compass KRI 2018
CMPS_KRAI.cpp
- Committer:
- calmantara186
- Date:
- 2018-07-21
- Revision:
- 0:595938ba3741
File content as of revision 0:595938ba3741:
/** * adopted from * CMPS03 by: Aarom Berk * * Bismillahirahmanirrahim */ /** * Includes */ #include "CMPS_KRAI.h" CMPS_KRAI::CMPS_KRAI(PinName sda, PinName scl, int address) { i2c = new I2C(sda, scl); //CMPS11 maksimum 100kHz CMPS12 maksimum 400kHz i2c->frequency(100000); i2cAddress = address; } char CMPS_KRAI::readSoftwareRevision(void){ char registerNumber = SOFTWARE_REVISION_REG; char registerContents = 0; //First, send the number of register we wish to read, //in this case, command register, number 0. i2c->write(i2cAddress, ®isterNumber, 1); //Now, read one byte, which will be the contents of the command register. i2c->read(i2cAddress, ®isterContents, 1); return registerContents; } int CMPS_KRAI::readBearing(void){ char registerNumber = COMPASS_BEARING_WORD_REG; char registerContents[2] = {0x00, 0x00}; //Mengirim register untuk address pertama dari i2c i2c->write(i2cAddress, ®isterNumber, 1); //Mengambil data dari 2 address I2c i2c->read(i2cAddress, registerContents, 2); //Register 0 adalah 8 bit, harus di shift //Register 1 adalah 16 bit, bisa langsung dibaca int bearing = ((int)registerContents[0] << 8) | ((int)registerContents[1]); return bearing; } void CMPS_KRAI::calibrate(void){ char registerNumber = SOFTWARE_REVISION_REG; char calibrate_data1 = 0xF0; char calibrate_data2 = 0xF5; char calibrate_data3 = 0xF7; //kirim data 1 Thread::wait(25); i2c->write(i2cAddress, ®isterNumber, 1); i2c->write(i2cAddress, &calibrate_data1, 1); //kirim data 2 delay 25ms Thread::wait(25); i2c->write(i2cAddress, ®isterNumber, 1); i2c->write(i2cAddress, &calibrate_data2, 1); //kirim data 3 delay 25ms Thread::wait(25); i2c->write(i2cAddress, ®isterNumber, 1); i2c->write(i2cAddress, &calibrate_data3, 1); } void CMPS_KRAI::stopCalibrate(void){ char registerNumber = SOFTWARE_REVISION_REG; char calibrate_data1 = 0xF8; //kirim data 1 i2c->write(i2cAddress, ®isterNumber, 1); i2c->write(i2cAddress, &calibrate_data1, 1); }