi2c.write(FXAS21002_I2C_ADDRESS, d, 2);   
-           
-   
-   d[0] = FXAS21002_CTRL_REG1;                       //Puts device in active mode
-   d[1] = 0x0A;
-   gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);   
-      
- }
+}
+
+void FXAS21002::set_gyro(gyro_mode mode){ // Protected method
+    char d[2];
+    d[0] = FXAS21002_CTRL_REG1;                       //Puts device in standby mode
+    d[1] = 0x08;
+    gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);
+
+    d[0] = FXAS21002_CTRL_REG0;                       //Sets FSR and Sensitivity
+    d[1] = mode;
+    gyroi2c.write(FXAS21002_I2C_ADDRESS, d, 2);
+
+    d[0] = FXAS21002_CTRL_REG1;                       //Puts device in active mode
+    d[1] = 0x0A;
+    gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);
+}
+
+void FXAS21002::gyro_config(void)
+{
+    set_gyro(MODE_1);           //Default implementation
+    sensitivity = 0.03125;
+}
  
- void FXAS21002::acquire_gyro_data_dps(float * g_data)
- {
+void FXAS21002::gyro_config(gyro_mode mode){
+    set_gyro(mode);
+    switch(mode)
+    {
+        case MODE_1: sensitivity = 0.0625; break;
+        case MODE_2: sensitivity = 0.03125; break;
+        case MODE_3: sensitivity = 0.015625; break;
+        case MODE_4: sensitivity = 0.078125; break;
+    }
+}
+
+void FXAS21002::acquire_gyro_data_dps(float * g_data)
+{
   
     char data_bytes[7];
-   gyroi2c.write(FXAS21002_I2C_ADDRESS,FXAS21002_STATUS,1,true);  // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
-   gyroi2c.read(FXAS21002_I2C_ADDRESS,data_bytes,7);
+    gyroi2c.write(FXAS21002_I2C_ADDRESS,FXAS21002_STATUS,1,true);  // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
+    gyroi2c.read(FXAS21002_I2C_ADDRESS,data_bytes,7);
+
+    g_data[0] =  (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * sensitivity;
+    g_data[1] =  (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * sensitivity;
+    g_data[2] =  (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * sensitivity;
    
-   g_data[0] =  (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * 0.03125;//0.0625;
-   g_data[1] =  (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * 0.03125;//0.0625;
-   g_data[2] =  (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * 0.03125;//0.0625;
-   
- }
+}
 
 
      

--- a/SensorsLibrary/FXAS21002.h	Mon Apr 11 05:51:34 2016 +0000
+++ b/SensorsLibrary/FXAS21002.h	Sat Apr 30 12:57:17 2016 -0300
@@ -28,6 +28,21 @@
 #define FXAS21002_CTRL_REG1 0x13
 #define FXAS21002_WHO_AM_I_VALUE 0xD1
 
+/*  Gyroscope mechanical modes
+*   Mode    Full-scale range [Deg/s]    Sensitivity [(mDeg/s)/LSB]
+*   1       +- 2000                     62.5
+*   2       +- 1000                     31.25
+*   3       +- 500                      15.625
+*   4       +- 250                      7.8125
+*/
+enum gyro_mode
+{
+    MODE_1 = 0x00, 
+    MODE_2 = 0x01,
+    MODE_3 = 0x02,
+    MODE_4 = 0x03
+}
+
 class FXAS21002
 {
     public:
@@ -35,12 +50,13 @@
     FXAS21002(PinName sda, PinName scl);
       
     void gyro_config(void);
+    void gyro_config(gyro_mode mode);
         
     void acquire_gyro_data_dps(float * du);
     
     private:
     I2C gyroi2c;
-    
+    float sensivity;
 };
 
 #endif
\ No newline at end of file