Revision 2:a45896ca96f0, committed 2019-03-21

Comitter:

hisyamfs

Date:

Thu Mar 21 14:16:40 2019 +0000

Parent:

1:a129c630cee0

Commit message:

- nambahin fungsi untuk ngecek status kalibrasi; - benerin bug pada fungsi kalibrasi; - nambahin fungsi untuk menghapus profil kalibrasi

Changed in this revision

diff -r a129c630cee0 -r a45896ca96f0 CMPS_KRAI.cpp
--- a/CMPS_KRAI.cpp	Thu Mar 21 13:50:22 2019 +0000
+++ b/CMPS_KRAI.cpp	Thu Mar 21 14:16:40 2019 +0000
@@ -51,7 +51,7 @@
     char registerNumber   = SOFTWARE_REVISION_REG;
     char calibrate_data1 = 0xF0;
     char calibrate_data2 = 0xF5;
-    char calibrate_data3 = 0xF7;
+    char calibrate_data3 = 0xF6;
     //kirim data 1
     wait_ms(25);
     i2c->write(i2cAddress, &registerNumber, 1);
@@ -75,9 +75,41 @@
 }
 
 void CMPS_KRAI::eraseProfile() {
-   
+    char registerNumber   = SOFTWARE_REVISION_REG;
+    char calibrate_data1 = 0xE0;
+    char calibrate_data2 = 0xE5;
+    char calibrate_data3 = 0xE2;
+    //kirim data 1
+    wait_ms(25);
+    i2c->write(i2cAddress, &registerNumber, 1);
+    i2c->write(i2cAddress, &calibrate_data1, 1);
+    //kirim data 2 delay 25ms
+    wait_ms(25);
+    i2c->write(i2cAddress, &registerNumber, 1);
+    i2c->write(i2cAddress, &calibrate_data2, 1);
+    //kirim data 3 delay 25ms
+    wait_ms(25);
+    i2c->write(i2cAddress, &registerNumber, 1);
+    i2c->write(i2cAddress, &calibrate_data3, 1);
 }
 
-void CMPS_KRAI::storeProfile() {
-    
+int CMPS_KRAI::state(int sys) {
+    int status = -1;
+    char buf = 0x00;
+    char registerNumber = CMPS12_CALIBRATION_STATE_REG;
+    i2c->write(i2cAddress, &registerNumber, 1);
+    i2c->read(i2cAddress, &buf, 1);
+    switch (sys) {
+        case SYSTEM_STATE:
+            status = (buf >> 6) & 0x3;
+        case GYRO_STATE:
+            status = (buf >> 4) & 0x3;
+        case ACCEL_STATE:
+            status = (buf >> 2) & 0x3;
+        case MAG_STATE:
+            status = buf & 0x3;
+        default:
+            status = -1;
+    }
+    return status;
 }
\ No newline at end of file

diff -r a129c630cee0 -r a45896ca96f0 CMPS_KRAI.h
--- a/CMPS_KRAI.h	Thu Mar 21 13:50:22 2019 +0000
+++ b/CMPS_KRAI.h	Thu Mar 21 14:16:40 2019 +0000
@@ -17,6 +17,13 @@
 //set register kompas
 #define SOFTWARE_REVISION_REG    0x0
 #define COMPASS_BEARING_WORD_REG 0x2
+#define CMPS12_CALIBRATION_STATE_REG 0x1E
+
+#define SYSTEM_STATE 3
+#define GYRO_STATE 2
+#define ACCEL_STATE 1
+#define MAG_STATE 0
+
 
 //Inisiasi I2C komunikasi dari kompas
 class CMPS_KRAI {
@@ -56,13 +63,11 @@
      */
     void stopCalibrate(void);
     
-    /** 
-    /* Menghapus calibration profile
-     */
+//    Menghapus calibration profile
     void eraseProfile();
     
-    // Menyimpan calibration profile
-    void storeProfile();
+    // Cek status kalibrasi
+    int state(int sys);
 };
 
 #endif /* CMPS_KRAI_H */