File content as of revision 23:9be034083282:

/**
 * Copyright (c) 2011 Pololu Corporation.  For more information, see
 * 
 * http://www.pololu.com/
 * http://forum.pololu.com/
 * 
 * Permission is hereby granted, free of charge, to any person
 * obtaining a copy of this software and associated documentation
 * files (the "Software"), to deal in the Software without
 * restriction, including without limitation the rights to use,
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following
 * conditions:
 * 
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
 * OTHER DEALINGS IN THE SOFTWARE.
 */
 
 #include "mbed.h"
 #include "L3GD20.h"


// Defines ////////////////////////////////////////////////////////////////

// The Arduino two-wire interface uses a 7-bit number for the address, 
// and sets the last bit correctly based on reads and writes
// mbed I2C libraries take the 7-bit address shifted left 1 bit
// #define GYR_ADDRESS (0xD2 >> 1)
#define GYR_ADDRESS 0xD6


// Public Methods //////////////////////////////////////////////////////////////

// Constructor
L3GD20::L3GD20(PinName sda, PinName scl):
    _L3GD20(sda, scl)
{
    char reg_v;
    _L3GD20.frequency(200000);
    
    reg_v = 0;          
    write_reg(GYR_ADDRESS,L3GD20_LOW_ODR,reg_v);
    
  // 0x6F
  // DR = 01 (200 Hz ODR); BW = 10 (50 Hz bandwidth); PD = 1 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)
    reg_v = 0;    
    reg_v |= 0x6F;       
    write_reg(GYR_ADDRESS,L3GD20_CTRL_REG1,reg_v);
    


}



bool L3GD20::read(float *gx, float *gy, float *gz) {
    char gyr[6];
 
    if (recv(GYR_ADDRESS, L3GD20_OUT_X_L, gyr, 6)) {
    //scale is 8.75 mdps/digit
        *gx = float(short(gyr[1] << 8 | gyr[0]))*0.00875;  
        *gy =  float(short(gyr[3] << 8 | gyr[2]))*0.00875;
        *gz =  float(short(gyr[5] << 8 | gyr[4]))*0.00875;

 
        return true;
    }
 
    return false;
}




bool L3GD20::write_reg(int addr_i2c,int addr_reg, char v)
{
    char data[2] = {addr_reg, v}; 
    return L3GD20::_L3GD20.write(addr_i2c, data, 2) == 0;
}

bool L3GD20::read_reg(int addr_i2c,int addr_reg, char *v)
{
    char data = addr_reg; 
    bool result = false;
    
    __disable_irq();
    if ((_L3GD20.write(addr_i2c, &data, 1) == 0) && (_L3GD20.read(addr_i2c, &data, 1) == 0)){
        *v = data;
        result = true;
    }
    __enable_irq();
    return result;
}


bool L3GD20::recv(char sad, char sub, char *buf, int length) {
    if (length > 1) sub |= 0x80;
 
    return _L3GD20.write(sad, &sub, 1, true) == 0 && _L3GD20.read(sad, buf, length) == 0;
}