EIC / L3GD20_SPI

L3GD20 Library using FIFO and Interrupt

Fork of L3GD20_SPI by Tatsuki Fukuda

L3GD20.h@0:175bf093daa8, 2014-05-12 (annotated)

Committer:
lelect
Date:
Mon May 12 05:59:12 2014 +0000
Revision:
0:175bf093daa8
Child:
1:2ebc045424af
test commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lelect 0:175bf093daa8 1 #ifndef MBED_SPI
lelect 0:175bf093daa8 2 #define MBED_SPI
lelect 0:175bf093daa8 3 #include "mbed.h"
lelect 0:175bf093daa8 4 #include "L3GD20_Resister.h"
lelect 0:175bf093daa8 5 /** @file
lelect 0:175bf093daa8 6 *
lelect 0:175bf093daa8 7 * This is test program.
lelect 0:175bf093daa8 8 */
lelect 0:175bf093daa8 9 class L3GD20
lelect 0:175bf093daa8 10 {
lelect 0:175bf093daa8 11 public:
lelect 0:175bf093daa8 12 L3GD20(PinName miso, PinName mosi, PinName scl, PinName cs,PinName interrupt2=NC);
lelect 0:175bf093daa8 13 typedef enum {
lelect 0:175bf093daa8 14 null=0x00,WhoAmI=0x0F,CtrlReg1=0x20,CtrlReg2=0x21,CtrlReg3=0x22,CtrlReg4=0x23,CtrlReg5=0x24,Reference=0x25,OutTemp=0x26,StatusReg=0x27,OutXL=0x28,OutXH=0x29,OutYL=0x2A,OutYH=0x2B,OutZL=0x2C,OutZH=0x2D,FIFOCtrlReg=0x2E,FIFOSrcReg=0x2F,INT1Cfg=0x30,INT1Src=0x31,INT1ThsXH=0x32,INT1ThsXL=0x33,INT1ThsYH=0x34,INT1ThsYL=0x35,INT1ThsZH=0x36,INT1ThsZL=0x37,INT1Duration=0x38,READ=0x80
lelect 0:175bf093daa8 15 } RESISTER;
lelect 0:175bf093daa8 16 typedef enum {
lelect 0:175bf093daa8 17 Y=0x1,X=0x1<<1,Z=0x1<<2,XY=X|Y,XZ=X|Z,YZ=Y|Z,XYZ=X|Y|Z
lelect 0:175bf093daa8 18 } DIRECTION;
lelect 0:175bf093daa8 19 typedef enum {
lelect 0:175bf093daa8 20 BYPASSmode=0x0,FIFOmode,STREAMmode,STREAMtoFIFOmode,BYPASStoSTREAMmode
lelect 0:175bf093daa8 21 } FIFO_mode;
lelect 0:175bf093daa8 22 typedef enum {
lelect 0:175bf093daa8 23 none=0,empty,watermark,overrun
lelect 0:175bf093daa8 24 } FIFOstatus;
lelect 0:175bf093daa8 25 struct tagFIFO {
lelect 0:175bf093daa8 26 FIFOstatus status;
lelect 0:175bf093daa8 27 int level;
lelect 0:175bf093daa8 28 } FIFO;
lelect 0:175bf093daa8 29 struct config {
lelect 0:175bf093daa8 30 //read and write resister
lelect 0:175bf093daa8 31 union CTRL_REG1 CTRL_REG1;
lelect 0:175bf093daa8 32 union CTRL_REG2 CTRL_REG2;
lelect 0:175bf093daa8 33 union CTRL_REG3 CTRL_REG3;
lelect 0:175bf093daa8 34 union CTRL_REG4 CTRL_REG4;
lelect 0:175bf093daa8 35 union CTRL_REG5 CTRL_REG5;
lelect 0:175bf093daa8 36 union REF_DATACAP REF_DATACAP;
lelect 0:175bf093daa8 37 union OUT_TEMP OUT_TEMP;
lelect 0:175bf093daa8 38 union STATUS_REG STATUS_REG;
lelect 0:175bf093daa8 39 union FIFO_CTRL_REG FIFO_CTRL_REG;
lelect 0:175bf093daa8 40 union INT1_CFG INT1_CFG;
lelect 0:175bf093daa8 41 union INT1_TSH_XH INT1_TSH_XH;
lelect 0:175bf093daa8 42 union INT1_TSH_XL INT1_TSH_XL;
lelect 0:175bf093daa8 43 union INT1_TSH_YH INT1_TSH_YH;
lelect 0:175bf093daa8 44 union INT1_TSH_YL INT1_TSH_YL;
lelect 0:175bf093daa8 45 union INT1_TSH_ZH INT1_TSH_ZH;
lelect 0:175bf093daa8 46 union INT1_TSH_ZL INT1_TSH_ZL;
lelect 0:175bf093daa8 47 union INT1_DURATION INT1_DURATION;
lelect 0:175bf093daa8 48 } _config;
lelect 0:175bf093daa8 49 struct status {
lelect 0:175bf093daa8 50 //read only resister
lelect 0:175bf093daa8 51 int OUT_TEMP;
lelect 0:175bf093daa8 52 int STATUS_REG;
lelect 0:175bf093daa8 53 union FIFO_SRC_REG FIFO_SRC_REG;
lelect 0:175bf093daa8 54 int INT1_SRC;
lelect 0:175bf093daa8 55 } _status;
lelect 0:175bf093daa8 56 //Class method
lelect 0:175bf093daa8 57 /** Power_OnOff
lelect 0:175bf093daa8 58 *
lelect 0:175bf093daa8 59 * @param enable L3GD20 channel
lelect 0:175bf093daa8 60 */
lelect 0:175bf093daa8 61 void start(DIRECTION enable);
lelect 0:175bf093daa8 62 void start(DIRECTION enable,void (*func)(anglerrates*));
lelect 0:175bf093daa8 63 /** stop sampling
lelect 0:175bf093daa8 64 */
lelect 0:175bf093daa8 65 void stop();
lelect 0:175bf093daa8 66 void sleep();
lelect 0:175bf093daa8 67 //only read data and calcurate dps
lelect 0:175bf093daa8 68 void read(anglerrates* val,DIRECTION direction);
lelect 0:175bf093daa8 69 //only read temperature (I don't know meanig of this data)
lelect 0:175bf093daa8 70 int readTemperature();
lelect 0:175bf093daa8 71 //L3GD20mode change need reset(bypass) when filled FIFObuffor
lelect 0:175bf093daa8 72 void enableFIFO(FIFO_mode mode,FIFOstatus interrupt,const int threshold);
lelect 0:175bf093daa8 73 //status Update
lelect 0:175bf093daa8 74 int updateFIFO(void);
lelect 0:175bf093daa8 75 anglerrates _value;
lelect 0:175bf093daa8 76 protected:
lelect 0:175bf093daa8 77 //write command to resister
lelect 0:175bf093daa8 78 void write(RESISTER reg,int val);
lelect 0:175bf093daa8 79 //read resister for resister
lelect 0:175bf093daa8 80 void read(RESISTER reg,int* val);
lelect 0:175bf093daa8 81 //just send reboot command
lelect 0:175bf093daa8 82 void reboot();
lelect 0:175bf093daa8 83 //read all configration rester
lelect 0:175bf093daa8 84 void configReadOut(void);
lelect 0:175bf093daa8 85 //read all status rester
lelect 0:175bf093daa8 86 void statusReadOut(void);
lelect 0:175bf093daa8 87 //for InterruptIn function ,call userFunction in this methed
lelect 0:175bf093daa8 88 void interrupt(void);
lelect 0:175bf093daa8 89 /*
lelect 0:175bf093daa8 90 void datarate(uint8_t rate,uint8_t bandwidth);
lelect 0:175bf093daa8 91 void setDataFormat();
lelect 0:175bf093daa8 92 void filter(uint8_t mode,uint8_t frequency);
lelect 0:175bf093daa8 93 void channelSource(uint8_t channnel,uint8_t dataSelection,uint8_t interruptSelection);
lelect 0:175bf093daa8 94 void FIFO(uint8_t mode,uint8_t watermark);
lelect 0:175bf093daa8 95 void interrupt(uint8_t source,uint8_t threthold,uint8_t duration,uint8_t Wait);
lelect 0:175bf093daa8 96 */
lelect 0:175bf093daa8 97 void (*userFunction)(anglerrates*);
lelect 0:175bf093daa8 98 SPI _spi;
lelect 0:175bf093daa8 99 DigitalOut _cs;
lelect 0:175bf093daa8 100 InterruptIn _int2;
lelect 0:175bf093daa8 101 };
lelect 0:175bf093daa8 102
lelect 0:175bf093daa8 103 #endif