DCM Code ported from Arduino for FRDM-KL25Z
Dependents: minimu_data_capture minimu_data_capture
Fork of DCM_AHRS by
L3G4200D.h@1:3272ece36ce1, 2012-04-23 (annotated)
- Committer:
- krmreynolds
- Date:
- Mon Apr 23 14:31:08 2012 +0000
- Revision:
- 1:3272ece36ce1
- Parent:
- 0:dc35364e2291
Ported L3G4200D and LSM303 from the Polulu website, dropped the horrible code that someone else built
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
krmreynolds | 0:dc35364e2291 | 1 | #ifndef L3G4200D_h |
krmreynolds | 0:dc35364e2291 | 2 | #define L3G4200D_h |
krmreynolds | 0:dc35364e2291 | 3 | |
krmreynolds | 0:dc35364e2291 | 4 | #include "mbed.h" |
krmreynolds | 1:3272ece36ce1 | 5 | // register addresses |
krmreynolds | 1:3272ece36ce1 | 6 | |
krmreynolds | 1:3272ece36ce1 | 7 | #define L3G4200D_WHO_AM_I 0x0F |
krmreynolds | 1:3272ece36ce1 | 8 | |
krmreynolds | 1:3272ece36ce1 | 9 | #define L3G4200D_CTRL_REG1 0x20 |
krmreynolds | 1:3272ece36ce1 | 10 | #define L3G4200D_CTRL_REG2 0x21 |
krmreynolds | 1:3272ece36ce1 | 11 | #define L3G4200D_CTRL_REG3 0x22 |
krmreynolds | 1:3272ece36ce1 | 12 | #define L3G4200D_CTRL_REG4 0x23 |
krmreynolds | 1:3272ece36ce1 | 13 | #define L3G4200D_CTRL_REG5 0x24 |
krmreynolds | 1:3272ece36ce1 | 14 | #define L3G4200D_REFERENCE 0x25 |
krmreynolds | 1:3272ece36ce1 | 15 | #define L3G4200D_OUT_TEMP 0x26 |
krmreynolds | 1:3272ece36ce1 | 16 | #define L3G4200D_STATUS_REG 0x27 |
krmreynolds | 1:3272ece36ce1 | 17 | |
krmreynolds | 1:3272ece36ce1 | 18 | #define L3G4200D_OUT_X_L 0x28 |
krmreynolds | 1:3272ece36ce1 | 19 | #define L3G4200D_OUT_X_H 0x29 |
krmreynolds | 1:3272ece36ce1 | 20 | #define L3G4200D_OUT_Y_L 0x2A |
krmreynolds | 1:3272ece36ce1 | 21 | #define L3G4200D_OUT_Y_H 0x2B |
krmreynolds | 1:3272ece36ce1 | 22 | #define L3G4200D_OUT_Z_L 0x2C |
krmreynolds | 1:3272ece36ce1 | 23 | #define L3G4200D_OUT_Z_H 0x2D |
krmreynolds | 1:3272ece36ce1 | 24 | |
krmreynolds | 1:3272ece36ce1 | 25 | #define L3G4200D_FIFO_CTRL_REG 0x2E |
krmreynolds | 1:3272ece36ce1 | 26 | #define L3G4200D_FIFO_SRC_REG 0x2F |
krmreynolds | 1:3272ece36ce1 | 27 | |
krmreynolds | 1:3272ece36ce1 | 28 | #define L3G4200D_INT1_CFG 0x30 |
krmreynolds | 1:3272ece36ce1 | 29 | #define L3G4200D_INT1_SRC 0x31 |
krmreynolds | 1:3272ece36ce1 | 30 | #define L3G4200D_INT1_THS_XH 0x32 |
krmreynolds | 1:3272ece36ce1 | 31 | #define L3G4200D_INT1_THS_XL 0x33 |
krmreynolds | 1:3272ece36ce1 | 32 | #define L3G4200D_INT1_THS_YH 0x34 |
krmreynolds | 1:3272ece36ce1 | 33 | #define L3G4200D_INT1_THS_YL 0x35 |
krmreynolds | 1:3272ece36ce1 | 34 | #define L3G4200D_INT1_THS_ZH 0x36 |
krmreynolds | 1:3272ece36ce1 | 35 | #define L3G4200D_INT1_THS_ZL 0x37 |
krmreynolds | 1:3272ece36ce1 | 36 | #define L3G4200D_INT1_DURATION 0x38 |
krmreynolds | 1:3272ece36ce1 | 37 | #define GYR_ADDRESS ( 0xD2 >> 1 ) |
krmreynolds | 1:3272ece36ce1 | 38 | |
krmreynolds | 1:3272ece36ce1 | 39 | typedef unsigned char byte; |
krmreynolds | 0:dc35364e2291 | 40 | |
krmreynolds | 0:dc35364e2291 | 41 | class L3G4200D { |
krmreynolds | 0:dc35364e2291 | 42 | public: |
krmreynolds | 1:3272ece36ce1 | 43 | typedef struct Plane { |
krmreynolds | 1:3272ece36ce1 | 44 | float x, y, z; |
krmreynolds | 1:3272ece36ce1 | 45 | } Plane; |
krmreynolds | 0:dc35364e2291 | 46 | |
krmreynolds | 1:3272ece36ce1 | 47 | Plane g; // gyro angular velocity readings |
krmreynolds | 1:3272ece36ce1 | 48 | I2C i2c; |
krmreynolds | 1:3272ece36ce1 | 49 | L3G4200D(PinName, PinName); |
krmreynolds | 0:dc35364e2291 | 50 | |
krmreynolds | 1:3272ece36ce1 | 51 | void writeReg(byte reg, byte value); |
krmreynolds | 1:3272ece36ce1 | 52 | char readReg(byte reg); |
krmreynolds | 1:3272ece36ce1 | 53 | |
krmreynolds | 1:3272ece36ce1 | 54 | void read(void); |
krmreynolds | 0:dc35364e2291 | 55 | |
krmreynolds | 1:3272ece36ce1 | 56 | // vector functions |
krmreynolds | 1:3272ece36ce1 | 57 | static void vector_cross(const Plane *a, const Plane *b, Plane *out); |
krmreynolds | 1:3272ece36ce1 | 58 | static float vector_dot(const Plane *a,const Plane *b); |
krmreynolds | 1:3272ece36ce1 | 59 | static void vector_normalize(Plane *a); |
krmreynolds | 0:dc35364e2291 | 60 | }; |
krmreynolds | 0:dc35364e2291 | 61 | |
krmreynolds | 1:3272ece36ce1 | 62 | #endif |