Diff: SensorsLibrary/FXAS21002.cpp

Revision:

0:8f5db5085df7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SensorsLibrary/FXAS21002.cpp	Mon Sep 21 21:42:07 2020 +0000
@@ -0,0 +1,106 @@
+ /* Copyright (c) 2015 NXP Semiconductors. MIT License
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+* and associated documentation files (the "Software"), to deal in the Software without
+* restriction, including without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in all copies or
+* substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "FXAS21002.h"
+#include "mbed.h"
+FXAS21002::FXAS21002(PinName sda, PinName scl) : gyroi2c(sda,scl)
+{
+   
+}
+
+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 + 0x80;
+    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::stop_measure(void)
+{
+    interrupt.detach(); 
+    angle = 0;   
+}
+
+float FXAS21002::get_angle(void)
+{
+    return angle;
+}
+
+void FXAS21002::integrate_gyro_angle(void)
+{
+    float gyro_data[3];
+    acquire_gyro_data_dps(gyro_data);
+    
+    angle = angle + (gyro_data[2]-GYRO_OFFSET)*(period/1000000);
+    if(angle > 180)
+        angle = angle - 360;
+    if(angle < -180)
+        angle = angle + 360;
+}
+
+void FXAS21002::start_measure(float period_us)
+{
+    period = period_us;
+    interrupt.attach_us(this,&FXAS21002::integrate_gyro_angle,period);
+    angle = 0;
+}
+
+void FXAS21002::gyro_config(void)
+{
+    set_gyro(MODE_2);           //Default implementation
+    sensitivity = 0.03125;
+}
+ 
+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 = 0.0078125; 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);
+
+    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;
+   
+}
+
+
+     
+     
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