Diff: SensorsLibrary/FXAS21002.h

Revision:

0:8f5db5085df7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SensorsLibrary/FXAS21002.h	Mon Sep 21 21:42:07 2020 +0000
@@ -0,0 +1,71 @@
+ /* 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.
+*/
+
+#ifndef FXAS21002_H
+#define FXAS21002_H
+#include "mbed.h"
+
+#define FXAS21002_I2C_ADDRESS 0x40
+
+#define FXAS21002_STATUS 0x00
+#define FXAS21002_WHO_AM_I 0x0C
+#define FXAS21002_CTRL_REG0 0x0D
+#define FXAS21002_CTRL_REG1 0x13
+#define FXAS21002_WHO_AM_I_VALUE 0xD1
+#define GYRO_OFFSET -0.239 //-0.15 //-0.2396875
+/*  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:
+    
+    FXAS21002(PinName sda, PinName scl);
+      
+    void gyro_config(void);
+    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 sensitivity;
+    float angle;
+    float period;
+    
+};
+
+#endif
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