hey,
how could one use the Microinfinity XG1300L gyro+acceleration sensor to first reset and then display angle and acceleration values on the ev3 screen similar to the following NXC program?
/*
* Microinfinity CO. LTD.
* Test program for the XGL1300L device
* This program displays the complete data package from the device
* it resets the sensor when the user press the left button
* it changes the accelerometer SF when the user press the right button
*/
//Define constants
#define XGL_PORT S1
#define XGL_ADDR 0x02
#define XGL_DATA_REG 0x42
#define XGL_RESET_REG 0x60
#define XGL_ACC_SF_REG 0x61
#define XGL_DATA_PACKET 10
#define XGL_COMMAND 2
#define XGL_TIME_OUT 500
//XGL1300L sensor data packet
struct XGLpacket
{
short mAng;
short mRate;
short mAccX;
short mAccY;
short mAccZ;
};
//Reset XGL1300L sensor
void XglReset()
{
byte cmd[XGL_COMMAND];
byte n_read=0;
ArrayBuild(cmd,XGL_ADDR, XGL_RESET_REG);
while (I2CStatus(XGL_PORT, n_read) == STAT_COMM_PENDING);
I2CWrite(XGL_PORT,0,cmd);
}
//Change scale factor, the accSf parameter can be
// 0 -> +/- 2G
// 1 -> +/- 4G
// 2 -> +/- 8g
void XglAccSF(byte accSf)
{
byte cmd[XGL_COMMAND];
byte n_read=0;
byte register= XGL_ACC_SF_REG+accSf;
ArrayBuild(cmd,XGL_ADDR, register);
while (I2CStatus(XGL_PORT, n_read) == STAT_COMM_PENDING);
I2CWrite(XGL_PORT,0,cmd);
}
//Reads the full packet from XGL1300L
void XglReadPacket(XGLpacket &XglData)
{
byte data[XGL_DATA_PACKET];
byte cmd[XGL_COMMAND];
byte count=XGL_DATA_PACKET;
byte n_read=0;
ArrayBuild(cmd,XGL_ADDR, XGL_DATA_REG);
while (I2CStatus(XGL_PORT, n_read) == STAT_COMM_PENDING);
if (I2CBytes(XGL_PORT, cmd, count, data))
{//Assemble data
XglData.mAng = data[0] + data[1]*256;
XglData.mRate = data[2] + data[3]*256;
XglData.mAccX = data[4] + data[5]*256;
XglData.mAccY = data[6] + data[7]*256;
XglData.mAccZ = data[8] + data[9]*256;
}
}
task main()
{
XGLpacket xgl;
string msg;
byte acc_sf=0;
ReadButtonType rbArgs;
//Initialize system
SetSensorLowspeed(XGL_PORT);
//Resets sensor and waits for hardware to settle
XglReset();
Wait(XGL_TIME_OUT);
//Main loop
while (1)
{
ClearScreen();
XglReadPacket(xgl);
TextOut(0, LCD_LINE1,"<RESET / ACC_SF>", false);
//Print Angle value
TextOut(0, LCD_LINE3,"ANGLE:");
NumOut(40, LCD_LINE3,xgl.mAng);
//Print Rate value
TextOut(0, LCD_LINE4,"RATE:");
NumOut(40, LCD_LINE4,xgl.mRate);
//Print Acc x value
TextOut(0, LCD_LINE5,"ACC_X:");
NumOut(40, LCD_LINE5,xgl.mAccX);
//Print Acc y value
TextOut(0, LCD_LINE6,"ACC_Y:");
NumOut(40, LCD_LINE6,xgl.mAccY);
//Print Acc z value
TextOut(0, LCD_LINE7,"ACC_Z:");
NumOut(40, LCD_LINE7,xgl.mAccZ);
//Reset sensor if user press left key
rbArgs.Index = BTNLEFT;
SysReadButton(rbArgs);
if (rbArgs.Pressed)
{
XglReset();
TextOut(0, LCD_LINE2,"Reseting XGL ...", false);
Wait(XGL_TIME_OUT);
}
//Change accelerometer SF if user press right key
rbArgs.Index = BTNRIGHT;
SysReadButton(rbArgs);
if (rbArgs.Pressed)
{
acc_sf=(acc_sf==2)?0:acc_sf+1;
XglAccSF(acc_sf);
TextOut(0, LCD_LINE2,"Accel SF +/-");
NumOut(75, LCD_LINE2,2<<acc_sf);
Wait(XGL_TIME_OUT);
}
Wait(100);
}
}
.
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