Ejemplo n.º 1
0
void MAX30100::readFifoData()
{
    uint8_t buffer[4];

    burstRead(MAX30100_REG_FIFO_DATA, buffer, 4);

    // Warning: the values are always left-aligned
    rawIRValue = (buffer[0] << 8) | buffer[1];
    rawRedValue = (buffer[2] << 8) | buffer[3];
}
void calibrate_gyro(unsigned int no_ofIterations, float *driftBuffer ){
  unsigned int i;
  int xGyro,yGyro,zGyro;
  char xyzBuffer[6];
  
    for(i=0;i<no_ofIterations;++i){
      
      burstRead(SLAVE_ADDRESS_ITG3200, GYRO_XOUT_H_ITG3200, xyzBuffer, 6); //burst read Gyro 3- axis data
      
        xGyro = ((xyzBuffer[0] << 8) | xyzBuffer[1]); //bit shift MSB ans add to LSB
        yGyro = ((xyzBuffer[2] << 8) | xyzBuffer[3]);
        zGyro = ((xyzBuffer[4] << 8) | xyzBuffer[5]);
          
          driftBuffer[0] += xGyro; //add data to respective buffer
          driftBuffer[1] += yGyro;
          driftBuffer[2] += zGyro;

    }
    
    for(i=0;i<3;++i)
    driftBuffer[i] /= no_ofIterations;  //divide with no.of iterations to get average value of the drift along each axis
  
}