Revision 0:13307e4676f9, committed 2012-06-01

Comitter:

SED9008

Date:

Fri Jun 01 08:17:13 2012 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r 13307e4676f9 L3G4200D.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3G4200D.cpp	Fri Jun 01 08:17:13 2012 +0000
@@ -0,0 +1,99 @@
+/**
+ * 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.
+ */
+ 
+#include "mbed.h"
+#include <L3G4200D.h>
+#include <math.h>
+
+// Defines ////////////////////////////////////////////////////////////////
+
+// The Arduino two-wire interface uses a 7-bit number for the address, 
+// and sets the last bit correctly based on reads and writes
+// mbed I2C libraries take the 7-bit address shifted left 1 bit
+// #define GYR_ADDRESS (0xD2 >> 1)
+#define GYR_ADDRESS 0xD1
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+// Constructor
+L3G4200D::L3G4200D(PinName sda, PinName scl):
+    _device(sda, scl)
+{
+    _device.frequency(400000);
+    // Turns on the L3G4200D's gyro and places it in normal mode.
+    // 0x0F = 0b00001111
+    // Normal power mode, all axes enabled
+    writeReg(L3G4200D_CTRL_REG1, 0x0F);
+    writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale
+
+}
+
+// Writes a gyro register
+void L3G4200D::writeReg(byte reg, byte value)
+{
+    data[0] = reg;
+    data[1] = value;
+    
+    _device.write(GYR_ADDRESS, data, 2);
+}
+
+// Reads a gyro register
+byte L3G4200D::readReg(byte reg)
+{
+    byte value = 0;
+    
+    _device.write(GYR_ADDRESS, &reg, 1);
+    _device.read(GYR_ADDRESS, &value, 1);
+
+    return value;
+}
+
+// Reads the 3 gyro channels and stores them in vector g
+void L3G4200D::read(int g[3])
+{
+    // assert the MSB of the address to get the gyro 
+    // to do slave-transmit subaddress updating.
+    data[0] = L3G4200D_OUT_X_L | (1 << 7);
+    _device.write(GYR_ADDRESS, data, 1); 
+
+//    Wire.requestFrom(GYR_ADDRESS, 6);
+//    while (Wire.available() < 6);
+    
+    _device.read(GYR_ADDRESS, data, 6); 
+
+    uint8_t xla = data[0];
+    uint8_t xha = data[1];
+    uint8_t yla = data[2];
+    uint8_t yha = data[3];
+    uint8_t zla = data[4];
+    uint8_t zha = data[5];
+
+    g[0] = (short) (xha << 8 | xla);
+    g[1] = (short) (yha << 8 | yla);
+    g[2] = (short) (zha << 8 | zla);
+}
\ No newline at end of file

diff -r 000000000000 -r 13307e4676f9 L3G4200D.h
--- /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
\ No newline at end of file