File content as of revision 57:d78497a079cf:

/* 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.
 */

#ifndef __L3GD20_H
#define __L3GD20_H

#include "mbed.h"

// register addresses

#define L3GD20_WHO_AM_I      0x0F

#define L3GD20_CTRL_REG1     0x20
#define L3GD20_CTRL_REG2     0x21
#define L3GD20_CTRL_REG3     0x22
#define L3GD20_CTRL_REG4     0x23
#define L3GD20_CTRL_REG5     0x24
#define L3GD20_REFERENCE     0x25
#define L3GD20_OUT_TEMP      0x26
#define L3GD20_STATUS_REG    0x27

#define L3GD20_OUT_X_L       0x28
#define L3GD20_OUT_X_H       0x29
#define L3GD20_OUT_Y_L       0x2A
#define L3GD20_OUT_Y_H       0x2B
#define L3GD20_OUT_Z_L       0x2C
#define L3GD20_OUT_Z_H       0x2D

#define L3GD20_FIFO_CTRL_REG 0x2E
#define L3GD20_FIFO_SRC_REG  0x2F

#define L3GD20_INT1_CFG      0x30
#define L3GD20_INT1_SRC      0x31
#define L3GD20_INT1_THS_XH   0x32
#define L3GD20_INT1_THS_XL   0x33
#define L3GD20_INT1_THS_YH   0x34
#define L3GD20_INT1_THS_YL   0x35
#define L3GD20_INT1_THS_ZH   0x36
#define L3GD20_INT1_THS_ZL   0x37
#define L3GD20_INT1_DURATION 0x38
#define L3GD20_LOW_ODR       0x39 // D20H

/** Interface library for the ST L3GD20 3-axis gyro
 *
 * Ported from Pololu L3GD20 library for Arduino by
 *
 * @code
 * #include "mbed.h"
 * #include "L3GD20.h"
 * L3GD20 gyro(p28, p27);
 * ...
 * int g[3];
 * gyro.read(g);
 * @endcode
 */
class L3GD20
{
    public:
        /** Create a new L3GD20 I2C interface
         * @param sda is the pin for the I2C SDA line
         * @param scl is the pin for the I2C SCL line
         */
        L3GD20(PinName sda, PinName scl);
        
        /** Read gyro values
         * @param g Array containing x, y, and z gyro values
         * @return g Array containing x, y, and z gyro values
         */
        bool read(float *gx, float *gy, float *gz);
        
    private:
            I2C _L3GD20;
        float gx, gy, gz;

        bool write_reg(int addr_i2c,int addr_reg, char v);
        bool read_reg(int addr_i2c,int addr_reg, char *v);
        bool recv(char sad, char sub, char *buf, int length);
};

#endif