diff options
Diffstat (limited to 'gyroscope.cpp')
| -rw-r--r-- | gyroscope.cpp | 71 |
1 files changed, 34 insertions, 37 deletions
diff --git a/gyroscope.cpp b/gyroscope.cpp index 78d5ba3..e831c53 100644 --- a/gyroscope.cpp +++ b/gyroscope.cpp @@ -3,14 +3,9 @@ #include "gyroscope.hpp" -/* - Creates a gyroscope communicator. - - @param _gyroscope_id The who ID of the gyroscope to communicate with -*/ -Gyroscope::Gyroscope(int _gyroscope_id) +void Gyroscope::setup(int id) { - gyroscope_id = _gyroscope_id; + _gyroscope_id = id; writeRegistry(RegisterAddresses::LOW_ODR, 0x00); writeRegistry(RegisterAddresses::CTRL4, 0x00); @@ -23,37 +18,26 @@ Gyroscope::Gyroscope(int _gyroscope_id) } /* - Reads data from the gyroscope + Reads coordinates from the gyroscope - @returns Gyroscope data + @param x A pointer to a variable to store the x coordinate in + @param y A pointer to a variable to store the y coordinate in + @param z A pointer to a variable to store the z coordinate in */ -ReadGyroscopeData Gyroscope::read() +void Gyroscope::readCoordinates(int16_t *x, int16_t *y, int16_t *z) { - Wire.beginTransmission(gyroscope_id); + Wire.beginTransmission(_gyroscope_id); Wire.write(RegisterAddresses::OUT_X_L | (1 << 7)); Wire.endTransmission(); - Wire.requestFrom(gyroscope_id, (uint8_t)6); + Wire.requestFrom(_gyroscope_id, (uint8_t)6); while (Wire.available() < 6) - { - Serial.println("Hej!"); - } - - uint8_t x_low = Wire.read(); - uint8_t x_high = Wire.read(); - uint8_t y_low = Wire.read(); - uint8_t y_high = Wire.read(); - uint8_t z_low = Wire.read(); - uint8_t z_high = Wire.read(); - - ReadGyroscopeData data; - - data.x = (int16_t)(x_high << 8 | x_low); - data.y = (int16_t)(y_high << 8 | y_low); - data.z = (int16_t)(z_high << 8 | z_low); + ; - return data; + *x = _read_next_coordinate(); + *y = _read_next_coordinate(); + *z = _read_next_coordinate(); } /* @@ -62,9 +46,9 @@ ReadGyroscopeData Gyroscope::read() @param registry The address of a registry @param value A value that will be written */ -void Gyroscope::writeRegistry(uint8_t registry, uint8_t value) +void Gyroscope::writeRegistry(int8_t registry, int8_t value) { - Wire.beginTransmission(gyroscope_id); + Wire.beginTransmission(_gyroscope_id); Wire.write(registry); Wire.write(value); @@ -81,18 +65,18 @@ int Gyroscope::initialize() { Wire.begin(); - auto high_id = testRegistry(Addresses::ID_HIGH, RegisterAddresses::WHO_AM_I); + auto high_id = Gyroscope::testRegistry(Addresses::ID_HIGH, RegisterAddresses::WHO_AM_I); if (high_id == Addresses::WHO_ID) { - return high_id; + return Addresses::ID_HIGH; } - auto low_id = testRegistry(Addresses::ID_LOW, RegisterAddresses::WHO_AM_I); + auto low_id = Gyroscope::testRegistry(Addresses::ID_LOW, RegisterAddresses::WHO_AM_I); if (low_id == Addresses::WHO_ID) { - return low_id; + return Addresses::ID_LOW; } return -1; @@ -105,7 +89,7 @@ int Gyroscope::initialize() @param registry The address of a registry @returns Registry data or -1 if there's no response. */ -int Gyroscope::testRegistry(int gyroscope_id, uint8_t registry) +int Gyroscope::testRegistry(int gyroscope_id, int8_t registry) { Wire.beginTransmission(gyroscope_id); @@ -116,7 +100,7 @@ int Gyroscope::testRegistry(int gyroscope_id, uint8_t registry) return -1; } - Wire.requestFrom(gyroscope_id, (uint8_t)1); + Wire.requestFrom(gyroscope_id, (int8_t)1); if (!Wire.available()) { @@ -125,3 +109,16 @@ int Gyroscope::testRegistry(int gyroscope_id, uint8_t registry) return Wire.read(); } + +/* + Reads the next coordinate given by the gyroscope. + + @returns A coordinate (x, y or z) +*/ +int16_t Gyroscope::_read_next_coordinate() +{ + int8_t low = Wire.read(); + int8_t high = Wire.read(); + + return (int16_t)(high << 8 | low); +} |