FXAS21000.h

00001 /* Copyright (c) 2010-2011 mbed.org, MIT License
00002 *
00003 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
00004 * and associated documentation files (the "Software"), to deal in the Software without
00005 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
00006 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
00007 * Software is furnished to do so, subject to the following conditions:
00008 *
00009 * The above copyright notice and this permission notice shall be included in all copies or
00010 * substantial portions of the Software.
00011 *
00012 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
00013 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00014 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
00015 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00016 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017 */
00018 
00019 #ifndef FXAS21000_H
00020 #define FXAS21000_H
00021 
00022 #include "mbed.h"
00023 
00024 
00025 /**
00026  * MMA8652 Slave Address
00027  */
00028 
00029 #define FXAS21000_SLAVE_ADDR (0x20 << 1)       //(0x20)
00030 
00031 // MMA8652 internal register addresses
00032 #define FXAS21000_STATUS 0x00
00033 #define FXAS21000_WHOAMI 0x0C
00034 #define FXAS21000_XYZ_DATA_CFG 0x0E
00035 #define FXAS21000_CTRL_REG0 0x0D
00036 #define FXAS21000_CTRL_REG1 0x13
00037 #define FXAS21000_WHOAMI_VAL 0xD1
00038 
00039 /**
00040  * FXAS21000 gyroscope on I2C
00041  */
00042 class FXAS21000
00043 {
00044 public:
00045     /**
00046      * FXAS21000 constructor
00047      *
00048      * @param sda SDA pin
00049      * @param sdl SCL pin
00050      */
00051     FXAS21000(PinName sda, PinName scl);
00052  
00053     /**
00054      * Get the Gyro values as floating point degrees / second
00055      *
00056      * @param floating point array where the results will be placed
00057      */
00058     void ReadXYZ(float * a);
00059 
00060     /**
00061      * Get the Gyro values as signed 16 bit value
00062      *
00063      * @param int16_t point array where the results will be placed
00064      */
00065     void ReadXYZraw(int16_t * t);
00066    
00067     /**
00068      * Get the value of the WHO_AM_I register
00069      *
00070      * @returns DEVICE_ID value == 0xD1
00071      */
00072     char getWhoAmI(void);
00073     
00074 private:
00075     I2C _i2c;
00076 
00077     /**
00078      * Set the device in active mode
00079      */
00080     void begin( void);
00081     
00082     void RegRead( char reg, char * d, int len);
00083 };
00084 
00085 #endif
00086