FXAS21002.cpp

00001  /* Copyright (c) 2015 NXP Semiconductors. MIT License
00002 *
00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
00004 * and associated documentation files (the "Software"), to deal in the Software without
00005 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
00006 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
00007 * Software is furnished to do so, subject to the following conditions:
00008 *
00009 * The above copyright notice and this permission notice shall be included in all copies or
00010 * substantial portions of the Software.
00011 *
00012 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
00013 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00014 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
00015 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00016 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017 */
00018 
00019 #include "FXAS21002.h"
00020  #include "mbed.h"
00021 
00022 FXAS21002::FXAS21002(PinName sda, PinName scl) : gyroi2c(sda,scl)
00023  {
00024        
00025  }
00026     
00027  void FXAS21002::gyro_config(void)
00028  {
00029    char d[2];
00030    d[0] = FXAS21002_CTRL_REG1;                       //Puts device in standby mode
00031    d[1] = 0x08;
00032    gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);   
00033           
00034    
00035    d[0] = FXAS21002_CTRL_REG0;                       //sets FS =+/- 1000 dps
00036    d[1] = 0x00;
00037    gyroi2c.write(FXAS21002_I2C_ADDRESS, d, 2);   
00038            
00039    
00040    d[0] = FXAS21002_CTRL_REG1;                       //Puts device in active mode
00041    d[1] = 0x0A;
00042    gyroi2c.write(FXAS21002_I2C_ADDRESS, d,2);   
00043       
00044  }
00045  
00046  void FXAS21002::acquire_gyro_data_dps(float * g_data)
00047  {
00048   
00049     char data_bytes[7];
00050    gyroi2c.write(FXAS21002_I2C_ADDRESS,FXAS21002_STATUS,1,true);  // Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
00051    gyroi2c.read(FXAS21002_I2C_ADDRESS,data_bytes,7);
00052    
00053    g_data[0] =  (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * 0.0625;
00054    g_data[1] =  (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * 0.0625;
00055    g_data[2] =  (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * 0.0625;
00056    
00057  }
00058 
00059 
00060      
00061