Diff: L3G4200D.cpp

Revision:

0:6ee4ef99c382

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3G4200D.cpp	Tue Feb 21 13:34:27 2012 +0000
@@ -0,0 +1,133 @@
+/* mbed L3G4200D Library version 0beta1
+ * Copyright (c) 2012 bengo
+ *
+ * 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 <L3G4200D.h>
+
+// L3G4200D I2C address
+const int L3G4200D::GYR_ADDRESS = 0xd2; 
+// L3G4200D register addresses
+const int L3G4200D::WHO_AM_I = 0x0f;
+const int L3G4200D::CTRL_REG1 = 0x20;
+const int L3G4200D::CTRL_REG2 = 0x21;
+const int L3G4200D::CTRL_REG3 = 0x22;
+const int L3G4200D::CTRL_REG4 = 0x23;
+const int L3G4200D::CTRL_REG5 = 0x24;
+const int L3G4200D::REFERENCE = 0x25;
+const int L3G4200D::OUT_TEMP = 0x26;
+const int L3G4200D::STATUS_REG = 0x27;
+const int L3G4200D::OUT_X_L = 0x28;
+const int L3G4200D::OUT_X_H = 0x29;
+const int L3G4200D::OUT_Y_L = 0x2a;
+const int L3G4200D::OUT_Y_H = 0x2b;
+const int L3G4200D::OUT_Z_L = 0x2c;
+const int L3G4200D::OUT_Z_H = 0x2d;
+const int L3G4200D::FIFO_CTRL_REG = 0x2e;
+const int L3G4200D::FIFO_SRC_REG = 0x2f;
+const int L3G4200D::INT1_CFG = 0x30;
+const int L3G4200D::INT1_SRC = 0x31;
+const int L3G4200D::INT1_THS_XH = 0x32;
+const int L3G4200D::INT1_THS_XL = 0x33;
+const int L3G4200D::INT1_THS_YH = 0x34;
+const int L3G4200D::INT1_THS_YL = 0x35;
+const int L3G4200D::INT1_THS_ZH = 0x36;
+const int L3G4200D::INT1_THS_ZL = 0x37;
+const int L3G4200D::INT1_DURATION = 0x38;
+
+// -----------------------------------------------
+L3G4200D::L3G4200D( PinName sda, PinName scl ) : _i2c( sda, scl ){
+
+   // Check that you're talking with an L3G4200D device
+   if( this->registerRead( WHO_AM_I ) == 0xd3 ) {
+      _status = 0;
+   }
+   else {
+      _status = 1;
+      return;
+   }
+   
+   // Enable normal mode... 
+   this->registerWrite( CTRL_REG1, 0x0f );
+
+}
+
+// -----------------------------------------------
+int L3G4200D::registerRead(  int reg ) {
+  _bytes[0] = reg & 0xff;
+  _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
+  if( _status ==  0 ) {
+    _status = _i2c.read(  GYR_ADDRESS + 1, _bytes, 1 );
+    return( _bytes[0] );
+  }
+  return( 0 );
+}
+
+// -----------------------------------------------  
+void L3G4200D::registerWrite( int reg, char data ) {
+  _bytes[0] = reg & 0xff;
+  _bytes[1] = data & 0xff;
+  _status = _i2c.write( GYR_ADDRESS, _bytes, 2 );
+}
+
+// -----------------------------------------------  
+std::vector<short> L3G4200D::read( void ) {
+   std::vector<short> gyr( 3, 0 );
+   _bytes[0] = OUT_X_L | (1<<7);
+   _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
+   if( _status == 0 ) {
+      _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 6 );
+      if( _status == 0 ) {
+         for( int i=0; i<3; i++ ) {
+            gyr[i] = short( _bytes[2*i] | ( _bytes[2*i+1] << 8 ));
+         }
+      }
+   } 
+   return( gyr );
+}
+
+// -----------------------------------------------  
+std::vector<float> L3G4200D::angularVelocity( void ) {
+
+   std::vector<float> angv(3, 0);
+   const float fs[] = { 250., 500., 2000., 2000. }; 
+   float fullscale =  fs[ ( this->registerRead( L3G4200D::CTRL_REG4 ) >> 4 ) & 0x3 ];
+   std::vector<short> g = this->read();
+   if( _status == 0 ) {
+      for( int i=0; i<3; i++ ) {
+         angv[i] = float( g[i] ) / 32768. * fullscale;
+      }
+   }
+   return( angv ); 
+}  
+
+
+// -----------------------------------------------  
+int L3G4200D::temperature( void ) {
+
+   _bytes[0] = OUT_TEMP;
+   _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
+   if( _status == 0 ) {
+      _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 1 );
+      if( _status == 0 ) {
+         return( int( _bytes[0] ) );
+      }
+   } 
+   return( 0 );
+}
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