Diff: L3GD20.cpp

Revision:

0:175bf093daa8

Child:

1:2ebc045424af

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3GD20.cpp	Mon May 12 05:59:12 2014 +0000
@@ -0,0 +1,189 @@
+#include "mbed.h"
+#include "L3GD20.h"
+
+L3GD20::L3GD20(PinName miso, PinName mosi, PinName scl, PinName cs,PinName interrupt2)
+    :_spi(miso,mosi,scl)
+    ,_cs(cs)
+    ,_int2(interrupt2)
+{
+    _spi.format(8,3);
+    _spi.frequency(10000000);
+    int val;
+    read(null,&val);
+    read(WhoAmI,&val);
+    if(val==0x0F) { //Discover L3GD20
+    }
+    configReadOut();
+    statusReadOut();
+
+}
+void L3GD20::write(RESISTER reg,int val)
+{
+    _cs=0;
+    _spi.write(reg);
+    _spi.write(val);
+    _cs=1;
+}
+void L3GD20::read(RESISTER reg,int* val)
+{
+    _cs=0;
+    _spi.write(READ|reg);
+    (*val)=_spi.write(0x00);
+    _cs=1;
+}
+
+void L3GD20::start(DIRECTION enable)
+{
+    _config.CTRL_REG1.B.Enable=enable;
+    _config.CTRL_REG1.b.PD=1;
+    write(CtrlReg1,_config.CTRL_REG1.word);
+}
+void L3GD20::start(DIRECTION enable,void (*func)(anglerrates*))
+{
+    reboot();
+    userFunction=func;
+    _int2.rise(this,(&L3GD20::interrupt));
+    start(enable);
+    enableFIFO(L3GD20::BYPASSmode,L3GD20::overrun,30);
+    enableFIFO(L3GD20::FIFOmode,L3GD20::watermark,30);
+}
+void L3GD20::interrupt(void)
+{
+    printf("call\r\n");
+    updateFIFO();
+    if(FIFO.status==L3GD20::watermark) {
+        while(_status.FIFO_SRC_REG.B.FSS!=0) {
+            read(&_value,XYZ);
+            updateFIFO();
+            if(NULL!=userFunction) {
+                userFunction(&_value);
+            }
+        }
+    }
+}
+void L3GD20::stop()
+{
+    _config.CTRL_REG1.word=_config.CTRL_REG1.word&0xF0;
+    write(CtrlReg1,_config.CTRL_REG1.word);
+}
+void L3GD20::sleep()
+{
+    _config.CTRL_REG1.word=_config.CTRL_REG1.word&0xF8;
+    write(CtrlReg1,_config.CTRL_REG1.word);
+}
+void L3GD20::reboot()
+{
+    _config.CTRL_REG5.b.BOOT=1;
+    write(CtrlReg5,_config.CTRL_REG5.word);
+}
+void L3GD20::read(anglerrates* val,DIRECTION direction)
+{
+    if(direction&X) {
+        int x_l,x_h;
+        read(OutXL,&x_l);
+        read(OutXH,&x_h);
+        val->X=(x_l)|(x_h<<8);
+    }
+    if(direction&Y) {
+        int y_l,y_h;
+        read(OutYL,&y_l);
+        read(OutYH,&y_h);
+        val->Y=(y_l)|(y_h<<8);
+    }
+    if(direction&Z) {
+        int z_l,z_h;
+        read(OutZL,&z_l);
+        read(OutZH,&z_h);
+        val->Z=(z_l)|(z_h<<8);
+    }
+    if(_config.CTRL_REG4.B.FS==0x00) {
+        val->x=8.75*(float)val->X;
+        val->y=8.75*(float)val->Y;
+        val->z=8.75*(float)val->Z;
+    } else if(_config.CTRL_REG4.B.FS==0x01) {
+        val->x=17.5*(float)val->X;
+        val->y=17.5*(float)val->Y;
+        val->z=17.5*(float)val->Z;
+    } else if((_config.CTRL_REG4.B.FS==0x10)|(_config.CTRL_REG4.B.FS==0x11)) {
+        val->x=70.0*(float)val->X;
+        val->y=70.0*(float)val->Y;
+        val->z=70.0*(float)val->Z;
+    }
+}
+int L3GD20::readTemperature()
+{
+    read(OutTemp,&_status.OUT_TEMP);
+    return _status.OUT_TEMP;
+}
+void L3GD20::enableFIFO(FIFO_mode mode,FIFOstatus interrupt,const int threshold)
+{
+    _config.CTRL_REG5.b.FIFO_EN=1;
+    if(interrupt&empty) {
+        _config.CTRL_REG3.b.I2_Empty=1;
+    } else if(interrupt&watermark) {
+        _config.CTRL_REG3.b.I2_WTM=1;
+    } else if(interrupt&overrun) {
+        _config.CTRL_REG3.b.I2_ORun=1;
+    }
+    _config.FIFO_CTRL_REG.B.FM=mode;
+    if((0<threshold)&&(threshold<31)) {
+        _config.FIFO_CTRL_REG.B.WTM=threshold;
+    } else {
+        _config.FIFO_CTRL_REG.B.WTM=30;
+    }
+    write(CtrlReg3,_config.CTRL_REG3.word);
+    write(CtrlReg5,_config.CTRL_REG5.word);
+    write(FIFOCtrlReg,_config.FIFO_CTRL_REG.word);
+}
+int L3GD20::updateFIFO(void)
+{
+    read(FIFOSrcReg,&_status.FIFO_SRC_REG.word);
+    read(FIFOCtrlReg,&_config.FIFO_CTRL_REG.word);
+
+    if(_status.FIFO_SRC_REG.b.WTM) {
+        FIFO.status=watermark;
+    } else if(_status.FIFO_SRC_REG.b.EMPTY) {
+        FIFO.status=empty;
+    } else if(_status.FIFO_SRC_REG.b.OVR) {
+        FIFO.status=overrun;
+    } else {
+        FIFO.status=none;
+    }
+    FIFO.level=_status.FIFO_SRC_REG.B.FSS;
+    return FIFO.level;
+}
+
+
+
+
+
+void L3GD20::configReadOut(void)
+{
+    read(CtrlReg1,&_config.CTRL_REG1.word);
+    read(CtrlReg2,&_config.CTRL_REG2.word);
+    read(CtrlReg3,&_config.CTRL_REG3.word);
+    read(CtrlReg4,&_config.CTRL_REG4.word);
+    read(CtrlReg5,&_config.CTRL_REG5.word);
+    read(Reference,&_config.REF_DATACAP.word);
+    read(FIFOCtrlReg,&_config.FIFO_CTRL_REG.word);
+    read(INT1Cfg,&_config.INT1_CFG.word);
+    read(INT1ThsXH,&_config.INT1_TSH_XH.word);
+    read(INT1ThsXL,&_config.INT1_TSH_XL.word);
+    read(INT1ThsYH,&_config.INT1_TSH_YH.word);
+    read(INT1ThsYL,&_config.INT1_TSH_YL.word);
+    read(INT1ThsZH,&_config.INT1_TSH_ZH.word);
+    read(INT1ThsZL,&_config.INT1_TSH_ZL.word);
+    read(INT1Duration,&_config.INT1_DURATION.word);
+}
+
+void L3GD20::statusReadOut(void)
+{
+    read(OutTemp,&_status.OUT_TEMP);
+    read(StatusReg,&_status.STATUS_REG);
+    read(FIFOSrcReg,&_status.FIFO_SRC_REG.word);
+    read(INT1Src,&_status.INT1_SRC);
+}
+
+
+
+