Wataru Nakata / R1307

test program for using sensor R1307

Dependents:   r1370_test

r1307.cpp@4:b6583f28f7b7, 2017-12-01 (annotated)

Committer:
WAT34
Date:
Fri Dec 01 18:19:29 2017 +0900
Revision:
4:b6583f28f7b7
Parent:
3:5655017c6806
Parent:
2:deb20a97e035 
merged

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 2:deb20a97e035 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 3:5655017c6806 19 uint8_t check_sum,recievedData[13];
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 3:5655017c6806 28 for(int i = 0;i < 13;i++)
WAT34 3:5655017c6806 29 {
WAT34 3:5655017c6806 30 recievedData[i] = serial.getc();
WAT34 3:5655017c6806 31 }
WAT34 3:5655017c6806 32 for(int i = 0;i < 12;i++)
WAT34 3:5655017c6806 33 {
WAT34 3:5655017c6806 34 check_sum += recievedData[i];
WAT34 3:5655017c6806 35 }
WAT34 3:5655017c6806 36 if (recievedData[12] != check_sum) return;
WAT34 1:59efa65938c7 37
WAT34 3:5655017c6806 38 index = recievedData[0];
WAT34 3:5655017c6806 39 rate = (recievedData[1] & 0xFF) | ((recievedData[2] << 8) & 0xFF00);
WAT34 3:5655017c6806 40 angle = (recievedData[3] & 0xFF) | ((recievedData[4]<< 8) & 0XFF00);
WAT34 3:5655017c6806 41 x_acc = (recievedData[5] & 0xFF) | ((recievedData[6]<< 8) & 0xFF00);
WAT34 3:5655017c6806 42 y_acc = (recievedData[7] & 0xFF) | ((recievedData[8] << 8) & 0XFF00);
WAT34 3:5655017c6806 43 z_acc = (recievedData[9]& 0xFF) | ((recievedData[10] << 8) & 0xFF00);
WAT34 1:59efa65938c7 44 //Scale and store data
WAT34 1:59efa65938c7 45 gRate = rate / 100.0;
WAT34 1:59efa65938c7 46 gAngle = angle / 100.0;
WAT34 1:59efa65938c7 47 gX_acc = x_acc;
WAT34 1:59efa65938c7 48 gY_acc = y_acc;
WAT34 1:59efa65938c7 49 gZ_acc = z_acc;
WAT34 1:59efa65938c7 50 return;
WAT34 1:59efa65938c7 51 }