Diff: I2cPeripherals/I2cPeripherals.cpp

Revision:

3:27407c4984cf

Parent:

2:59ac9df97701

Child:

4:4060309b9cc0

--- a/I2cPeripherals/I2cPeripherals.cpp	Fri Nov 15 20:53:36 2013 +0000
+++ b/I2cPeripherals/I2cPeripherals.cpp	Thu Feb 13 16:07:07 2014 +0000
@@ -4,7 +4,7 @@
 I2cPeripherals::I2cPeripherals(PinName sda, PinName scl): _i2c(sda,scl)
 {
 
-    _i2c.frequency(400000);
+    _i2c.frequency(200000);
 //    LCD_contrast = 60;
     wait(0.5);
     LCD_addr = 0;
@@ -125,7 +125,7 @@
                 _i2c.write(sens[num].addr,tx,2);
                 wait(0.01);
                 tx[0] = 0x1C;
-                tx[1] = 0x18;       // +-16g
+                tx[1] = 0x18;       // 00:2g,08:4g,10:8g,18:+-16g
                 _i2c.write(sens[num].addr,tx,2);
                 wait_ms(10);
                 break;
@@ -272,6 +272,7 @@
     //AXDL345 Data Read
     char rx[6];
     char tx[1];
+    float lsb;
     tx[0] = Accel_data | 0x80;
     if ( _i2c.write(Accel_addr,tx,1,true) != 0 )     {
         *x=*y=0;
@@ -283,9 +284,11 @@
         case 0xD0:
         case 0xD2:
 #ifdef MPU6050
-            *y = ( -(short(rx[0] << 8 | (uint8_t)rx[1])) ) * 0.0048;
-            *x = ( short(rx[2] << 8 | (uint8_t)rx[3]) ) * 0.0048;
-            *z = ( short(rx[4] << 8 | (uint8_t)rx[5]) ) * 0.0048;
+            lsb = 0.000488;     //16g
+//            lsb = 0.000122;       //4g
+            *y = ( -(short(rx[0] << 8 | (uint8_t)rx[1])) ) * lsb;
+            *x = ( short(rx[2] << 8 | (uint8_t)rx[3]) ) * lsb;
+            *z = ( short(rx[4] << 8 | (uint8_t)rx[5]) ) * lsb;
 #endif
             break;
         case 0xA6:
@@ -294,6 +297,7 @@
             *y = ( -(short(rx[1] << 8 | (uint8_t)rx[0])) ) * 0.04;
             *x = ( short(rx[3] << 8 | (uint8_t)rx[2]) ) * 0.04;
             *z = ( short(rx[5] << 8 | (uint8_t)rx[4]) ) * 0.04;
+            break;
 #endif
     }
     return true;