Anderson Cunha / sgam_mdw_NUCLEOF429ZI_impl

implementação do sgam_mdw baseado na placa NUCLEO FZ429ZI para ser testada

Dependencies:   MPU6050 Grove_temperature

Dependents:   sgam_mdw_test

sensor/gyroscope/Gyroscope.cpp@17:8789ab4067a6, 2019-07-20 (annotated)

Committer:
AndersonIctus
Date:
Sat Jul 20 14:02:50 2019 -0300
Revision:
17:8789ab4067a6
Parent:
6:806043bf1a2c 
- Inclusao do GPS FAKE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AndersonIctus 3:f67352c85fd7 1 #include "sgam_mdw.h"
AndersonIctus 3:f67352c85fd7 2 #include "mbed.h"
AndersonIctus 5:fa36c3288be8 3
AndersonIctus 3:f67352c85fd7 4 #include "MPU6050.h"
AndersonIctus 3:f67352c85fd7 5 #include "Gyroscope.h"
AndersonIctus 3:f67352c85fd7 6
AndersonIctus 3:f67352c85fd7 7 Gyroscope::Gyroscope(I2C &i2c): mpu(i2c, MPU6050_ADDRESS_AD0_LOW) {
AndersonIctus 3:f67352c85fd7 8 mpu.initialize();
AndersonIctus 3:f67352c85fd7 9
AndersonIctus 3:f67352c85fd7 10 if( mpu.testConnection() ) {
AndersonIctus 6:806043bf1a2c 11 D_LOG("Giroscope Initialized !!\r\n");
AndersonIctus 3:f67352c85fd7 12 } else {
AndersonIctus 6:806043bf1a2c 13 D_LOG("There's an error trying initialize the Gyroscope !!\r\n");
AndersonIctus 3:f67352c85fd7 14 }
AndersonIctus 3:f67352c85fd7 15
AndersonIctus 3:f67352c85fd7 16 value = new GyroscopeData();
AndersonIctus 3:f67352c85fd7 17 }
AndersonIctus 3:f67352c85fd7 18
AndersonIctus 3:f67352c85fd7 19 Gyroscope::~Gyroscope() {
AndersonIctus 3:f67352c85fd7 20 value->~GyroscopeData();
AndersonIctus 3:f67352c85fd7 21 }
AndersonIctus 3:f67352c85fd7 22
AndersonIctus 6:806043bf1a2c 23 int Gyroscope::initialize() { D_LOG("INITIALIZE %s! \r\n", this->getName() ); return 1; }
AndersonIctus 6:806043bf1a2c 24 int Gyroscope::finalize() { D_LOG("FINALIZE %s! \r\n", this->getName() ); return 1; }
AndersonIctus 5:fa36c3288be8 25
AndersonIctus 3:f67352c85fd7 26 void Gyroscope::getMotion(GyroscopeData* data) {
AndersonIctus 3:f67352c85fd7 27 mpu.getMotion6(
AndersonIctus 3:f67352c85fd7 28 &data->ax, &data->ay, &data->az,
AndersonIctus 3:f67352c85fd7 29 &data->gx, &data->gy, &data->gz
AndersonIctus 3:f67352c85fd7 30 );
AndersonIctus 3:f67352c85fd7 31 }
AndersonIctus 3:f67352c85fd7 32
AndersonIctus 3:f67352c85fd7 33 GyroscopeData* Gyroscope::getValue() {
AndersonIctus 3:f67352c85fd7 34 getMotion(value);
AndersonIctus 3:f67352c85fd7 35 return value;
AndersonIctus 3:f67352c85fd7 36 }
AndersonIctus 3:f67352c85fd7 37
AndersonIctus 5:fa36c3288be8 38 const char* Gyroscope::getName() {
AndersonIctus 5:fa36c3288be8 39 return "Gyroscope";
AndersonIctus 3:f67352c85fd7 40 }