Diff: L3G4200D.h

Revision:

0:13307e4676f9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3G4200D.h	Fri Jun 01 08:17:13 2012 +0000
@@ -0,0 +1,106 @@
+/* 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 __L3G4200D_H
+#define __L3G4200D_H
+
+#include "mbed.h"
+
+// register addresses
+
+#define L3G4200D_WHO_AM_I      0x0F
+
+#define L3G4200D_CTRL_REG1     0x20
+#define L3G4200D_CTRL_REG2     0x21
+#define L3G4200D_CTRL_REG3     0x22
+#define L3G4200D_CTRL_REG4     0x23
+#define L3G4200D_CTRL_REG5     0x24
+#define L3G4200D_REFERENCE     0x25
+#define L3G4200D_OUT_TEMP      0x26
+#define L3G4200D_STATUS_REG    0x27
+
+#define L3G4200D_OUT_X_L       0x28
+#define L3G4200D_OUT_X_H       0x29
+#define L3G4200D_OUT_Y_L       0x2A
+#define L3G4200D_OUT_Y_H       0x2B
+#define L3G4200D_OUT_Z_L       0x2C
+#define L3G4200D_OUT_Z_H       0x2D
+
+#define L3G4200D_FIFO_CTRL_REG 0x2E
+#define L3G4200D_FIFO_SRC_REG  0x2F
+
+#define L3G4200D_INT1_CFG      0x30
+#define L3G4200D_INT1_SRC      0x31
+#define L3G4200D_INT1_THS_XH   0x32
+#define L3G4200D_INT1_THS_XL   0x33
+#define L3G4200D_INT1_THS_YH   0x34
+#define L3G4200D_INT1_THS_YL   0x35
+#define L3G4200D_INT1_THS_ZH   0x36
+#define L3G4200D_INT1_THS_ZL   0x37
+#define L3G4200D_INT1_DURATION 0x38
+
+typedef char byte;
+
+/** Interface library for the ST L3G4200D 3-axis gyro
+ *
+ * Ported from Pololu L3G4200D library for Arduino by
+ * Michael Shimniok http://bot-thoughts.com
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "L3G4200D.h"
+ * L3G4200D gyro(p28, p27);
+ * ...
+ * int g[3];
+ * gyro.read(g);
+ * @endcode
+ */
+class L3G4200D
+{
+    public:
+        /** Create a new L3G4200D I2C interface
+         * @param sda is the pin for the I2C SDA line
+         * @param scl is the pin for the I2C SCL line
+         */
+        L3G4200D(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
+         */
+        void read(int g[3]);
+        
+    private:
+        byte data[6];
+        int _rates[3];
+        I2C _device;
+        void writeReg(byte reg, byte value);
+        byte readReg(byte reg);
+        void enableDefault(void);
+};
+
+#endif
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