Diff: L3G4200D.h

Revision:

1:3272ece36ce1

Parent:

0:dc35364e2291

--- a/L3G4200D.h	Thu Apr 12 13:47:23 2012 +0000
+++ b/L3G4200D.h	Mon Apr 23 14:31:08 2012 +0000
@@ -1,112 +1,62 @@
-/* mbed L3G4200D Library version 0.1
- * Copyright (c) 2012 Prediluted
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
 #ifndef L3G4200D_h
 #define L3G4200D_h
 
 #include "mbed.h"
-#include <vector>
+// register addresses
+
+#define L3G4200D_WHO_AM_I      0x0F
+
+#define L3G4200D_CTRL_REG1     0x20
+#define L3G4200D_CTRL_REG2     0x21
+#define L3G4200D_CTRL_REG3     0x22
+#define L3G4200D_CTRL_REG4     0x23
+#define L3G4200D_CTRL_REG5     0x24
+#define L3G4200D_REFERENCE     0x25
+#define L3G4200D_OUT_TEMP      0x26
+#define L3G4200D_STATUS_REG    0x27
+
+#define L3G4200D_OUT_X_L       0x28
+#define L3G4200D_OUT_X_H       0x29
+#define L3G4200D_OUT_Y_L       0x2A
+#define L3G4200D_OUT_Y_H       0x2B
+#define L3G4200D_OUT_Z_L       0x2C
+#define L3G4200D_OUT_Z_H       0x2D
+
+#define L3G4200D_FIFO_CTRL_REG 0x2E
+#define L3G4200D_FIFO_SRC_REG  0x2F
+
+#define L3G4200D_INT1_CFG      0x30
+#define L3G4200D_INT1_SRC      0x31
+#define L3G4200D_INT1_THS_XH   0x32
+#define L3G4200D_INT1_THS_XL   0x33
+#define L3G4200D_INT1_THS_YH   0x34
+#define L3G4200D_INT1_THS_YL   0x35
+#define L3G4200D_INT1_THS_ZH   0x36
+#define L3G4200D_INT1_THS_ZL   0x37
+#define L3G4200D_INT1_DURATION 0x38
+#define GYR_ADDRESS ( 0xD2 >> 1 )
+
+typedef unsigned char byte;
 
 class L3G4200D {
-
 public:
+    typedef struct Plane {
+        float x, y, z;
+    } Plane;
 
-   /**
-    * Create an L3G4200D object connected to the specified I2C pins
-    * @param sda I2C SDA pin
-    * @param scl I2C SCL pin
-    */
-   L3G4200D( PinName sda, PinName scl );
-   L3G4200D( void );
-  
-   /**
-    * Return status code of prevoius function call
-    */
-   inline int getStatus( void ) { return( _status ); }  
-   
-   /**
-    * Read specified register content
-    * @param reg register address
-    */  
-   int registerRead(  int reg );
-
-   /**
-    * Write to specified register
-    * @param reg register address
-    * @parma data data to be written
-    */     
-   void registerWrite( int reg, char data );
-  
-   /**
-    * read gyroscope vector
-    */
-   std::vector<short> read( void );
+    Plane g; // gyro angular velocity readings
+    I2C i2c;
+    L3G4200D(PinName, PinName);
 
-   /**
-    * Read angular velogity (in degrees per second)
-    */
-   std::vector<float> angularVelocity( void );
-   
-   /**
-    * Read temperature (in celsius)
-    */
-   int temperature( void );
+    void writeReg(byte reg, byte value);
+    char readReg(byte reg);
+
+    void read(void);
 
-   // Device registers addresses
-   static const int WHO_AM_I;
-   static const int CTRL_REG1;
-   static const int CTRL_REG2;
-   static const int CTRL_REG3;
-   static const int CTRL_REG4;
-   static const int CTRL_REG5;
-   static const int REFERENCE;
-   static const int OUT_TEMP;
-   static const int STATUS_REG;
-   static const int OUT_X_L;
-   static const int OUT_X_H;
-   static const int OUT_Y_L;
-   static const int OUT_Y_H;
-   static const int OUT_Z_L;
-   static const int OUT_Z_H;
-   static const int FIFO_CTRL_REG;
-   static const int FIFO_SRC_REG;
-   static const int INT1_CFG;
-   static const int INT1_SRC;
-   static const int INT1_THS_XH;
-   static const int INT1_THS_XL;
-   static const int INT1_THS_YH;
-   static const int INT1_THS_YL;
-   static const int INT1_THS_ZH;
-   static const int INT1_THS_ZL;
-   static const int INT1_DURATION;
-   
-private:
-
-   int _status;
-   I2C _i2c; 
-   char _bytes[7];
-   
-   static const int GYR_ADDRESS;   
-
+    // vector functions
+    static void vector_cross(const Plane *a, const Plane *b, Plane *out);
+    static float vector_dot(const Plane *a,const Plane *b);
+    static void vector_normalize(Plane *a);
 };
 
-#endif //  L3G4200D_h
\ No newline at end of file
+#endif