Wataru Nakata / R1307

test program for using sensor R1307

Dependents:   r1370_test

r1307.cpp@1:59efa65938c7, 2017-09-02 (annotated)

Committer:
WAT34
Date:
Sat Sep 02 19:30:23 2017 +0900
Revision:
1:59efa65938c7
Parent:
0:1356771603cf
Child:
2:deb20a97e035
Child:
3:5655017c6806
working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 1:59efa65938c7 1 #include "r1307.h"
WAT34 1:59efa65938c7 2
WAT34 1:59efa65938c7 3
WAT34 1:59efa65938c7 4 R1307::R1307(PinName tx_,PinName rx_): serial(tx_,rx_)
WAT34 1:59efa65938c7 5 {
WAT34 1:59efa65938c7 6 ticker.attach(this,&R1307::update,0.01);
WAT34 1:59efa65938c7 7 serial.baud(115200);
WAT34 1:59efa65938c7 8 }
WAT34 1:59efa65938c7 9
WAT34 1:59efa65938c7 10
WAT34 1:59efa65938c7 11 void R1307::update()
WAT34 1:59efa65938c7 12 {
WAT34 1:59efa65938c7 13 uint8_t index;
WAT34 1:59efa65938c7 14 int16_t angle;
WAT34 1:59efa65938c7 15 int16_t rate;
WAT34 1:59efa65938c7 16 int16_t x_acc;
WAT34 1:59efa65938c7 17 int16_t y_acc;
WAT34 1:59efa65938c7 18 int16_t z_acc;
WAT34 1:59efa65938c7 19 uint8_t check_sum;
WAT34 1:59efa65938c7 20 //Verify packet heading information
WAT34 1:59efa65938c7 21 while(serial.getc() != 0xAA){
WAT34 1:59efa65938c7 22 if(!serial.readable())
WAT34 1:59efa65938c7 23 return;
WAT34 1:59efa65938c7 24 }
WAT34 1:59efa65938c7 25 if(serial.getc() != 0x00)
WAT34 1:59efa65938c7 26 return;
WAT34 1:59efa65938c7 27 //Assemble data
WAT34 1:59efa65938c7 28
WAT34 1:59efa65938c7 29 index = serial.getc();
WAT34 1:59efa65938c7 30 rate = (serial.getc() & 0xFF) | ((serial.getc() << 8) & 0xFF00);
WAT34 1:59efa65938c7 31 angle = (serial.getc() & 0xFF) | ((serial.getc()<< 8) & 0XFF00);
WAT34 1:59efa65938c7 32 x_acc = (serial.getc() & 0xFF) | ((serial.getc()<< 8) & 0xFF00);
WAT34 1:59efa65938c7 33 y_acc = (serial.getc() & 0xFF) | ((serial.getc() << 8) & 0XFF00);
WAT34 1:59efa65938c7 34 z_acc = (serial.getc() & 0xFF) | ((serial.getc() << 8) & 0xFF00);
WAT34 1:59efa65938c7 35 //Scale and store data
WAT34 1:59efa65938c7 36 gRate = rate / 100.0;
WAT34 1:59efa65938c7 37 gAngle = angle / 100.0;
WAT34 1:59efa65938c7 38 gX_acc = x_acc;
WAT34 1:59efa65938c7 39 gY_acc = y_acc;
WAT34 1:59efa65938c7 40 gZ_acc = z_acc;
WAT34 1:59efa65938c7 41 return;
WAT34 1:59efa65938c7 42 }