ROHMUSDC
First Revision of sample code for interfacing ROHM Multi-Sensor Shield board with MultiTech's DragonFly Host Board
Dependencies: mbed
Fork of
ROHM-DragonFly-MultiSensorShield_Interface
by 
Francis Lee
Code Example for ROHM Mutli-Sensor Shield interfaced onto the MultiTech DragonFly Host Cell Board
This code was written to be used with the MultiTech DragonFly Evaluation Kit.
This is the basic example code for interfacing ROHM's Multi-sensor Shield Board onto this board.
Additional information about the ROHM MultiSensor Shield Board can be found at the following link: https://github.com/ROHMUSDC/ROHM_SensorPlatform_Multi-Sensor-Shield
Operation
Ultimately, this code will initialize all the sensors on the Multi-sensor shield board and then poll the sensors. The sensor data will then be returned through the on-board USB to UART interface and can be viewable on any PC with a standard COM port reader (Terminal, TeraTerm, HyperTerm, etc...)
Supported ROHM Sensor Devices
- BDE0600G Temperature Sensor
- BM1383GLV Pressure Sensor
- BU52014 Hall Sensor
- ML8511 UV Sensor
- RPR-0521 ALS/PROX Sensor
- BH1745NUC Color Sensor
- KMX62 Accel/Mag Sensor
- KX122 Accel Sensor
- KXG03 Gyro/Accel Sensor
Sensor Applicable Code Sections
- All functionality can be found in the function main()
- Ultimately code is split up into an "initalization" and "main loop" section
- Specific sensor information can be found using the #ifdef statements at the beginning of the code
Questions/Feedback
Please feel free to let us know any questions/feedback/comments/concerns you may have by addressing the following e-mail:
main.cpp
- Committer:
- kbahar3
- Date:
- 2015-12-18
- Revision:
- 7:ae40e49391c8
- Parent:
- 6:872eb454b3c4
File content as of revision 7:ae40e49391c8:
/*
Sample Program Description:
This Program will enable to Multi-Tech Dragonfly platform to utilize ROHM's Multi-sensor Shield Board.
This program will initialize all sensors on the shield and then read back the sensor data.
Data will then be output to the UART Debug Terminal every 1 second.
Sample Program Author:
ROHM USDC
Additional Resources:
ROHM Sensor Shield GitHub Repository: https://github.com/ROHMUSDC/ROHM_SensorPlatform_Multi-Sensor-Shield
*/
#include "mbed.h"
//Macros for checking each of the different Sensor Devices
#define AnalogTemp //BDE0600
#define AnalogUV //ML8511
#define HallSensor //BU52014
#define RPR0521 //RPR0521
#define KMX62 //KMX61, Accel/Mag
#define COLOR //BH1745
#define KX122 //KX122, Accel Only
#define Pressure //BM1383
#define KXG03 //KXG03
//Define Pins for I2C Interface
I2C i2c(I2C_SDA, I2C_SCL);
bool RepStart = true;
bool NoRepStart = false;
//Define Sensor Variables
#ifdef AnalogTemp
AnalogIn BDE0600_Temp(PC_4); //Mapped to A2
uint16_t BDE0600_Temp_value;
float BDE0600_output;
#endif
#ifdef AnalogUV
AnalogIn ML8511_UV(PC_1); //Mapped to A4
uint16_t ML8511_UV_value;
float ML8511_output;
#endif
#ifdef HallSensor
DigitalIn Hall_GPIO0(PC_8);
DigitalIn Hall_GPIO1(PB_5);
int Hall_Return1;
int Hall_Return0;
#endif
#ifdef RPR0521
int RPR0521_addr_w = 0x70; //7bit addr = 0x38, with write bit 0
int RPR0521_addr_r = 0x71; //7bit addr = 0x38, with read bit 1
char RPR0521_ModeControl[2] = {0x41, 0xE6};
char RPR0521_ALSPSControl[2] = {0x42, 0x03};
char RPR0521_Persist[2] = {0x43, 0x20};
char RPR0521_Addr_ReadData = 0x44;
char RPR0521_Content_ReadData[6];
int RPR0521_PS_RAWOUT = 0;
float RPR0521_PS_OUT = 0;
int RPR0521_ALS_D0_RAWOUT = 0;
int RPR0521_ALS_D1_RAWOUT = 0;
float RPR0521_ALS_DataRatio = 0;
float RPR0521_ALS_OUT = 0;
#endif
#ifdef KMX62
int KMX62_addr_w = 0x1C; //7bit addr = 0x38, with write bit 0
int KMX62_addr_r = 0x1D; //7bit addr = 0x38, with read bit 1
char KMX62_CNTL2[2] = {0x3A, 0x5F};
char KMX62_Addr_Accel_ReadData = 0x0A;
char KMX62_Content_Accel_ReadData[6];
char KMX62_Addr_Mag_ReadData = 0x10;
char KMX62_Content_Mag_ReadData[6];
short int MEMS_Accel_Xout = 0;
short int MEMS_Accel_Yout = 0;
short int MEMS_Accel_Zout = 0;
double MEMS_Accel_Conv_Xout = 0;
double MEMS_Accel_Conv_Yout = 0;
double MEMS_Accel_Conv_Zout = 0;
short int MEMS_Mag_Xout = 0;
short int MEMS_Mag_Yout = 0;
short int MEMS_Mag_Zout = 0;
float MEMS_Mag_Conv_Xout = 0;
float MEMS_Mag_Conv_Yout = 0;
float MEMS_Mag_Conv_Zout = 0;
#endif
#ifdef COLOR
int BH1745_addr_w = 0x72; //write
int BH1745_addr_r = 0x73; //read
char BH1745_persistence[2] = {0x61, 0x03};
char BH1745_mode1[2] = {0x41, 0x00};
char BH1745_mode2[2] = {0x42, 0x92};
char BH1745_mode3[2] = {0x43, 0x02};
char BH1745_Content_ReadData[6];
char BH1745_Addr_color_ReadData = 0x50;
int BH1745_Red;
int BH1745_Blue;
int BH1745_Green;
#endif
#ifdef KX122
int KX122_addr_w = 0x3C; //write
int KX122_addr_r = 0x3D; //read
char KX122_Accel_CNTL1[2] = {0x18, 0x41};
char KX122_Accel_ODCNTL[2] = {0x1B, 0x02};
char KX122_Accel_CNTL3[2] = {0x1A, 0xD8};
char KX122_Accel_TILT_TIMER[2] = {0x22, 0x01};
char KX122_Accel_CNTL2[2] = {0x18, 0xC1};
char KX122_Content_ReadData[6];
char KX122_Addr_Accel_ReadData = 0x06;
float KX122_Accel_X;
float KX122_Accel_Y;
float KX122_Accel_Z;
short int KX122_Accel_X_RawOUT = 0;
short int KX122_Accel_Y_RawOUT = 0;
short int KX122_Accel_Z_RawOUT = 0;
int KX122_Accel_X_LB = 0;
int KX122_Accel_X_HB = 0;
int KX122_Accel_Y_LB = 0;
int KX122_Accel_Y_HB = 0;
int KX122_Accel_Z_LB = 0;
int KX122_Accel_Z_HB = 0;
#endif
#ifdef KXG03
int i = 11;
int t = 1;
short int aveX = 0;
short int aveX2 = 0;
short int aveX3 = 0;
short int aveY = 0;
short int aveY2 = 0;
short int aveY3 = 0;
short int aveZ = 0;
short int aveZ2 = 0;
short int aveZ3 = 0;
float ave22;
float ave33;
int KXG03_addr_w = 0x9C; //write
int KXG03_addr_r = 0x9D; //read
char KXG03_STBY_REG[2] = {0x43, 0x00};
char KXG03_Content_Gyro_ReadData[6];
char KXG03_Content_Accel_ReadData[6];
char KXG03_Addr_Gyro_ReadData = 0x02;
char KXG03_Addr_Accel_ReadData = 0x08;
float KXG03_Gyro_X;
float KXG03_Gyro_Y;
float KXG03_Gyro_Z;
short int KXG03_Gyro_X_RawOUT = 0;
short int KXG03_Gyro_Y_RawOUT = 0;
short int KXG03_Gyro_Z_RawOUT = 0;
short int KXG03_Gyro_X_RawOUT2 = 0;
short int KXG03_Gyro_Y_RawOUT2 = 0;
short int KXG03_Gyro_Z_RawOUT2 = 0;
float KXG03_Accel_X;
float KXG03_Accel_Y;
float KXG03_Accel_Z;
short int KXG03_Accel_X_RawOUT = 0;
short int KXG03_Accel_Y_RawOUT = 0;
short int KXG03_Accel_Z_RawOUT = 0;
#endif
#ifdef Pressure
int Press_addr_w = 0xBA; //write
int Press_addr_r = 0xBB; //read
char PWR_DOWN[2] = {0x12, 0x01};
char SLEEP[2] = {0x13, 0x01};
char Mode_Control[2] = {0x14, 0xC4};
char Press_Content_ReadData[6];
char Press_Addr_ReadData =0x1A;
int BM1383_Temp_highByte;
int BM1383_Temp_lowByte;
int BM1383_Pres_highByte;
int BM1383_Pres_lowByte;
int BM1383_Pres_leastByte;
short int BM1383_Temp_Out;
float BM1383_Temp_Conv_Out;
float BM1383_Pres_Conv_Out;
float BM1383_Var;
float BM1383_Deci;
#endif
int main() {
//Initialization Section Start! **********************************************************
//Initialize I2C Devices **********************************************************
#ifdef RPR0521
i2c.write(RPR0521_addr_w, &RPR0521_ModeControl[0], 2, false);
i2c.write(RPR0521_addr_w, &RPR0521_ALSPSControl[0], 2, false);
i2c.write(RPR0521_addr_w, &RPR0521_Persist[0], 2, false);
#endif
#ifdef KMX62
i2c.write(KMX62_addr_w, &KMX62_CNTL2[0], 2, false);
#endif
#ifdef COLOR
i2c.write(BH1745_addr_w, &BH1745_persistence[0], 2, false);
i2c.write(BH1745_addr_w, &BH1745_mode1[0], 2, false);
i2c.write(BH1745_addr_w, &BH1745_mode2[0], 2, false);
i2c.write(BH1745_addr_w, &BH1745_mode3[0], 2, false);
#endif
#ifdef KX122
i2c.write(KX122_addr_w, &KX122_Accel_CNTL1[0], 2, false);
i2c.write(KX122_addr_w, &KX122_Accel_ODCNTL[0], 2, false);
i2c.write(KX122_addr_w, &KX122_Accel_CNTL3[0], 2, false);
i2c.write(KX122_addr_w, &KX122_Accel_TILT_TIMER[0], 2, false);
i2c.write(KX122_addr_w, &KX122_Accel_CNTL2[0], 2, false);
#endif
#ifdef KXG03
i2c.write(KXG03_addr_w, &KXG03_STBY_REG[0], 2, false);
#endif
#ifdef Pressure
i2c.write(Press_addr_w, &PWR_DOWN[0], 2, false);
i2c.write(Press_addr_w, &SLEEP[0], 2, false);
i2c.write(Press_addr_w, &Mode_Control[0], 2, false);
#endif
//End Initialization Section **********************************************************
//Begin Main Loop **********************************************************
while (1) {
// ADC Routines *******************************************************
#ifdef AnalogTemp
BDE0600_Temp_value = BDE0600_Temp.read_u16();
BDE0600_output = (float)BDE0600_Temp_value * (float)0.000050354; //(value * (3.3V/65535))
BDE0600_output = (BDE0600_output-(float)1.753)/((float)-0.01068) + (float)30;
printf("BDE0600 Analog Temp Sensor Data:\r\n");
printf(" Temp = %.2f degC\r\n", BDE0600_output);
#endif
#ifdef AnalogUV
ML8511_UV_value = ML8511_UV.read_u16();
ML8511_output = (float)ML8511_UV_value * (float)0.000050354; //(value * (3.3V/65535)) //Note to self: when playing with this, a negative value is seen... Honestly, I think this has to do with my ADC converstion...
ML8511_output = (ML8511_output-(float)2.2)/((float)0.129) + 10; // Added +5 to the offset so when inside (aka, no UV, readings show 0)... this is the wrong approach... and the readings don't make sense... Fix this.
printf("ML8511 Analog UV Sensor Data:\r\n");
printf(" UV = %.1f mW/cm2\r\n", ML8511_output);
#endif
// GPI Routines *******************************************************
#ifdef HallSensor
Hall_Return0 = Hall_GPIO0;
Hall_Return1 = Hall_GPIO1;
printf("BU52011 Hall Switch Sensor Data:\r\n");
printf(" South Detect = %d\r\n", Hall_Return0);
printf(" North Detect = %d\r\n", Hall_Return1);
#endif
// I2C Routines *******************************************************
#ifdef COLOR
//Read color data from the IC
i2c.write(BH1745_addr_w, &BH1745_Addr_color_ReadData, 1, RepStart);
i2c.read(BH1745_addr_r, &BH1745_Content_ReadData[0], 6, NoRepStart);
//separate all data read into colors
BH1745_Red = (BH1745_Content_ReadData[1]<<8) | (BH1745_Content_ReadData[0]);
BH1745_Green = (BH1745_Content_ReadData[3]<<8) | (BH1745_Content_ReadData[2]);
BH1745_Blue = (BH1745_Content_ReadData[5]<<8) | (BH1745_Content_ReadData[4]);
//Output Data into UART
printf("BH1745 COLOR Sensor Data:\r\n");
printf(" Red = %d ADC Counts\r\n",BH1745_Red);
printf(" Green = %d ADC Counts\r\n",BH1745_Green);
printf(" Blue = %d ADC Counts\r\n",BH1745_Blue);
#endif
#ifdef RPR0521 //als digital
i2c.write(RPR0521_addr_w, &RPR0521_Addr_ReadData, 1, RepStart);
i2c.read(RPR0521_addr_r, &RPR0521_Content_ReadData[0], 6, NoRepStart);
RPR0521_PS_RAWOUT = (RPR0521_Content_ReadData[1]<<8) | (RPR0521_Content_ReadData[0]);
RPR0521_ALS_D0_RAWOUT = (RPR0521_Content_ReadData[3]<<8) | (RPR0521_Content_ReadData[2]);
RPR0521_ALS_D1_RAWOUT = (RPR0521_Content_ReadData[5]<<8) | (RPR0521_Content_ReadData[4]);
RPR0521_ALS_DataRatio = (float)RPR0521_ALS_D1_RAWOUT / (float)RPR0521_ALS_D0_RAWOUT;
if(RPR0521_ALS_DataRatio < (float)0.595){
RPR0521_ALS_OUT = ((float)1.682*(float)RPR0521_ALS_D0_RAWOUT - (float)1.877*(float)RPR0521_ALS_D1_RAWOUT);
}
else if(RPR0521_ALS_DataRatio < (float)1.015){
RPR0521_ALS_OUT = ((float)0.644*(float)RPR0521_ALS_D0_RAWOUT - (float)0.132*(float)RPR0521_ALS_D1_RAWOUT);
}
else if(RPR0521_ALS_DataRatio < (float)1.352){
RPR0521_ALS_OUT = ((float)0.756*(float)RPR0521_ALS_D0_RAWOUT - (float)0.243*(float)RPR0521_ALS_D1_RAWOUT);
}
else if(RPR0521_ALS_DataRatio < (float)3.053){
RPR0521_ALS_OUT = ((float)0.766*(float)RPR0521_ALS_D0_RAWOUT - (float)0.25*(float)RPR0521_ALS_D1_RAWOUT);
}
else{
RPR0521_ALS_OUT = 0;
}
printf("RPR-0521 ALS/PROX Sensor Data:\r\n");
printf(" ALS = %0.2f lx\r\n", RPR0521_ALS_OUT);
printf(" PROX= %u ADC Counts\r\n", RPR0521_PS_RAWOUT);
#endif
#ifdef KMX62
//Read Accel Portion from the IC
i2c.write(KMX62_addr_w, &KMX62_Addr_Accel_ReadData, 1, RepStart);
i2c.read(KMX62_addr_r, &KMX62_Content_Accel_ReadData[0], 6, NoRepStart);
//Note: The highbyte and low byte return a 14bit value, dropping the two LSB in the Low byte.
// However, because we need the signed value, we will adjust the value when converting to "g"
MEMS_Accel_Xout = (KMX62_Content_Accel_ReadData[1]<<8) | (KMX62_Content_Accel_ReadData[0]);
MEMS_Accel_Yout = (KMX62_Content_Accel_ReadData[3]<<8) | (KMX62_Content_Accel_ReadData[2]);
MEMS_Accel_Zout = (KMX62_Content_Accel_ReadData[5]<<8) | (KMX62_Content_Accel_ReadData[4]);
//Note: Conversion to G is as follows:
// Axis_ValueInG = MEMS_Accel_axis / 1024
// However, since we did not remove the LSB previously, we need to divide by 4 again
// Thus, we will divide the output by 4096 (1024*4) to convert and cancel out the LSB
MEMS_Accel_Conv_Xout = ((float)MEMS_Accel_Xout/4096/2);
MEMS_Accel_Conv_Yout = ((float)MEMS_Accel_Yout/4096/2);
MEMS_Accel_Conv_Zout = ((float)MEMS_Accel_Zout/4096/2);
//Read Mag portion from the IC
i2c.write(KMX62_addr_w, &KMX62_Addr_Mag_ReadData, 1, RepStart);
i2c.read(KMX62_addr_r, &KMX62_Content_Mag_ReadData[0], 6, NoRepStart);
//Note: The highbyte and low byte return a 14bit value, dropping the two LSB in the Low byte.
// However, because we need the signed value, we will adjust the value when converting to "g"
MEMS_Mag_Xout = (KMX62_Content_Mag_ReadData[1]<<8) | (KMX62_Content_Mag_ReadData[0]);
MEMS_Mag_Yout = (KMX62_Content_Mag_ReadData[3]<<8) | (KMX62_Content_Mag_ReadData[2]);
MEMS_Mag_Zout = (KMX62_Content_Mag_ReadData[5]<<8) | (KMX62_Content_Mag_ReadData[4]);
//Note: Conversion to G is as follows:
// Axis_ValueInG = MEMS_Accel_axis / 1024
// However, since we did not remove the LSB previously, we need to divide by 4 again
// Thus, we will divide the output by 4095 (1024*4) to convert and cancel out the LSB
MEMS_Mag_Conv_Xout = (float)MEMS_Mag_Xout/4096*(float)0.146;
MEMS_Mag_Conv_Yout = (float)MEMS_Mag_Yout/4096*(float)0.146;
MEMS_Mag_Conv_Zout = (float)MEMS_Mag_Zout/4096*(float)0.146;
// Return Data to UART
printf("KMX62 Accel+Mag Sensor Data:\r\n");
printf(" AccX= %0.2f g\r\n", MEMS_Accel_Conv_Xout);
printf(" AccY= %0.2f g\r\n", MEMS_Accel_Conv_Yout);
printf(" AccZ= %0.2f g\r\n", MEMS_Accel_Conv_Zout);
printf(" MagX= %0.2f uT\r\n", MEMS_Mag_Conv_Xout);
printf(" MagY= %0.2f uT\r\n", MEMS_Mag_Conv_Yout);
printf(" MagZ= %0.2f uT\r\n", MEMS_Mag_Conv_Zout);
#endif
#ifdef KX122
//Read KX122 Portion from the IC
i2c.write(KX122_addr_w, &KX122_Addr_Accel_ReadData, 1, RepStart);
i2c.read(KX122_addr_r, &KX122_Content_ReadData[0], 6, NoRepStart);
//Format Data
KX122_Accel_X_RawOUT = (KX122_Content_ReadData[1]<<8) | (KX122_Content_ReadData[0]);
KX122_Accel_Y_RawOUT = (KX122_Content_ReadData[3]<<8) | (KX122_Content_ReadData[2]);
KX122_Accel_Z_RawOUT = (KX122_Content_ReadData[5]<<8) | (KX122_Content_ReadData[4]);
//Scale Data
KX122_Accel_X = (float)KX122_Accel_X_RawOUT / 16384;
KX122_Accel_Y = (float)KX122_Accel_Y_RawOUT / 16384;
KX122_Accel_Z = (float)KX122_Accel_Z_RawOUT / 16384;
//Return Data through UART
printf("KX122 Accelerometer Sensor Data: \r\n");
printf(" AccX= %0.2f g\r\n", KX122_Accel_X);
printf(" AccY= %0.2f g\r\n", KX122_Accel_Y);
printf(" AccZ= %0.2f g\r\n", KX122_Accel_Z);
#endif
#ifdef KXG03
//Read KXG03 Gyro Portion from the IC
i2c.write(KXG03_addr_w, &KXG03_Addr_Gyro_ReadData, 1, RepStart);
i2c.read(KXG03_addr_r, &KXG03_Content_Gyro_ReadData[0], 6, NoRepStart);
if (t == 1){
int i = 11;
while(--i)
{
//Read KXG03 Gyro Portion from the IC
i2c.write(KXG03_addr_w, &KXG03_Addr_Gyro_ReadData, 1, RepStart);
i2c.read(KXG03_addr_r, &KXG03_Content_Gyro_ReadData[0], 6, NoRepStart);
//Format Data
KXG03_Gyro_X_RawOUT = (KXG03_Content_Gyro_ReadData[1]<<8) | (KXG03_Content_Gyro_ReadData[0]);
KXG03_Gyro_Y_RawOUT = (KXG03_Content_Gyro_ReadData[3]<<8) | (KXG03_Content_Gyro_ReadData[2]);
KXG03_Gyro_Z_RawOUT = (KXG03_Content_Gyro_ReadData[5]<<8) | (KXG03_Content_Gyro_ReadData[4]);
aveX = KXG03_Gyro_X_RawOUT;
aveY = KXG03_Gyro_Y_RawOUT;
aveZ = KXG03_Gyro_Z_RawOUT;
aveX2 = aveX2 + aveX;
aveY2 = aveY2 + aveY;
aveZ2 = aveZ2 + aveZ;
}
aveX3 = aveX2 / 10;
aveY3 = aveY2 / 10;
aveZ3 = aveZ2 / 10;
printf("KXG03 Gyroscopic Sensor Data: \r\n");
printf("KXG03 Gyroscopic Offset Calculation: \r\n");
printf(" aveX2= %d \r\n", aveX2);
printf(" aveY2= %d \r\n", aveY2);
printf(" aveZ2= %d \r\n", aveZ2);
printf(" aveX3= %d \r\n", aveX3);
printf(" aveY3= %d \r\n", aveY3);
printf(" aveZ3= %d \r\n", aveZ3);
t = 0;
}
else {
//Read KXG03 Gyro Portion from the IC
i2c.write(KXG03_addr_w, &KXG03_Addr_Gyro_ReadData, 1, RepStart);
i2c.read(KXG03_addr_r, &KXG03_Content_Gyro_ReadData[0], 6, NoRepStart);
//Format Data
KXG03_Gyro_X_RawOUT = (KXG03_Content_Gyro_ReadData[1]<<8) | (KXG03_Content_Gyro_ReadData[0]);
KXG03_Gyro_Y_RawOUT = (KXG03_Content_Gyro_ReadData[3]<<8) | (KXG03_Content_Gyro_ReadData[2]);
KXG03_Gyro_Z_RawOUT = (KXG03_Content_Gyro_ReadData[5]<<8) | (KXG03_Content_Gyro_ReadData[4]);
//printf(" aveX3= %d \r\n", aveX3);
//printf(" aveY3= %d \r\n", aveY3);
//printf(" aveZ3= %d \r\n", aveZ3);
KXG03_Gyro_X_RawOUT2 = KXG03_Gyro_X_RawOUT - aveX3;
KXG03_Gyro_Y_RawOUT2 = KXG03_Gyro_Y_RawOUT - aveY3;
KXG03_Gyro_Z_RawOUT2 = KXG03_Gyro_Z_RawOUT - aveZ3;
//Scale Data
KXG03_Gyro_X = (float)KXG03_Gyro_X_RawOUT2 * (float)0.007813 + (float)0.000004;
KXG03_Gyro_Y = (float)KXG03_Gyro_Y_RawOUT2 * (float)0.007813 + (float)0.000004;
KXG03_Gyro_Z = (float)KXG03_Gyro_Z_RawOUT2 * (float)0.007813 + (float)0.000004;
printf("KXG03 Gyroscopic Sensor Data: \r\n");
printf(" GyroX= %0.2f deg/sec\r\n", KXG03_Gyro_X);
printf(" GyroY= %0.2f deg/sec\r\n", KXG03_Gyro_Y);
printf(" GyroZ= %0.2f deg/sec\r\n", KXG03_Gyro_Z);
//Read KXG03 Accel Portion from the IC
i2c.write(KXG03_addr_w, &KXG03_Addr_Accel_ReadData, 1, RepStart);
i2c.read(KXG03_addr_r, &KXG03_Content_Accel_ReadData[0], 6, NoRepStart);
KXG03_Accel_X_RawOUT = (KXG03_Content_Accel_ReadData[1]<<8) | (KXG03_Content_Accel_ReadData[0]);
KXG03_Accel_Y_RawOUT = (KXG03_Content_Accel_ReadData[3]<<8) | (KXG03_Content_Accel_ReadData[2]);
KXG03_Accel_Z_RawOUT = (KXG03_Content_Accel_ReadData[5]<<8) | (KXG03_Content_Accel_ReadData[4]);
//Scale Data
KXG03_Accel_X = (float)KXG03_Accel_X_RawOUT * (float)0.000061 + (float)0.000017;
KXG03_Accel_Y = (float)KXG03_Accel_Y_RawOUT * (float)0.000061 + (float)0.000017;
KXG03_Accel_Z = (float)KXG03_Accel_Z_RawOUT * (float)0.000061 + (float)0.000017;
//Return Data through UART
printf(" AccX= %0.2f g\r\n", KXG03_Accel_X);
printf(" AccY= %0.2f g\r\n", KXG03_Accel_Y);
printf(" AccZ= %0.2f g\r\n", KXG03_Accel_Z);
aveX2 = 0;
aveY2 = 0;
aveZ2 = 0;
}
#endif
#ifdef Pressure
i2c.write(Press_addr_w, &Press_Addr_ReadData, 1, RepStart);
i2c.read(Press_addr_r, &Press_Content_ReadData[0], 6, NoRepStart);
BM1383_Temp_Out = (Press_Content_ReadData[0]<<8) | (Press_Content_ReadData[1]);
BM1383_Temp_Conv_Out = (float)BM1383_Temp_Out/32;
BM1383_Var = (Press_Content_ReadData[2]<<3) | (Press_Content_ReadData[3] >> 5);
BM1383_Deci = ((Press_Content_ReadData[3] & 0x1f) << 6 | ((Press_Content_ReadData[4] >> 2)));
BM1383_Deci = (float)BM1383_Deci* (float)0.00048828125; //0.00048828125 = 2^-11
BM1383_Pres_Conv_Out = (BM1383_Var + BM1383_Deci); //question pending here...
printf("BM1383 Pressure Sensor Data:\r\n");
printf(" Temperature= %0.2f degC\r\n", BM1383_Temp_Conv_Out);
printf(" Pressure = %0.2f hPa\r\n", BM1383_Pres_Conv_Out);
#endif
//*********************************************************************
printf("\r\n");
wait(1); //Wait before re-gathering sensor data
}
}