public static double getGres(Gscale gscale)
{
switch (gscale)
{
// Possible gyro scales (and their register bit settings) are:
// 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
// Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
case Gscale.GFS_250DPS:
gRes = 250.0 / 32768.0;
break;
case Gscale.GFS_500DPS:
gRes = 500.0 / 32768.0;
break;
case Gscale.GFS_1000DPS:
gRes = 1000.0 / 32768.0;
break;
case Gscale.GFS_2000DPS:
gRes = 2000.0 / 32768.0;
break;
}
return(gRes);
}
public static float GetGres(Gscale Scale)
{
switch (Scale)
{
// Possible gyro scales (and their register bit settings) are:
// 125 DPS (100), 250 DPS (011), 500 DPS (010), 1000 DPS (001), and 2000 DPS (000).
case Gscale.GFS_125DPS:
return((float)(0.00381f * (Math.PI / 180))); //return 124.87 / (32768.0 * 4); // per data sheet, not exactly 125!?
case Gscale.GFS_250DPS:
return((float)(0.007622f * (Math.PI / 180))); //1.0 / 262.4; //return 249.75 / 32768.0;
case Gscale.GFS_500DPS:
return((float)(0.01524f * (Math.PI / 180))); //1.0 / 262.4; //return 499.5 / 32768.0;
case Gscale.GFS_1000DPS:
return((float)(0.03048f * (Math.PI / 180))); //1.0 / 262.4; //return 999.0 / 32768.0;
case Gscale.GFS_2000DPS:
return((float)(0.06097f * (Math.PI / 180))); //1.0 / 262.4; //return 1998.0 / 32768.0;
}
return(0);
}
public static void Init(AScale AccelerometerScale, Gscale GyroscopeScale)
{
aRes = GetAres(AccelerometerScale);
gRes = GetGres(GyroscopeScale);
}
