SCIboard_L3G4200DTR.cpp

00001 /* SCIboard(TM) L3G4200DTR.cpp
00002 Copyright (c) 2013 K. Andres
00003 
00004 Permission is hereby granted, free of charge, to any person obtaining a copy
00005 of this software and associated documentation files (the "Software"), to deal
00006 in the Software without restriction, including without limitation the rights
00007 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008 copies of the Software, and to permit persons to whom the Software is
00009 furnished to do so, subject to the following conditions:
00010 
00011 The above copyright notice and this permission notice shall be included in
00012 all copies or substantial portions of the Software.
00013 
00014 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020 THE SOFTWARE.
00021 */
00022 
00023 #include "SCIboard_L3G4200DTR.h"
00024 
00025 SCIboard_L3G4200DTR::SCIboard_L3G4200DTR(SCIboard_I2C *ptr_I2C, int iDR, int iBW, int iFS) {
00026    float FS[] = {250, 500, 2000};
00027    unsigned char data[2];
00028 
00029    pI2C = ptr_I2C;
00030 
00031    data[0] = GYRREG_CTRL_REG1;
00032    data[1] = 0x0F;                                  // 0xXF = Normal mode with Zen, Yen, Xen
00033    data[1] |= iDR << 6;
00034    data[1] |= iBW << 4;
00035    pI2C->writeRegs(L3G4200DTR_I2C_ADDR, data, 2);
00036 
00037    data[0] = GYRREG_CTRL_REG3;
00038    data[1] = 0x08;                                  // Data Ready on DRDY/INT2
00039    pI2C->writeRegs(L3G4200DTR_I2C_ADDR, data, 2);
00040 
00041    gyrSF = 32768.0 / FS[iFS];
00042    
00043    data[0] = GYRREG_CTRL_REG4;
00044    data[1] = iFS << 4;
00045    data[1] |= 0x80;                                  // Block Data Update
00046    pI2C->writeRegs(L3G4200DTR_I2C_ADDR, data, 2);
00047 }
00048 
00049 unsigned char SCIboard_L3G4200DTR::getDeviceID(void) {
00050     unsigned char data;
00051     pI2C->readRegs(L3G4200DTR_I2C_ADDR, GYRREG_WHO_AM_I, &data, 1);
00052     return data;
00053 }
00054 
00055 unsigned char SCIboard_L3G4200DTR::getStatus(void) {
00056     unsigned char data;
00057     pI2C->readRegs(L3G4200DTR_I2C_ADDR, GYRREG_STATUS, &data, 1);
00058     return data;
00059 }
00060 
00061 void SCIboard_L3G4200DTR::getData(float *rtn) {
00062     char data[6];
00063 
00064     pI2C->readRegs(L3G4200DTR_I2C_ADDR, GYRREG_OUT_X_L, (unsigned char*)data, 6);
00065 
00066     rtn[0] = float(short(data[1] << 8 | data[0])) / gyrSF;
00067     rtn[1] = float(short(data[3] << 8 | data[2])) / gyrSF;
00068     rtn[2] = float(short(data[5] << 8 | data[4])) / gyrSF;
00069 }
00070 
00071 void SCIboard_L3G4200DTR::getTemp(float *rtn) {
00072     unsigned char data;
00073     pI2C->readRegs(L3G4200DTR_I2C_ADDR, GYRREG_OUT_TEMP, &data, 1);
00074     *rtn = (char)data;
00075 }
00076