Benigno Gobbo / minimu9

Pololu Minimu-9 library

L3G4200D.cpp@0:6ee4ef99c382, 2012-02-21 (annotated)

Committer:
bengo
Date:
Tue Feb 21 13:34:27 2012 +0000
Revision:
0:6ee4ef99c382
first release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bengo 0:6ee4ef99c382 1 /* mbed L3G4200D Library version 0beta1
bengo 0:6ee4ef99c382 2 * Copyright (c) 2012 bengo
bengo 0:6ee4ef99c382 3 *
bengo 0:6ee4ef99c382 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
bengo 0:6ee4ef99c382 5 * of this software and associated documentation files (the "Software"), to deal
bengo 0:6ee4ef99c382 6 * in the Software without restriction, including without limitation the rights
bengo 0:6ee4ef99c382 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
bengo 0:6ee4ef99c382 8 * copies of the Software, and to permit persons to whom the Software is
bengo 0:6ee4ef99c382 9 * furnished to do so, subject to the following conditions:
bengo 0:6ee4ef99c382 10 *
bengo 0:6ee4ef99c382 11 * The above copyright notice and this permission notice shall be included in
bengo 0:6ee4ef99c382 12 * all copies or substantial portions of the Software.
bengo 0:6ee4ef99c382 13 *
bengo 0:6ee4ef99c382 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
bengo 0:6ee4ef99c382 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
bengo 0:6ee4ef99c382 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
bengo 0:6ee4ef99c382 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
bengo 0:6ee4ef99c382 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
bengo 0:6ee4ef99c382 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
bengo 0:6ee4ef99c382 20 * THE SOFTWARE.
bengo 0:6ee4ef99c382 21 */
bengo 0:6ee4ef99c382 22 #include <L3G4200D.h>
bengo 0:6ee4ef99c382 23
bengo 0:6ee4ef99c382 24 // L3G4200D I2C address
bengo 0:6ee4ef99c382 25 const int L3G4200D::GYR_ADDRESS = 0xd2;
bengo 0:6ee4ef99c382 26 // L3G4200D register addresses
bengo 0:6ee4ef99c382 27 const int L3G4200D::WHO_AM_I = 0x0f;
bengo 0:6ee4ef99c382 28 const int L3G4200D::CTRL_REG1 = 0x20;
bengo 0:6ee4ef99c382 29 const int L3G4200D::CTRL_REG2 = 0x21;
bengo 0:6ee4ef99c382 30 const int L3G4200D::CTRL_REG3 = 0x22;
bengo 0:6ee4ef99c382 31 const int L3G4200D::CTRL_REG4 = 0x23;
bengo 0:6ee4ef99c382 32 const int L3G4200D::CTRL_REG5 = 0x24;
bengo 0:6ee4ef99c382 33 const int L3G4200D::REFERENCE = 0x25;
bengo 0:6ee4ef99c382 34 const int L3G4200D::OUT_TEMP = 0x26;
bengo 0:6ee4ef99c382 35 const int L3G4200D::STATUS_REG = 0x27;
bengo 0:6ee4ef99c382 36 const int L3G4200D::OUT_X_L = 0x28;
bengo 0:6ee4ef99c382 37 const int L3G4200D::OUT_X_H = 0x29;
bengo 0:6ee4ef99c382 38 const int L3G4200D::OUT_Y_L = 0x2a;
bengo 0:6ee4ef99c382 39 const int L3G4200D::OUT_Y_H = 0x2b;
bengo 0:6ee4ef99c382 40 const int L3G4200D::OUT_Z_L = 0x2c;
bengo 0:6ee4ef99c382 41 const int L3G4200D::OUT_Z_H = 0x2d;
bengo 0:6ee4ef99c382 42 const int L3G4200D::FIFO_CTRL_REG = 0x2e;
bengo 0:6ee4ef99c382 43 const int L3G4200D::FIFO_SRC_REG = 0x2f;
bengo 0:6ee4ef99c382 44 const int L3G4200D::INT1_CFG = 0x30;
bengo 0:6ee4ef99c382 45 const int L3G4200D::INT1_SRC = 0x31;
bengo 0:6ee4ef99c382 46 const int L3G4200D::INT1_THS_XH = 0x32;
bengo 0:6ee4ef99c382 47 const int L3G4200D::INT1_THS_XL = 0x33;
bengo 0:6ee4ef99c382 48 const int L3G4200D::INT1_THS_YH = 0x34;
bengo 0:6ee4ef99c382 49 const int L3G4200D::INT1_THS_YL = 0x35;
bengo 0:6ee4ef99c382 50 const int L3G4200D::INT1_THS_ZH = 0x36;
bengo 0:6ee4ef99c382 51 const int L3G4200D::INT1_THS_ZL = 0x37;
bengo 0:6ee4ef99c382 52 const int L3G4200D::INT1_DURATION = 0x38;
bengo 0:6ee4ef99c382 53
bengo 0:6ee4ef99c382 54 // -----------------------------------------------
bengo 0:6ee4ef99c382 55 L3G4200D::L3G4200D( PinName sda, PinName scl ) : _i2c( sda, scl ){
bengo 0:6ee4ef99c382 56
bengo 0:6ee4ef99c382 57 // Check that you're talking with an L3G4200D device
bengo 0:6ee4ef99c382 58 if( this->registerRead( WHO_AM_I ) == 0xd3 ) {
bengo 0:6ee4ef99c382 59 _status = 0;
bengo 0:6ee4ef99c382 60 }
bengo 0:6ee4ef99c382 61 else {
bengo 0:6ee4ef99c382 62 _status = 1;
bengo 0:6ee4ef99c382 63 return;
bengo 0:6ee4ef99c382 64 }
bengo 0:6ee4ef99c382 65
bengo 0:6ee4ef99c382 66 // Enable normal mode...
bengo 0:6ee4ef99c382 67 this->registerWrite( CTRL_REG1, 0x0f );
bengo 0:6ee4ef99c382 68
bengo 0:6ee4ef99c382 69 }
bengo 0:6ee4ef99c382 70
bengo 0:6ee4ef99c382 71 // -----------------------------------------------
bengo 0:6ee4ef99c382 72 int L3G4200D::registerRead( int reg ) {
bengo 0:6ee4ef99c382 73 _bytes[0] = reg & 0xff;
bengo 0:6ee4ef99c382 74 _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
bengo 0:6ee4ef99c382 75 if( _status == 0 ) {
bengo 0:6ee4ef99c382 76 _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 1 );
bengo 0:6ee4ef99c382 77 return( _bytes[0] );
bengo 0:6ee4ef99c382 78 }
bengo 0:6ee4ef99c382 79 return( 0 );
bengo 0:6ee4ef99c382 80 }
bengo 0:6ee4ef99c382 81
bengo 0:6ee4ef99c382 82 // -----------------------------------------------
bengo 0:6ee4ef99c382 83 void L3G4200D::registerWrite( int reg, char data ) {
bengo 0:6ee4ef99c382 84 _bytes[0] = reg & 0xff;
bengo 0:6ee4ef99c382 85 _bytes[1] = data & 0xff;
bengo 0:6ee4ef99c382 86 _status = _i2c.write( GYR_ADDRESS, _bytes, 2 );
bengo 0:6ee4ef99c382 87 }
bengo 0:6ee4ef99c382 88
bengo 0:6ee4ef99c382 89 // -----------------------------------------------
bengo 0:6ee4ef99c382 90 std::vector<short> L3G4200D::read( void ) {
bengo 0:6ee4ef99c382 91 std::vector<short> gyr( 3, 0 );
bengo 0:6ee4ef99c382 92 _bytes[0] = OUT_X_L | (1<<7);
bengo 0:6ee4ef99c382 93 _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
bengo 0:6ee4ef99c382 94 if( _status == 0 ) {
bengo 0:6ee4ef99c382 95 _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 6 );
bengo 0:6ee4ef99c382 96 if( _status == 0 ) {
bengo 0:6ee4ef99c382 97 for( int i=0; i<3; i++ ) {
bengo 0:6ee4ef99c382 98 gyr[i] = short( _bytes[2*i] | ( _bytes[2*i+1] << 8 ));
bengo 0:6ee4ef99c382 99 }
bengo 0:6ee4ef99c382 100 }
bengo 0:6ee4ef99c382 101 }
bengo 0:6ee4ef99c382 102 return( gyr );
bengo 0:6ee4ef99c382 103 }
bengo 0:6ee4ef99c382 104
bengo 0:6ee4ef99c382 105 // -----------------------------------------------
bengo 0:6ee4ef99c382 106 std::vector<float> L3G4200D::angularVelocity( void ) {
bengo 0:6ee4ef99c382 107
bengo 0:6ee4ef99c382 108 std::vector<float> angv(3, 0);
bengo 0:6ee4ef99c382 109 const float fs[] = { 250., 500., 2000., 2000. };
bengo 0:6ee4ef99c382 110 float fullscale = fs[ ( this->registerRead( L3G4200D::CTRL_REG4 ) >> 4 ) & 0x3 ];
bengo 0:6ee4ef99c382 111 std::vector<short> g = this->read();
bengo 0:6ee4ef99c382 112 if( _status == 0 ) {
bengo 0:6ee4ef99c382 113 for( int i=0; i<3; i++ ) {
bengo 0:6ee4ef99c382 114 angv[i] = float( g[i] ) / 32768. * fullscale;
bengo 0:6ee4ef99c382 115 }
bengo 0:6ee4ef99c382 116 }
bengo 0:6ee4ef99c382 117 return( angv );
bengo 0:6ee4ef99c382 118 }
bengo 0:6ee4ef99c382 119
bengo 0:6ee4ef99c382 120
bengo 0:6ee4ef99c382 121 // -----------------------------------------------
bengo 0:6ee4ef99c382 122 int L3G4200D::temperature( void ) {
bengo 0:6ee4ef99c382 123
bengo 0:6ee4ef99c382 124 _bytes[0] = OUT_TEMP;
bengo 0:6ee4ef99c382 125 _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
bengo 0:6ee4ef99c382 126 if( _status == 0 ) {
bengo 0:6ee4ef99c382 127 _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 1 );
bengo 0:6ee4ef99c382 128 if( _status == 0 ) {
bengo 0:6ee4ef99c382 129 return( int( _bytes[0] ) );
bengo 0:6ee4ef99c382 130 }
bengo 0:6ee4ef99c382 131 }
bengo 0:6ee4ef99c382 132 return( 0 );
bengo 0:6ee4ef99c382 133 }