A Team / DCM_AHRS

DCM Code ported from Arduino for FRDM-KL25Z

Dependents:   minimu_data_capture minimu_data_capture

Fork of DCM_AHRS by Kris Reynolds

L3G4200D.h@0:dc35364e2291, 2012-04-12 (annotated)

Committer:
krmreynolds
Date:
Thu Apr 12 13:47:23 2012 +0000
Revision:
0:dc35364e2291
Child:
1:3272ece36ce1
Added GNU Agreement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krmreynolds 0:dc35364e2291 1 /* mbed L3G4200D Library version 0.1
krmreynolds 0:dc35364e2291 2 * Copyright (c) 2012 Prediluted
krmreynolds 0:dc35364e2291 3 *
krmreynolds 0:dc35364e2291 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
krmreynolds 0:dc35364e2291 5 * of this software and associated documentation files (the "Software"), to deal
krmreynolds 0:dc35364e2291 6 * in the Software without restriction, including without limitation the rights
krmreynolds 0:dc35364e2291 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
krmreynolds 0:dc35364e2291 8 * copies of the Software, and to permit persons to whom the Software is
krmreynolds 0:dc35364e2291 9 * furnished to do so, subject to the following conditions:
krmreynolds 0:dc35364e2291 10 *
krmreynolds 0:dc35364e2291 11 * The above copyright notice and this permission notice shall be included in
krmreynolds 0:dc35364e2291 12 * all copies or substantial portions of the Software.
krmreynolds 0:dc35364e2291 13 *
krmreynolds 0:dc35364e2291 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
krmreynolds 0:dc35364e2291 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
krmreynolds 0:dc35364e2291 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
krmreynolds 0:dc35364e2291 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
krmreynolds 0:dc35364e2291 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
krmreynolds 0:dc35364e2291 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
krmreynolds 0:dc35364e2291 20 * THE SOFTWARE.
krmreynolds 0:dc35364e2291 21 */
krmreynolds 0:dc35364e2291 22
krmreynolds 0:dc35364e2291 23 #ifndef L3G4200D_h
krmreynolds 0:dc35364e2291 24 #define L3G4200D_h
krmreynolds 0:dc35364e2291 25
krmreynolds 0:dc35364e2291 26 #include "mbed.h"
krmreynolds 0:dc35364e2291 27 #include <vector>
krmreynolds 0:dc35364e2291 28
krmreynolds 0:dc35364e2291 29 class L3G4200D {
krmreynolds 0:dc35364e2291 30
krmreynolds 0:dc35364e2291 31 public:
krmreynolds 0:dc35364e2291 32
krmreynolds 0:dc35364e2291 33 /**
krmreynolds 0:dc35364e2291 34 * Create an L3G4200D object connected to the specified I2C pins
krmreynolds 0:dc35364e2291 35 * @param sda I2C SDA pin
krmreynolds 0:dc35364e2291 36 * @param scl I2C SCL pin
krmreynolds 0:dc35364e2291 37 */
krmreynolds 0:dc35364e2291 38 L3G4200D( PinName sda, PinName scl );
krmreynolds 0:dc35364e2291 39 L3G4200D( void );
krmreynolds 0:dc35364e2291 40
krmreynolds 0:dc35364e2291 41 /**
krmreynolds 0:dc35364e2291 42 * Return status code of prevoius function call
krmreynolds 0:dc35364e2291 43 */
krmreynolds 0:dc35364e2291 44 inline int getStatus( void ) { return( _status ); }
krmreynolds 0:dc35364e2291 45
krmreynolds 0:dc35364e2291 46 /**
krmreynolds 0:dc35364e2291 47 * Read specified register content
krmreynolds 0:dc35364e2291 48 * @param reg register address
krmreynolds 0:dc35364e2291 49 */
krmreynolds 0:dc35364e2291 50 int registerRead( int reg );
krmreynolds 0:dc35364e2291 51
krmreynolds 0:dc35364e2291 52 /**
krmreynolds 0:dc35364e2291 53 * Write to specified register
krmreynolds 0:dc35364e2291 54 * @param reg register address
krmreynolds 0:dc35364e2291 55 * @parma data data to be written
krmreynolds 0:dc35364e2291 56 */
krmreynolds 0:dc35364e2291 57 void registerWrite( int reg, char data );
krmreynolds 0:dc35364e2291 58
krmreynolds 0:dc35364e2291 59 /**
krmreynolds 0:dc35364e2291 60 * read gyroscope vector
krmreynolds 0:dc35364e2291 61 */
krmreynolds 0:dc35364e2291 62 std::vector<short> read( void );
krmreynolds 0:dc35364e2291 63
krmreynolds 0:dc35364e2291 64 /**
krmreynolds 0:dc35364e2291 65 * Read angular velogity (in degrees per second)
krmreynolds 0:dc35364e2291 66 */
krmreynolds 0:dc35364e2291 67 std::vector<float> angularVelocity( void );
krmreynolds 0:dc35364e2291 68
krmreynolds 0:dc35364e2291 69 /**
krmreynolds 0:dc35364e2291 70 * Read temperature (in celsius)
krmreynolds 0:dc35364e2291 71 */
krmreynolds 0:dc35364e2291 72 int temperature( void );
krmreynolds 0:dc35364e2291 73
krmreynolds 0:dc35364e2291 74 // Device registers addresses
krmreynolds 0:dc35364e2291 75 static const int WHO_AM_I;
krmreynolds 0:dc35364e2291 76 static const int CTRL_REG1;
krmreynolds 0:dc35364e2291 77 static const int CTRL_REG2;
krmreynolds 0:dc35364e2291 78 static const int CTRL_REG3;
krmreynolds 0:dc35364e2291 79 static const int CTRL_REG4;
krmreynolds 0:dc35364e2291 80 static const int CTRL_REG5;
krmreynolds 0:dc35364e2291 81 static const int REFERENCE;
krmreynolds 0:dc35364e2291 82 static const int OUT_TEMP;
krmreynolds 0:dc35364e2291 83 static const int STATUS_REG;
krmreynolds 0:dc35364e2291 84 static const int OUT_X_L;
krmreynolds 0:dc35364e2291 85 static const int OUT_X_H;
krmreynolds 0:dc35364e2291 86 static const int OUT_Y_L;
krmreynolds 0:dc35364e2291 87 static const int OUT_Y_H;
krmreynolds 0:dc35364e2291 88 static const int OUT_Z_L;
krmreynolds 0:dc35364e2291 89 static const int OUT_Z_H;
krmreynolds 0:dc35364e2291 90 static const int FIFO_CTRL_REG;
krmreynolds 0:dc35364e2291 91 static const int FIFO_SRC_REG;
krmreynolds 0:dc35364e2291 92 static const int INT1_CFG;
krmreynolds 0:dc35364e2291 93 static const int INT1_SRC;
krmreynolds 0:dc35364e2291 94 static const int INT1_THS_XH;
krmreynolds 0:dc35364e2291 95 static const int INT1_THS_XL;
krmreynolds 0:dc35364e2291 96 static const int INT1_THS_YH;
krmreynolds 0:dc35364e2291 97 static const int INT1_THS_YL;
krmreynolds 0:dc35364e2291 98 static const int INT1_THS_ZH;
krmreynolds 0:dc35364e2291 99 static const int INT1_THS_ZL;
krmreynolds 0:dc35364e2291 100 static const int INT1_DURATION;
krmreynolds 0:dc35364e2291 101
krmreynolds 0:dc35364e2291 102 private:
krmreynolds 0:dc35364e2291 103
krmreynolds 0:dc35364e2291 104 int _status;
krmreynolds 0:dc35364e2291 105 I2C _i2c;
krmreynolds 0:dc35364e2291 106 char _bytes[7];
krmreynolds 0:dc35364e2291 107
krmreynolds 0:dc35364e2291 108 static const int GYR_ADDRESS;
krmreynolds 0:dc35364e2291 109
krmreynolds 0:dc35364e2291 110 };
krmreynolds 0:dc35364e2291 111
krmreynolds 0:dc35364e2291 112 #endif // L3G4200D_h