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@3:f67352c85fd7, 2019-06-20 (annotated)

Committer:
AndersonIctus
Date:
Thu Jun 20 12:29:07 2019 -0300
Revision:
3:f67352c85fd7
Child:
5:fa36c3288be8
- Inclusao dos sensores de gyroscopio

- Atualizacao dos sensores de temperatura

- Inclusao dos sensores como teste de retorno no ControlImpl

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 3:f67352c85fd7 3 #include "MPU6050.h"
AndersonIctus 3:f67352c85fd7 4 #include "Gyroscope.h"
AndersonIctus 3:f67352c85fd7 5
AndersonIctus 3:f67352c85fd7 6 Gyroscope::Gyroscope(I2C &i2c): mpu(i2c, MPU6050_ADDRESS_AD0_LOW) {
AndersonIctus 3:f67352c85fd7 7 mpu.initialize();
AndersonIctus 3:f67352c85fd7 8
AndersonIctus 3:f67352c85fd7 9 if( mpu.testConnection() ) {
AndersonIctus 3:f67352c85fd7 10 LOG("Giroscope Initialized !!\r\n");
AndersonIctus 3:f67352c85fd7 11 } else {
AndersonIctus 3:f67352c85fd7 12 LOG("There's an error trying initialize the Gyroscope !!\r\n");
AndersonIctus 3:f67352c85fd7 13 }
AndersonIctus 3:f67352c85fd7 14
AndersonIctus 3:f67352c85fd7 15 value = new GyroscopeData();
AndersonIctus 3:f67352c85fd7 16 }
AndersonIctus 3:f67352c85fd7 17
AndersonIctus 3:f67352c85fd7 18 Gyroscope::~Gyroscope() {
AndersonIctus 3:f67352c85fd7 19 value->~GyroscopeData();
AndersonIctus 3:f67352c85fd7 20 }
AndersonIctus 3:f67352c85fd7 21
AndersonIctus 3:f67352c85fd7 22 void Gyroscope::getMotion(GyroscopeData* data) {
AndersonIctus 3:f67352c85fd7 23 mpu.getMotion6(
AndersonIctus 3:f67352c85fd7 24 &data->ax, &data->ay, &data->az,
AndersonIctus 3:f67352c85fd7 25 &data->gx, &data->gy, &data->gz
AndersonIctus 3:f67352c85fd7 26 );
AndersonIctus 3:f67352c85fd7 27 }
AndersonIctus 3:f67352c85fd7 28
AndersonIctus 3:f67352c85fd7 29 GyroscopeData* Gyroscope::getValue() {
AndersonIctus 3:f67352c85fd7 30 getMotion(value);
AndersonIctus 3:f67352c85fd7 31 return value;
AndersonIctus 3:f67352c85fd7 32 }
AndersonIctus 3:f67352c85fd7 33
AndersonIctus 3:f67352c85fd7 34 char* Gyroscope::getName() {
AndersonIctus 3:f67352c85fd7 35 return (char*)"Gyroscope";
AndersonIctus 3:f67352c85fd7 36 }