Reimplemented FXAS21000 library for Freescale Gyro
Fork of FXAS21000 by
FXAS21000.h
- Committer:
- Mashu
- Date:
- 2015-07-08
- Revision:
- 4:41bd7f360406
- Parent:
- 3:a8f83b52f4df
File content as of revision 4:41bd7f360406:
/* Copyright (c) 2010-2011 mbed.org, MIT License * * 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 FXAS21000_H #define FXAS21000_H #include "mbed.h" #include "MotionSensor.h" /** * FXAS21000 Slave Address */ #define FXAS21000_SLAVE_ADDR 0x40 // FXAS21000 internal register addresses #define FXAS21000_STATUS 0x00 #define FXAS21000_WHOAMI 0x0C #define FXAS21000_XYZ_DATA_CFG 0x0E #define FXAS21000_CTRL_REG0 0x0D #define FXAS21000_CTRL_REG1 0x13 #define FXAS21000_WHOAMI_VAL 0xD1 #define FXAS21000_OUT_X_MSB 0x01 #define FXAS21000_OUT_Y_MSB 0x03 #define FXAS21000_OUT_Z_MSB 0x05 /** * FXAS21000 driver class */ class FXAS21000 : public MotionSensor { public: /** Read a device register @param addr The address to read from @param data The data to read from it @param len The amount of data to read from it @return 0 if successful, negative number otherwise */ void readRegs(uint8_t addr, uint8_t *data, uint32_t len) const; /** Read the ID from a whoAmI register @return The device whoAmI register contents */ uint8_t whoAmI(void) const; virtual void enable(void) const; virtual void disable(void) const; virtual uint32_t sampleRate(uint32_t frequency) const; virtual uint32_t dataReady(void) const; protected: I2C *_i2c; uint8_t _addr; /** FXAS21000 constructor @param i2c a configured i2c object @param addr addr of the I2C peripheral as wired */ FXAS21000(I2C &i2c, uint8_t addr); /** FXAS21000 deconstructor */ ~FXAS21000(); void writeRegs(uint8_t *data, uint32_t len) const; int16_t getSensorAxis(uint8_t addr) const; }; /** FXAS21000Gyroscpe interface */ class FXAS21000Gyroscpe : public FXAS21000 { public: FXAS21000Gyroscpe(I2C &i2c, uint8_t addr) : FXAS21000(i2c, addr) {} virtual int16_t getX(int16_t &x) const; virtual int16_t getY(int16_t &y) const; virtual int16_t getZ(int16_t &z) const; virtual float getX(float &x) const; virtual float getY(float &y) const; virtual float getZ(float &z) const; virtual void getAxis(motion_data_counts_t &xyz) const; virtual void getAxis(motion_data_units_t &xyz) const; }; #endif