FXAS21002 library
Dependents: FRDM-STBC-AGMP01_SensorStream Hexi_Gyro_Example A_Dragonfly_Freescale_Accel_Mag_Gyro_Sensor_AGM01 A_Dragonfly_BlueMix_QuickStart_NXP_Sensor ... more
FXAS21002.cpp
00001 /* 00002 * Copyright (c) 2015 - 2016, Freescale Semiconductor, Inc. 00003 * Copyright 2016-2017 NXP 00004 * 00005 * Redistribution and use in source and binary forms, with or without modification, 00006 * are permitted provided that the following conditions are met: 00007 * 00008 * o Redistributions of source code must retain the above copyright notice, this list 00009 * of conditions and the following disclaimer. 00010 * 00011 * o Redistributions in binary form must reproduce the above copyright notice, this 00012 * list of conditions and the following disclaimer in the documentation and/or 00013 * other materials provided with the distribution. 00014 * 00015 * o Neither the name of the copyright holder nor the names of its 00016 * contributors may be used to endorse or promote products derived from this 00017 * software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00020 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00021 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00022 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR 00023 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00024 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00025 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON 00026 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00027 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00028 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00029 */ 00030 00031 #include "FXAS21002.h" 00032 #include "mbed.h" 00033 00034 FXAS21002::FXAS21002(PinName sda, PinName scl) : gyroi2c(sda,scl) 00035 { 00036 00037 } 00038 00039 void FXAS21002::gyro_config(void) 00040 { 00041 char d[2]; 00042 d[0] = FXAS21002_CTRL_REG1; //Puts device in standby mode 00043 d[1] = 0x08; 00044 gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2); 00045 00046 00047 d[0] = FXAS21002_CTRL_REG0; //sets FS =+/- 2000 dps 00048 d[1] = 0x00; 00049 gyroi2c.write(FXAS21002_I2C_ADDRESS, d, 2); 00050 00051 00052 d[0] = FXAS21002_CTRL_REG1; //Puts device in active mode 00053 d[1] = 0x0A; 00054 gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2); 00055 00056 } 00057 00058 void FXAS21002::acquire_gyro_data_dps(float * g_data) 00059 { 00060 00061 char data_bytes[7]; 00062 gyroi2c.write(FXAS21002_I2C_ADDRESS,FXAS21002_STATUS,1,true); // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes. 00063 gyroi2c.read(FXAS21002_I2C_ADDRESS,data_bytes,7); 00064 00065 g_data[0] = (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * 0.0625; 00066 g_data[1] = (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * 0.0625; 00067 g_data[2] = (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * 0.0625; 00068 00069 } 00070 00071 00072 00073
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