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L3G4200D.cpp@0:13307e4676f9, 2012-06-01 (annotated)

Committer:: SED9008
Date:: Fri Jun 01 08:17:13 2012 +0000
Revision:: 0:13307e4676f9

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User	Revision	Line number	New contents of line
SED9008	0:13307e4676f9	1	/**
SED9008	0:13307e4676f9	2	* Copyright (c) 2011 Pololu Corporation. For more information, see
SED9008	0:13307e4676f9	3	*
SED9008	0:13307e4676f9	4	* http://www.pololu.com/
SED9008	0:13307e4676f9	5	* http://forum.pololu.com/
SED9008	0:13307e4676f9	6	*
SED9008	0:13307e4676f9	7	* Permission is hereby granted, free of charge, to any person
SED9008	0:13307e4676f9	8	* obtaining a copy of this software and associated documentation
SED9008	0:13307e4676f9	9	* files (the "Software"), to deal in the Software without
SED9008	0:13307e4676f9	10	* restriction, including without limitation the rights to use,
SED9008	0:13307e4676f9	11	* copy, modify, merge, publish, distribute, sublicense, and/or sell
SED9008	0:13307e4676f9	12	* copies of the Software, and to permit persons to whom the
SED9008	0:13307e4676f9	13	* Software is furnished to do so, subject to the following
SED9008	0:13307e4676f9	14	* conditions:
SED9008	0:13307e4676f9	15	*
SED9008	0:13307e4676f9	16	* The above copyright notice and this permission notice shall be
SED9008	0:13307e4676f9	17	* included in all copies or substantial portions of the Software.
SED9008	0:13307e4676f9	18	*
SED9008	0:13307e4676f9	19	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
SED9008	0:13307e4676f9	20	* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
SED9008	0:13307e4676f9	21	* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
SED9008	0:13307e4676f9	22	* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
SED9008	0:13307e4676f9	23	* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
SED9008	0:13307e4676f9	24	* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
SED9008	0:13307e4676f9	25	* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
SED9008	0:13307e4676f9	26	* OTHER DEALINGS IN THE SOFTWARE.
SED9008	0:13307e4676f9	27	*/
SED9008	0:13307e4676f9	28
SED9008	0:13307e4676f9	29	#include "mbed.h"
SED9008	0:13307e4676f9	30	#include <L3G4200D.h>
SED9008	0:13307e4676f9	31	#include <math.h>
SED9008	0:13307e4676f9	32
SED9008	0:13307e4676f9	33	// Defines ////////////////////////////////////////////////////////////////
SED9008	0:13307e4676f9	34
SED9008	0:13307e4676f9	35	// The Arduino two-wire interface uses a 7-bit number for the address,
SED9008	0:13307e4676f9	36	// and sets the last bit correctly based on reads and writes
SED9008	0:13307e4676f9	37	// mbed I2C libraries take the 7-bit address shifted left 1 bit
SED9008	0:13307e4676f9	38	// #define GYR_ADDRESS (0xD2 >> 1)
SED9008	0:13307e4676f9	39	#define GYR_ADDRESS 0xD1
SED9008	0:13307e4676f9	40
SED9008	0:13307e4676f9	41	// Public Methods //////////////////////////////////////////////////////////////
SED9008	0:13307e4676f9	42
SED9008	0:13307e4676f9	43	// Constructor
SED9008	0:13307e4676f9	44	L3G4200D::L3G4200D(PinName sda, PinName scl):
SED9008	0:13307e4676f9	45	_device(sda, scl)
SED9008	0:13307e4676f9	46	{
SED9008	0:13307e4676f9	47	_device.frequency(400000);
SED9008	0:13307e4676f9	48	// Turns on the L3G4200D's gyro and places it in normal mode.
SED9008	0:13307e4676f9	49	// 0x0F = 0b00001111
SED9008	0:13307e4676f9	50	// Normal power mode, all axes enabled
SED9008	0:13307e4676f9	51	writeReg(L3G4200D_CTRL_REG1, 0x0F);
SED9008	0:13307e4676f9	52	writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale
SED9008	0:13307e4676f9	53
SED9008	0:13307e4676f9	54	}
SED9008	0:13307e4676f9	55
SED9008	0:13307e4676f9	56	// Writes a gyro register
SED9008	0:13307e4676f9	57	void L3G4200D::writeReg(byte reg, byte value)
SED9008	0:13307e4676f9	58	{
SED9008	0:13307e4676f9	59	data[0] = reg;
SED9008	0:13307e4676f9	60	data[1] = value;
SED9008	0:13307e4676f9	61
SED9008	0:13307e4676f9	62	_device.write(GYR_ADDRESS, data, 2);
SED9008	0:13307e4676f9	63	}
SED9008	0:13307e4676f9	64
SED9008	0:13307e4676f9	65	// Reads a gyro register
SED9008	0:13307e4676f9	66	byte L3G4200D::readReg(byte reg)
SED9008	0:13307e4676f9	67	{
SED9008	0:13307e4676f9	68	byte value = 0;
SED9008	0:13307e4676f9	69
SED9008	0:13307e4676f9	70	_device.write(GYR_ADDRESS, &reg, 1);
SED9008	0:13307e4676f9	71	_device.read(GYR_ADDRESS, &value, 1);
SED9008	0:13307e4676f9	72
SED9008	0:13307e4676f9	73	return value;
SED9008	0:13307e4676f9	74	}
SED9008	0:13307e4676f9	75
SED9008	0:13307e4676f9	76	// Reads the 3 gyro channels and stores them in vector g
SED9008	0:13307e4676f9	77	void L3G4200D::read(int g[3])
SED9008	0:13307e4676f9	78	{
SED9008	0:13307e4676f9	79	// assert the MSB of the address to get the gyro
SED9008	0:13307e4676f9	80	// to do slave-transmit subaddress updating.
SED9008	0:13307e4676f9	81	data[0] = L3G4200D_OUT_X_L \| (1 << 7);
SED9008	0:13307e4676f9	82	_device.write(GYR_ADDRESS, data, 1);
SED9008	0:13307e4676f9	83
SED9008	0:13307e4676f9	84	// Wire.requestFrom(GYR_ADDRESS, 6);
SED9008	0:13307e4676f9	85	// while (Wire.available() < 6);
SED9008	0:13307e4676f9	86
SED9008	0:13307e4676f9	87	_device.read(GYR_ADDRESS, data, 6);
SED9008	0:13307e4676f9	88
SED9008	0:13307e4676f9	89	uint8_t xla = data[0];
SED9008	0:13307e4676f9	90	uint8_t xha = data[1];
SED9008	0:13307e4676f9	91	uint8_t yla = data[2];
SED9008	0:13307e4676f9	92	uint8_t yha = data[3];
SED9008	0:13307e4676f9	93	uint8_t zla = data[4];
SED9008	0:13307e4676f9	94	uint8_t zha = data[5];
SED9008	0:13307e4676f9	95
SED9008	0:13307e4676f9	96	g[0] = (short) (xha << 8 \| xla);
SED9008	0:13307e4676f9	97	g[1] = (short) (yha << 8 \| yla);
SED9008	0:13307e4676f9	98	g[2] = (short) (zha << 8 \| zla);
SED9008	0:13307e4676f9	99	}

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Type:	Library
Created:	19 Mar 2012
Imports:	10
Forks:	0
Commits:	1
Dependents:	1
Dependencies:	0
Followers:	1

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L3G4200D.cpp@0:13307e4676f9, 2012-06-01 (annotated)

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