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
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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