FTE-denshi / Mbed 2 deprecated FTE-06

東北大学学友会準加盟団体 From The Earth の高高度ロケットFTE-06（通称：海豚）にて使用したソフトウェアです．ご自由にお使いください．このプログラムによって生じた損害について当団体は一切責任を負いません．また，各モジュールのライブラリは当団体が作成したものではないので再配布は禁止します．

Dependencies:   mbed FATFileSystem

Fork of FTE-06 by Tetsushi Amano

L3GD20/L3GD20.cpp@57:d78497a079cf, 2017-08-25 (annotated)

Committer:
mizuki_akaike
Date:
Fri Aug 25 03:42:30 2017 +0000
Revision:
57:d78497a079cf
Parent:
23:9be034083282 
??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mizuki_akaike 23:9be034083282 1 /**
mizuki_akaike 23:9be034083282 2 * Copyright (c) 2011 Pololu Corporation. For more information, see
mizuki_akaike 23:9be034083282 3 *
mizuki_akaike 23:9be034083282 4 * http://www.pololu.com/
mizuki_akaike 23:9be034083282 5 * http://forum.pololu.com/
mizuki_akaike 23:9be034083282 6 *
mizuki_akaike 23:9be034083282 7 * Permission is hereby granted, free of charge, to any person
mizuki_akaike 23:9be034083282 8 * obtaining a copy of this software and associated documentation
mizuki_akaike 23:9be034083282 9 * files (the "Software"), to deal in the Software without
mizuki_akaike 23:9be034083282 10 * restriction, including without limitation the rights to use,
mizuki_akaike 23:9be034083282 11 * copy, modify, merge, publish, distribute, sublicense, and/or sell
mizuki_akaike 23:9be034083282 12 * copies of the Software, and to permit persons to whom the
mizuki_akaike 23:9be034083282 13 * Software is furnished to do so, subject to the following
mizuki_akaike 23:9be034083282 14 * conditions:
mizuki_akaike 23:9be034083282 15 *
mizuki_akaike 23:9be034083282 16 * The above copyright notice and this permission notice shall be
mizuki_akaike 23:9be034083282 17 * included in all copies or substantial portions of the Software.
mizuki_akaike 23:9be034083282 18 *
mizuki_akaike 23:9be034083282 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
mizuki_akaike 23:9be034083282 20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
mizuki_akaike 23:9be034083282 21 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
mizuki_akaike 23:9be034083282 22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
mizuki_akaike 23:9be034083282 23 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
mizuki_akaike 23:9be034083282 24 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
mizuki_akaike 23:9be034083282 25 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
mizuki_akaike 23:9be034083282 26 * OTHER DEALINGS IN THE SOFTWARE.
mizuki_akaike 23:9be034083282 27 */
mizuki_akaike 23:9be034083282 28
mizuki_akaike 23:9be034083282 29 #include "mbed.h"
mizuki_akaike 23:9be034083282 30 #include "L3GD20.h"
mizuki_akaike 23:9be034083282 31
mizuki_akaike 23:9be034083282 32
mizuki_akaike 23:9be034083282 33 // Defines ////////////////////////////////////////////////////////////////
mizuki_akaike 23:9be034083282 34
mizuki_akaike 23:9be034083282 35 // The Arduino two-wire interface uses a 7-bit number for the address,
mizuki_akaike 23:9be034083282 36 // and sets the last bit correctly based on reads and writes
mizuki_akaike 23:9be034083282 37 // mbed I2C libraries take the 7-bit address shifted left 1 bit
mizuki_akaike 23:9be034083282 38 // #define GYR_ADDRESS (0xD2 >> 1)
mizuki_akaike 23:9be034083282 39 #define GYR_ADDRESS 0xD6
mizuki_akaike 23:9be034083282 40
mizuki_akaike 23:9be034083282 41
mizuki_akaike 23:9be034083282 42 // Public Methods //////////////////////////////////////////////////////////////
mizuki_akaike 23:9be034083282 43
mizuki_akaike 23:9be034083282 44 // Constructor
mizuki_akaike 23:9be034083282 45 L3GD20::L3GD20(PinName sda, PinName scl):
mizuki_akaike 23:9be034083282 46 _L3GD20(sda, scl)
mizuki_akaike 23:9be034083282 47 {
mizuki_akaike 23:9be034083282 48 char reg_v;
mizuki_akaike 23:9be034083282 49 _L3GD20.frequency(200000);
mizuki_akaike 23:9be034083282 50
mizuki_akaike 23:9be034083282 51 reg_v = 0;
mizuki_akaike 23:9be034083282 52 write_reg(GYR_ADDRESS,L3GD20_LOW_ODR,reg_v);
mizuki_akaike 23:9be034083282 53
mizuki_akaike 23:9be034083282 54 // 0x6F
mizuki_akaike 23:9be034083282 55 // DR = 01 (200 Hz ODR); BW = 10 (50 Hz bandwidth); PD = 1 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)
mizuki_akaike 23:9be034083282 56 reg_v = 0;
mizuki_akaike 23:9be034083282 57 reg_v |= 0x6F;
mizuki_akaike 23:9be034083282 58 write_reg(GYR_ADDRESS,L3GD20_CTRL_REG1,reg_v);
mizuki_akaike 23:9be034083282 59
mizuki_akaike 23:9be034083282 60
mizuki_akaike 23:9be034083282 61
mizuki_akaike 23:9be034083282 62 }
mizuki_akaike 23:9be034083282 63
mizuki_akaike 23:9be034083282 64
mizuki_akaike 23:9be034083282 65
mizuki_akaike 23:9be034083282 66 bool L3GD20::read(float *gx, float *gy, float *gz) {
mizuki_akaike 23:9be034083282 67 char gyr[6];
mizuki_akaike 23:9be034083282 68
mizuki_akaike 23:9be034083282 69 if (recv(GYR_ADDRESS, L3GD20_OUT_X_L, gyr, 6)) {
mizuki_akaike 23:9be034083282 70 //scale is 8.75 mdps/digit
mizuki_akaike 23:9be034083282 71 *gx = float(short(gyr[1] << 8 | gyr[0]))*0.00875;
mizuki_akaike 23:9be034083282 72 *gy = float(short(gyr[3] << 8 | gyr[2]))*0.00875;
mizuki_akaike 23:9be034083282 73 *gz = float(short(gyr[5] << 8 | gyr[4]))*0.00875;
mizuki_akaike 23:9be034083282 74
mizuki_akaike 23:9be034083282 75
mizuki_akaike 23:9be034083282 76 return true;
mizuki_akaike 23:9be034083282 77 }
mizuki_akaike 23:9be034083282 78
mizuki_akaike 23:9be034083282 79 return false;
mizuki_akaike 23:9be034083282 80 }
mizuki_akaike 23:9be034083282 81
mizuki_akaike 23:9be034083282 82
mizuki_akaike 23:9be034083282 83
mizuki_akaike 23:9be034083282 84
mizuki_akaike 23:9be034083282 85 bool L3GD20::write_reg(int addr_i2c,int addr_reg, char v)
mizuki_akaike 23:9be034083282 86 {
mizuki_akaike 23:9be034083282 87 char data[2] = {addr_reg, v};
mizuki_akaike 23:9be034083282 88 return L3GD20::_L3GD20.write(addr_i2c, data, 2) == 0;
mizuki_akaike 23:9be034083282 89 }
mizuki_akaike 23:9be034083282 90
mizuki_akaike 23:9be034083282 91 bool L3GD20::read_reg(int addr_i2c,int addr_reg, char *v)
mizuki_akaike 23:9be034083282 92 {
mizuki_akaike 23:9be034083282 93 char data = addr_reg;
mizuki_akaike 23:9be034083282 94 bool result = false;
mizuki_akaike 23:9be034083282 95
mizuki_akaike 23:9be034083282 96 __disable_irq();
mizuki_akaike 23:9be034083282 97 if ((_L3GD20.write(addr_i2c, &data, 1) == 0) && (_L3GD20.read(addr_i2c, &data, 1) == 0)){
mizuki_akaike 23:9be034083282 98 *v = data;
mizuki_akaike 23:9be034083282 99 result = true;
mizuki_akaike 23:9be034083282 100 }
mizuki_akaike 23:9be034083282 101 __enable_irq();
mizuki_akaike 23:9be034083282 102 return result;
mizuki_akaike 23:9be034083282 103 }
mizuki_akaike 23:9be034083282 104
mizuki_akaike 23:9be034083282 105
mizuki_akaike 23:9be034083282 106 bool L3GD20::recv(char sad, char sub, char *buf, int length) {
mizuki_akaike 23:9be034083282 107 if (length > 1) sub |= 0x80;
mizuki_akaike 23:9be034083282 108
mizuki_akaike 23:9be034083282 109 return _L3GD20.write(sad, &sub, 1, true) == 0 && _L3GD20.read(sad, buf, length) == 0;
mizuki_akaike 23:9be034083282 110 }