TrekkingPhoenix / Mbed 2 deprecated Trekking_Controller_refac

Refactoring Ironcup 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

SensorsLibrary/FXAS21002.h@0:8f5db5085df7, 2020-09-21 (annotated)

Committer:
starling
Date:
Mon Sep 21 21:42:07 2020 +0000
Revision:
0:8f5db5085df7
12 mar 2020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
starling 0:8f5db5085df7 1 /* Copyright (c) 2015 NXP Semiconductors. MIT License
starling 0:8f5db5085df7 2 *
starling 0:8f5db5085df7 3 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
starling 0:8f5db5085df7 4 * and associated documentation files (the "Software"), to deal in the Software without
starling 0:8f5db5085df7 5 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
starling 0:8f5db5085df7 6 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
starling 0:8f5db5085df7 7 * Software is furnished to do so, subject to the following conditions:
starling 0:8f5db5085df7 8 *
starling 0:8f5db5085df7 9 * The above copyright notice and this permission notice shall be included in all copies or
starling 0:8f5db5085df7 10 * substantial portions of the Software.
starling 0:8f5db5085df7 11 *
starling 0:8f5db5085df7 12 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
starling 0:8f5db5085df7 13 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
starling 0:8f5db5085df7 14 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
starling 0:8f5db5085df7 15 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
starling 0:8f5db5085df7 16 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
starling 0:8f5db5085df7 17 */
starling 0:8f5db5085df7 18
starling 0:8f5db5085df7 19 #ifndef FXAS21002_H
starling 0:8f5db5085df7 20 #define FXAS21002_H
starling 0:8f5db5085df7 21 #include "mbed.h"
starling 0:8f5db5085df7 22
starling 0:8f5db5085df7 23 #define FXAS21002_I2C_ADDRESS 0x40
starling 0:8f5db5085df7 24
starling 0:8f5db5085df7 25 #define FXAS21002_STATUS 0x00
starling 0:8f5db5085df7 26 #define FXAS21002_WHO_AM_I 0x0C
starling 0:8f5db5085df7 27 #define FXAS21002_CTRL_REG0 0x0D
starling 0:8f5db5085df7 28 #define FXAS21002_CTRL_REG1 0x13
starling 0:8f5db5085df7 29 #define FXAS21002_WHO_AM_I_VALUE 0xD1
starling 0:8f5db5085df7 30 #define GYRO_OFFSET -0.239 //-0.15 //-0.2396875
starling 0:8f5db5085df7 31 /* Gyroscope mechanical modes
starling 0:8f5db5085df7 32 * Mode Full-scale range [Deg/s] Sensitivity [(mDeg/s)/LSB]
starling 0:8f5db5085df7 33 * 1 +- 2000 62.5
starling 0:8f5db5085df7 34 * 2 +- 1000 31.25
starling 0:8f5db5085df7 35 * 3 +- 500 15.625
starling 0:8f5db5085df7 36 * 4 +- 250 7.8125
starling 0:8f5db5085df7 37 */
starling 0:8f5db5085df7 38 enum gyro_mode
starling 0:8f5db5085df7 39 {
starling 0:8f5db5085df7 40 MODE_1 = 0x00,
starling 0:8f5db5085df7 41 MODE_2 = 0x01,
starling 0:8f5db5085df7 42 MODE_3 = 0x02,
starling 0:8f5db5085df7 43 MODE_4 = 0x03
starling 0:8f5db5085df7 44 };
starling 0:8f5db5085df7 45
starling 0:8f5db5085df7 46 class FXAS21002
starling 0:8f5db5085df7 47 {
starling 0:8f5db5085df7 48 public:
starling 0:8f5db5085df7 49
starling 0:8f5db5085df7 50 FXAS21002(PinName sda, PinName scl);
starling 0:8f5db5085df7 51
starling 0:8f5db5085df7 52 void gyro_config(void);
starling 0:8f5db5085df7 53 void gyro_config(gyro_mode mode);
starling 0:8f5db5085df7 54
starling 0:8f5db5085df7 55 void acquire_gyro_data_dps(float * du);
starling 0:8f5db5085df7 56 void start_measure(float period_us);
starling 0:8f5db5085df7 57 void stop_measure(void);
starling 0:8f5db5085df7 58 float get_angle(void);
starling 0:8f5db5085df7 59
starling 0:8f5db5085df7 60 private:
starling 0:8f5db5085df7 61 void set_gyro(gyro_mode mode);
starling 0:8f5db5085df7 62 void integrate_gyro_angle(void);
starling 0:8f5db5085df7 63 Ticker interrupt;
starling 0:8f5db5085df7 64 I2C gyroi2c;
starling 0:8f5db5085df7 65 float sensitivity;
starling 0:8f5db5085df7 66 float angle;
starling 0:8f5db5085df7 67 float period;
starling 0:8f5db5085df7 68
starling 0:8f5db5085df7 69 };
starling 0:8f5db5085df7 70
starling 0:8f5db5085df7 71 #endif