Weiqian Xu / FXAS21002_2

my own one

Fork of FXAS21002 by Weiqian Xu

FXAS21002.cpp@2:504e7f1bbf11, 2017-04-24 (annotated)

Committer:
AswinSivakumar
Date:
Mon Apr 24 19:07:18 2017 +0000
Revision:
2:504e7f1bbf11
Parent:
1:b774372b3913 
updated

Who changed what in which revision?

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AswinSivakumar 2:504e7f1bbf11 1 /*
AswinSivakumar 2:504e7f1bbf11 2 * Copyright (c) 2015 - 2016, Freescale Semiconductor, Inc.
AswinSivakumar 2:504e7f1bbf11 3 * Copyright 2016-2017 NXP
AswinSivakumar 2:504e7f1bbf11 4 *
AswinSivakumar 2:504e7f1bbf11 5 * Redistribution and use in source and binary forms, with or without modification,
AswinSivakumar 2:504e7f1bbf11 6 * are permitted provided that the following conditions are met:
AswinSivakumar 2:504e7f1bbf11 7 *
AswinSivakumar 2:504e7f1bbf11 8 * o Redistributions of source code must retain the above copyright notice, this list
AswinSivakumar 2:504e7f1bbf11 9 * of conditions and the following disclaimer.
AswinSivakumar 2:504e7f1bbf11 10 *
AswinSivakumar 2:504e7f1bbf11 11 * o Redistributions in binary form must reproduce the above copyright notice, this
AswinSivakumar 2:504e7f1bbf11 12 * list of conditions and the following disclaimer in the documentation and/or
AswinSivakumar 2:504e7f1bbf11 13 * other materials provided with the distribution.
AswinSivakumar 2:504e7f1bbf11 14 *
AswinSivakumar 2:504e7f1bbf11 15 * o Neither the name of the copyright holder nor the names of its
AswinSivakumar 2:504e7f1bbf11 16 * contributors may be used to endorse or promote products derived from this
AswinSivakumar 2:504e7f1bbf11 17 * software without specific prior written permission.
AswinSivakumar 2:504e7f1bbf11 18 *
AswinSivakumar 2:504e7f1bbf11 19 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
AswinSivakumar 2:504e7f1bbf11 20 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
AswinSivakumar 2:504e7f1bbf11 21 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
AswinSivakumar 2:504e7f1bbf11 22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
AswinSivakumar 2:504e7f1bbf11 23 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
AswinSivakumar 2:504e7f1bbf11 24 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
AswinSivakumar 2:504e7f1bbf11 25 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
AswinSivakumar 2:504e7f1bbf11 26 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
AswinSivakumar 2:504e7f1bbf11 27 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
AswinSivakumar 2:504e7f1bbf11 28 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
AswinSivakumar 2:504e7f1bbf11 29 */
AswinSivakumar 0:9c9e8aaad4ff 30
AswinSivakumar 0:9c9e8aaad4ff 31 #include "FXAS21002.h"
AswinSivakumar 0:9c9e8aaad4ff 32 #include "mbed.h"
AswinSivakumar 0:9c9e8aaad4ff 33
AswinSivakumar 0:9c9e8aaad4ff 34 FXAS21002::FXAS21002(PinName sda, PinName scl) : gyroi2c(sda,scl)
AswinSivakumar 0:9c9e8aaad4ff 35 {
AswinSivakumar 0:9c9e8aaad4ff 36
AswinSivakumar 0:9c9e8aaad4ff 37 }
AswinSivakumar 0:9c9e8aaad4ff 38
AswinSivakumar 0:9c9e8aaad4ff 39 void FXAS21002::gyro_config(void)
AswinSivakumar 0:9c9e8aaad4ff 40 {
AswinSivakumar 0:9c9e8aaad4ff 41 char d[2];
AswinSivakumar 0:9c9e8aaad4ff 42 d[0] = FXAS21002_CTRL_REG1; //Puts device in standby mode
AswinSivakumar 0:9c9e8aaad4ff 43 d[1] = 0x08;
AswinSivakumar 0:9c9e8aaad4ff 44 gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);
AswinSivakumar 0:9c9e8aaad4ff 45
AswinSivakumar 0:9c9e8aaad4ff 46
AswinSivakumar 0:9c9e8aaad4ff 47 d[0] = FXAS21002_CTRL_REG0; //sets FS =+/- 2000 dps
AswinSivakumar 0:9c9e8aaad4ff 48 d[1] = 0x00;
AswinSivakumar 0:9c9e8aaad4ff 49 gyroi2c.write(FXAS21002_I2C_ADDRESS, d, 2);
AswinSivakumar 0:9c9e8aaad4ff 50
AswinSivakumar 0:9c9e8aaad4ff 51
AswinSivakumar 0:9c9e8aaad4ff 52 d[0] = FXAS21002_CTRL_REG1; //Puts device in active mode
AswinSivakumar 0:9c9e8aaad4ff 53 d[1] = 0x0A;
AswinSivakumar 0:9c9e8aaad4ff 54 gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);
AswinSivakumar 0:9c9e8aaad4ff 55
AswinSivakumar 0:9c9e8aaad4ff 56 }
AswinSivakumar 0:9c9e8aaad4ff 57
AswinSivakumar 0:9c9e8aaad4ff 58 void FXAS21002::acquire_gyro_data_dps(float * g_data)
AswinSivakumar 0:9c9e8aaad4ff 59 {
AswinSivakumar 0:9c9e8aaad4ff 60
AswinSivakumar 0:9c9e8aaad4ff 61 char data_bytes[7];
AswinSivakumar 0:9c9e8aaad4ff 62 gyroi2c.write(FXAS21002_I2C_ADDRESS,FXAS21002_STATUS,1,true); // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
AswinSivakumar 0:9c9e8aaad4ff 63 gyroi2c.read(FXAS21002_I2C_ADDRESS,data_bytes,7);
AswinSivakumar 0:9c9e8aaad4ff 64
AswinSivakumar 0:9c9e8aaad4ff 65 g_data[0] = (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * 0.0625;
AswinSivakumar 0:9c9e8aaad4ff 66 g_data[1] = (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * 0.0625;
AswinSivakumar 0:9c9e8aaad4ff 67 g_data[2] = (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * 0.0625;
AswinSivakumar 0:9c9e8aaad4ff 68
AswinSivakumar 0:9c9e8aaad4ff 69 }
AswinSivakumar 0:9c9e8aaad4ff 70
AswinSivakumar 0:9c9e8aaad4ff 71
AswinSivakumar 0:9c9e8aaad4ff 72
AswinSivakumar 0:9c9e8aaad4ff 73