Diff: FXAS21002.cpp

Revision:

0:9c9e8aaad4ff

Child:

1:b774372b3913

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FXAS21002.cpp	Wed Dec 09 06:30:23 2015 +0000
@@ -0,0 +1,61 @@
+ /* Copyright (c) 2010-2011 mbed.org, 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::gyro_config(void)
+ {
+   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 FS =+/- 2000 dps
+   d[1] = 0x00;
+   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::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]))) * 0.0625;
+   g_data[1] =  (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * 0.0625;
+   g_data[2] =  (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * 0.0625;
+   
+ }
+
+
+     
+     
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