EIC / L3GD20_SPI

L3GD20 Library using FIFO and Interrupt

Fork of L3GD20_SPI by Tatsuki Fukuda

L3GD20.cpp@2:be6daa938101, 2014-05-12 (annotated)

Committer:
lelect
Date:
Mon May 12 11:47:43 2014 +0000
Revision:
2:be6daa938101
Parent:
1:2ebc045424af
Child:
3:6e935e7cec72
interrupt setting change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lelect 0:175bf093daa8 1 #include "mbed.h"
lelect 0:175bf093daa8 2 #include "L3GD20.h"
lelect 0:175bf093daa8 3
lelect 0:175bf093daa8 4 L3GD20::L3GD20(PinName miso, PinName mosi, PinName scl, PinName cs,PinName interrupt2)
lelect 0:175bf093daa8 5 :_spi(miso,mosi,scl)
lelect 0:175bf093daa8 6 ,_cs(cs)
lelect 0:175bf093daa8 7 ,_int2(interrupt2)
lelect 0:175bf093daa8 8 {
lelect 0:175bf093daa8 9 _spi.format(8,3);
lelect 0:175bf093daa8 10 _spi.frequency(10000000);
lelect 0:175bf093daa8 11 int val;
lelect 0:175bf093daa8 12 read(null,&val);
lelect 0:175bf093daa8 13 read(WhoAmI,&val);
lelect 0:175bf093daa8 14 if(val==0x0F) { //Discover L3GD20
lelect 0:175bf093daa8 15 }
lelect 0:175bf093daa8 16 configReadOut();
lelect 0:175bf093daa8 17 statusReadOut();
lelect 0:175bf093daa8 18
lelect 0:175bf093daa8 19 }
lelect 0:175bf093daa8 20 void L3GD20::write(RESISTER reg,int val)
lelect 0:175bf093daa8 21 {
lelect 0:175bf093daa8 22 _cs=0;
lelect 0:175bf093daa8 23 _spi.write(reg);
lelect 0:175bf093daa8 24 _spi.write(val);
lelect 0:175bf093daa8 25 _cs=1;
lelect 0:175bf093daa8 26 }
lelect 0:175bf093daa8 27 void L3GD20::read(RESISTER reg,int* val)
lelect 0:175bf093daa8 28 {
lelect 0:175bf093daa8 29 _cs=0;
lelect 0:175bf093daa8 30 _spi.write(READ|reg);
lelect 0:175bf093daa8 31 (*val)=_spi.write(0x00);
lelect 0:175bf093daa8 32 _cs=1;
lelect 0:175bf093daa8 33 }
lelect 0:175bf093daa8 34
lelect 0:175bf093daa8 35 void L3GD20::start(DIRECTION enable)
lelect 0:175bf093daa8 36 {
lelect 0:175bf093daa8 37 _config.CTRL_REG1.B.Enable=enable;
lelect 0:175bf093daa8 38 _config.CTRL_REG1.b.PD=1;
lelect 0:175bf093daa8 39 write(CtrlReg1,_config.CTRL_REG1.word);
lelect 0:175bf093daa8 40 }
lelect 2:be6daa938101 41 void L3GD20::resetFIFO()
lelect 2:be6daa938101 42 {
lelect 2:be6daa938101 43 enableFIFO(BYPASSmode,none,20);
lelect 2:be6daa938101 44 enableFIFO(STREAMmode,watermark,20);
lelect 2:be6daa938101 45 }
lelect 0:175bf093daa8 46 void L3GD20::start(DIRECTION enable,void (*func)(anglerrates*))
lelect 0:175bf093daa8 47 {
lelect 0:175bf093daa8 48 userFunction=func;
lelect 0:175bf093daa8 49 _int2.rise(this,(&L3GD20::interrupt));
lelect 2:be6daa938101 50 resetFIFO();
lelect 0:175bf093daa8 51 start(enable);
lelect 0:175bf093daa8 52 }
lelect 0:175bf093daa8 53 void L3GD20::interrupt(void)
lelect 0:175bf093daa8 54 {
lelect 0:175bf093daa8 55 updateFIFO();
lelect 0:175bf093daa8 56 if(FIFO.status==L3GD20::watermark) {
lelect 0:175bf093daa8 57 while(_status.FIFO_SRC_REG.B.FSS!=0) {
lelect 1:2ebc045424af 58 read(&value,XYZ);
lelect 0:175bf093daa8 59 if(NULL!=userFunction) {
lelect 1:2ebc045424af 60 userFunction(&value);
lelect 0:175bf093daa8 61 }
lelect 2:be6daa938101 62 updateFIFO();
lelect 2:be6daa938101 63 if(FIFO.level==31) {
lelect 2:be6daa938101 64 resetFIFO();
lelect 2:be6daa938101 65 }
lelect 0:175bf093daa8 66 }
lelect 0:175bf093daa8 67 }
lelect 0:175bf093daa8 68 }
lelect 0:175bf093daa8 69 void L3GD20::stop()
lelect 0:175bf093daa8 70 {
lelect 0:175bf093daa8 71 _config.CTRL_REG1.word=_config.CTRL_REG1.word&0xF0;
lelect 0:175bf093daa8 72 write(CtrlReg1,_config.CTRL_REG1.word);
lelect 0:175bf093daa8 73 }
lelect 0:175bf093daa8 74 void L3GD20::sleep()
lelect 0:175bf093daa8 75 {
lelect 0:175bf093daa8 76 _config.CTRL_REG1.word=_config.CTRL_REG1.word&0xF8;
lelect 0:175bf093daa8 77 write(CtrlReg1,_config.CTRL_REG1.word);
lelect 0:175bf093daa8 78 }
lelect 0:175bf093daa8 79 void L3GD20::reboot()
lelect 0:175bf093daa8 80 {
lelect 0:175bf093daa8 81 _config.CTRL_REG5.b.BOOT=1;
lelect 0:175bf093daa8 82 write(CtrlReg5,_config.CTRL_REG5.word);
lelect 0:175bf093daa8 83 }
lelect 0:175bf093daa8 84 void L3GD20::read(anglerrates* val,DIRECTION direction)
lelect 0:175bf093daa8 85 {
lelect 0:175bf093daa8 86 if(direction&X) {
lelect 0:175bf093daa8 87 int x_l,x_h;
lelect 0:175bf093daa8 88 read(OutXL,&x_l);
lelect 0:175bf093daa8 89 read(OutXH,&x_h);
lelect 0:175bf093daa8 90 val->X=(x_l)|(x_h<<8);
lelect 0:175bf093daa8 91 }
lelect 0:175bf093daa8 92 if(direction&Y) {
lelect 0:175bf093daa8 93 int y_l,y_h;
lelect 0:175bf093daa8 94 read(OutYL,&y_l);
lelect 0:175bf093daa8 95 read(OutYH,&y_h);
lelect 0:175bf093daa8 96 val->Y=(y_l)|(y_h<<8);
lelect 0:175bf093daa8 97 }
lelect 0:175bf093daa8 98 if(direction&Z) {
lelect 0:175bf093daa8 99 int z_l,z_h;
lelect 0:175bf093daa8 100 read(OutZL,&z_l);
lelect 0:175bf093daa8 101 read(OutZH,&z_h);
lelect 0:175bf093daa8 102 val->Z=(z_l)|(z_h<<8);
lelect 0:175bf093daa8 103 }
lelect 0:175bf093daa8 104 if(_config.CTRL_REG4.B.FS==0x00) {
lelect 0:175bf093daa8 105 val->x=8.75*(float)val->X;
lelect 0:175bf093daa8 106 val->y=8.75*(float)val->Y;
lelect 0:175bf093daa8 107 val->z=8.75*(float)val->Z;
lelect 0:175bf093daa8 108 } else if(_config.CTRL_REG4.B.FS==0x01) {
lelect 0:175bf093daa8 109 val->x=17.5*(float)val->X;
lelect 0:175bf093daa8 110 val->y=17.5*(float)val->Y;
lelect 0:175bf093daa8 111 val->z=17.5*(float)val->Z;
lelect 0:175bf093daa8 112 } else if((_config.CTRL_REG4.B.FS==0x10)|(_config.CTRL_REG4.B.FS==0x11)) {
lelect 0:175bf093daa8 113 val->x=70.0*(float)val->X;
lelect 0:175bf093daa8 114 val->y=70.0*(float)val->Y;
lelect 0:175bf093daa8 115 val->z=70.0*(float)val->Z;
lelect 0:175bf093daa8 116 }
lelect 0:175bf093daa8 117 }
lelect 0:175bf093daa8 118 int L3GD20::readTemperature()
lelect 0:175bf093daa8 119 {
lelect 0:175bf093daa8 120 read(OutTemp,&_status.OUT_TEMP);
lelect 0:175bf093daa8 121 return _status.OUT_TEMP;
lelect 0:175bf093daa8 122 }
lelect 0:175bf093daa8 123 void L3GD20::enableFIFO(FIFO_mode mode,FIFOstatus interrupt,const int threshold)
lelect 0:175bf093daa8 124 {
lelect 0:175bf093daa8 125 _config.CTRL_REG5.b.FIFO_EN=1;
lelect 2:be6daa938101 126 _config.CTRL_REG3.word=0;
lelect 0:175bf093daa8 127 if(interrupt&empty) {
lelect 0:175bf093daa8 128 _config.CTRL_REG3.b.I2_Empty=1;
lelect 0:175bf093daa8 129 } else if(interrupt&watermark) {
lelect 0:175bf093daa8 130 _config.CTRL_REG3.b.I2_WTM=1;
lelect 0:175bf093daa8 131 } else if(interrupt&overrun) {
lelect 0:175bf093daa8 132 _config.CTRL_REG3.b.I2_ORun=1;
lelect 0:175bf093daa8 133 }
lelect 0:175bf093daa8 134 _config.FIFO_CTRL_REG.B.FM=mode;
lelect 2:be6daa938101 135 if(threshold<=0) {
lelect 2:be6daa938101 136 _config.FIFO_CTRL_REG.B.WTM=0;
lelect 2:be6daa938101 137 } else if(threshold<30) {
lelect 2:be6daa938101 138 _config.FIFO_CTRL_REG.B.WTM=31;
lelect 2:be6daa938101 139 } else {
lelect 0:175bf093daa8 140 _config.FIFO_CTRL_REG.B.WTM=threshold;
lelect 0:175bf093daa8 141 }
lelect 0:175bf093daa8 142 write(CtrlReg3,_config.CTRL_REG3.word);
lelect 0:175bf093daa8 143 write(CtrlReg5,_config.CTRL_REG5.word);
lelect 0:175bf093daa8 144 write(FIFOCtrlReg,_config.FIFO_CTRL_REG.word);
lelect 0:175bf093daa8 145 }
lelect 0:175bf093daa8 146 int L3GD20::updateFIFO(void)
lelect 0:175bf093daa8 147 {
lelect 0:175bf093daa8 148 read(FIFOSrcReg,&_status.FIFO_SRC_REG.word);
lelect 0:175bf093daa8 149 read(FIFOCtrlReg,&_config.FIFO_CTRL_REG.word);
lelect 0:175bf093daa8 150 if(_status.FIFO_SRC_REG.b.WTM) {
lelect 0:175bf093daa8 151 FIFO.status=watermark;
lelect 0:175bf093daa8 152 } else if(_status.FIFO_SRC_REG.b.EMPTY) {
lelect 0:175bf093daa8 153 FIFO.status=empty;
lelect 0:175bf093daa8 154 } else if(_status.FIFO_SRC_REG.b.OVR) {
lelect 0:175bf093daa8 155 FIFO.status=overrun;
lelect 0:175bf093daa8 156 } else {
lelect 0:175bf093daa8 157 FIFO.status=none;
lelect 0:175bf093daa8 158 }
lelect 0:175bf093daa8 159 FIFO.level=_status.FIFO_SRC_REG.B.FSS;
lelect 0:175bf093daa8 160 return FIFO.level;
lelect 0:175bf093daa8 161 }
lelect 0:175bf093daa8 162 void L3GD20::configReadOut(void)
lelect 0:175bf093daa8 163 {
lelect 0:175bf093daa8 164 read(CtrlReg1,&_config.CTRL_REG1.word);
lelect 0:175bf093daa8 165 read(CtrlReg2,&_config.CTRL_REG2.word);
lelect 0:175bf093daa8 166 read(CtrlReg3,&_config.CTRL_REG3.word);
lelect 0:175bf093daa8 167 read(CtrlReg4,&_config.CTRL_REG4.word);
lelect 0:175bf093daa8 168 read(CtrlReg5,&_config.CTRL_REG5.word);
lelect 0:175bf093daa8 169 read(Reference,&_config.REF_DATACAP.word);
lelect 0:175bf093daa8 170 read(FIFOCtrlReg,&_config.FIFO_CTRL_REG.word);
lelect 0:175bf093daa8 171 read(INT1Cfg,&_config.INT1_CFG.word);
lelect 0:175bf093daa8 172 read(INT1ThsXH,&_config.INT1_TSH_XH.word);
lelect 0:175bf093daa8 173 read(INT1ThsXL,&_config.INT1_TSH_XL.word);
lelect 0:175bf093daa8 174 read(INT1ThsYH,&_config.INT1_TSH_YH.word);
lelect 0:175bf093daa8 175 read(INT1ThsYL,&_config.INT1_TSH_YL.word);
lelect 0:175bf093daa8 176 read(INT1ThsZH,&_config.INT1_TSH_ZH.word);
lelect 0:175bf093daa8 177 read(INT1ThsZL,&_config.INT1_TSH_ZL.word);
lelect 0:175bf093daa8 178 read(INT1Duration,&_config.INT1_DURATION.word);
lelect 0:175bf093daa8 179 }
lelect 0:175bf093daa8 180
lelect 0:175bf093daa8 181 void L3GD20::statusReadOut(void)
lelect 0:175bf093daa8 182 {
lelect 0:175bf093daa8 183 read(OutTemp,&_status.OUT_TEMP);
lelect 0:175bf093daa8 184 read(StatusReg,&_status.STATUS_REG);
lelect 0:175bf093daa8 185 read(FIFOSrcReg,&_status.FIFO_SRC_REG.word);
lelect 0:175bf093daa8 186 read(INT1Src,&_status.INT1_SRC);
lelect 2:be6daa938101 187 }