Diff: messen.cpp

Revision:

4:3eaf38e4809f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/messen.cpp	Wed Aug 02 11:23:54 2017 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "stdio.h"
+
+
+
+extern Serial pc(SERIAL_TX, SERIAL_RX);
+extern SPI spi(PE_6,PE_5,PE_2);         //mosi,miso,sclk
+extern DigitalOut ncs(PE_4);            //ssel
+
+/**********/
+/*Messen Z*/
+/**********/
+
+int aktuell_gyro_z()
+{
+    int16_t z_high, z_low, z_high_low;   
+    float messwert[7];
+    char j, i;
+    
+    ncs = 0;
+    spi.write(0xc7);                    //Z_OUT_H
+    z_high = spi.write(0x0);
+    ncs = 1;
+    wait_us(1);
+       
+    ncs = 0;
+    spi.write(0xc8);                    //Z_OUT_L
+    z_low = spi.write(0x0);
+    ncs = 1;
+    wait_us(1);  
+          
+    z_high_low = z_low | z_high << 8;   //Low und High Byte zusammenfügen
+    return z_high_low;                  
+}
+
+
+/**********************/
+/*Initialisieren**Gyro*/
+/**********************/
+int initialisierung_gyro()
+{
+    ncs = 0;
+    spi.write(0x6B);     // Register 107
+    spi.write(0x80);     //Reset // Standby off
+    ncs = 1;               
+    wait_ms(1000); 
+    
+        
+    ncs=0;
+    spi.write(0x1A);     //CONFIG  write // DLPF_CFG // Register 26
+    spi.write(0x06);     //Bandwidth: 250Hz// Delay: 0.97ms// Fs: 8kHz
+    ncs = 1;                
+    wait_ms(1);
+    
+    
+    ncs=0;
+    spi.write(0x1B);     //Gyro_CONFIG  write  
+    spi.write(0x18);     //Max. Skalenwert//00=+250dps;08=+500dps;10=+1000dps;18=+2000dps
+    ncs = 1;                
+    wait_ms(1); 
+
+    ncs = 0;
+    spi.write(0x17);     // Register 23
+    spi.write(0x00);     // Offset High Byte
+    ncs = 1;               
+    wait_ms(1); 
+    
+    ncs = 0;
+    spi.write(0x18);     // Register 24
+    spi.write(0x17);     // Offset Low Byte
+    ncs = 1;               
+    wait_ms(1000); 
+}
+