Bruno Manganelli / Mbed 2 deprecated Adafruit9-DOf

Port of Adafruit Arduino code

Dependencies:   mbed

Header/Adafruit_L3GD20_U.h@0:772bf4786416, 2015-03-21 (annotated)

Committer:
bmanga95
Date:
Sat Mar 21 12:33:05 2015 +0000
Revision:
0:772bf4786416
First version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bmanga95 0:772bf4786416 1 /***************************************************
bmanga95 0:772bf4786416 2 This is a library for the L3GD20 GYROSCOPE
bmanga95 0:772bf4786416 3
bmanga95 0:772bf4786416 4 Designed specifically to work with the Adafruit L3GD20 Breakout
bmanga95 0:772bf4786416 5 ----> https://www.adafruit.com/products/1032
bmanga95 0:772bf4786416 6
bmanga95 0:772bf4786416 7 These sensors use I2C or SPI to communicate, 2 pins (I2C)
bmanga95 0:772bf4786416 8 or 4 pins (SPI) are required to interface.
bmanga95 0:772bf4786416 9
bmanga95 0:772bf4786416 10 Adafruit invests time and resources providing this open source code,
bmanga95 0:772bf4786416 11 please support Adafruit and open-source hardware by purchasing
bmanga95 0:772bf4786416 12 products from Adafruit!
bmanga95 0:772bf4786416 13
bmanga95 0:772bf4786416 14 Written by Kevin "KTOWN" Townsend for Adafruit Industries.
bmanga95 0:772bf4786416 15 BSD license, all text above must be included in any redistribution
bmanga95 0:772bf4786416 16 ****************************************************/
bmanga95 0:772bf4786416 17 #ifndef __L3GD20_H__
bmanga95 0:772bf4786416 18 #define __L3GD20_H__
bmanga95 0:772bf4786416 19
bmanga95 0:772bf4786416 20
bmanga95 0:772bf4786416 21 #include <Adafruit_Sensor.h>
bmanga95 0:772bf4786416 22 #include "I2C_base.h"
bmanga95 0:772bf4786416 23
bmanga95 0:772bf4786416 24 /*=========================================================================
bmanga95 0:772bf4786416 25 I2C ADDRESS/BITS AND SETTINGS
bmanga95 0:772bf4786416 26 -----------------------------------------------------------------------*/
bmanga95 0:772bf4786416 27 #define L3GD20_ADDRESS (0x6B) // 1101011
bmanga95 0:772bf4786416 28 #define L3GD20_POLL_TIMEOUT (100) // Maximum number of read attempts
bmanga95 0:772bf4786416 29 #define L3GD20_ID 0xD4
bmanga95 0:772bf4786416 30 #define L3GD20H_ID 0xD7
bmanga95 0:772bf4786416 31 #define GYRO_SENSITIVITY_250DPS (0.00875F) // Roughly 22/256 for fixed point match
bmanga95 0:772bf4786416 32 #define GYRO_SENSITIVITY_500DPS (0.0175F) // Roughly 45/256
bmanga95 0:772bf4786416 33 #define GYRO_SENSITIVITY_2000DPS (0.070F) // Roughly 18/256
bmanga95 0:772bf4786416 34 /*=========================================================================*/
bmanga95 0:772bf4786416 35
bmanga95 0:772bf4786416 36 /*=========================================================================
bmanga95 0:772bf4786416 37 REGISTERS
bmanga95 0:772bf4786416 38 -----------------------------------------------------------------------*/
bmanga95 0:772bf4786416 39 typedef enum
bmanga95 0:772bf4786416 40 { // DEFAULT TYPE
bmanga95 0:772bf4786416 41 GYRO_REGISTER_WHO_AM_I = 0x0F, // 11010100 r
bmanga95 0:772bf4786416 42 GYRO_REGISTER_CTRL_REG1 = 0x20, // 00000111 rw
bmanga95 0:772bf4786416 43 GYRO_REGISTER_CTRL_REG2 = 0x21, // 00000000 rw
bmanga95 0:772bf4786416 44 GYRO_REGISTER_CTRL_REG3 = 0x22, // 00000000 rw
bmanga95 0:772bf4786416 45 GYRO_REGISTER_CTRL_REG4 = 0x23, // 00000000 rw
bmanga95 0:772bf4786416 46 GYRO_REGISTER_CTRL_REG5 = 0x24, // 00000000 rw
bmanga95 0:772bf4786416 47 GYRO_REGISTER_REFERENCE = 0x25, // 00000000 rw
bmanga95 0:772bf4786416 48 GYRO_REGISTER_OUT_TEMP = 0x26, // r
bmanga95 0:772bf4786416 49 GYRO_REGISTER_STATUS_REG = 0x27, // r
bmanga95 0:772bf4786416 50 GYRO_REGISTER_OUT_X_L = 0x28, // r
bmanga95 0:772bf4786416 51 GYRO_REGISTER_OUT_X_H = 0x29, // r
bmanga95 0:772bf4786416 52 GYRO_REGISTER_OUT_Y_L = 0x2A, // r
bmanga95 0:772bf4786416 53 GYRO_REGISTER_OUT_Y_H = 0x2B, // r
bmanga95 0:772bf4786416 54 GYRO_REGISTER_OUT_Z_L = 0x2C, // r
bmanga95 0:772bf4786416 55 GYRO_REGISTER_OUT_Z_H = 0x2D, // r
bmanga95 0:772bf4786416 56 GYRO_REGISTER_FIFO_CTRL_REG = 0x2E, // 00000000 rw
bmanga95 0:772bf4786416 57 GYRO_REGISTER_FIFO_SRC_REG = 0x2F, // r
bmanga95 0:772bf4786416 58 GYRO_REGISTER_INT1_CFG = 0x30, // 00000000 rw
bmanga95 0:772bf4786416 59 GYRO_REGISTER_INT1_SRC = 0x31, // r
bmanga95 0:772bf4786416 60 GYRO_REGISTER_TSH_XH = 0x32, // 00000000 rw
bmanga95 0:772bf4786416 61 GYRO_REGISTER_TSH_XL = 0x33, // 00000000 rw
bmanga95 0:772bf4786416 62 GYRO_REGISTER_TSH_YH = 0x34, // 00000000 rw
bmanga95 0:772bf4786416 63 GYRO_REGISTER_TSH_YL = 0x35, // 00000000 rw
bmanga95 0:772bf4786416 64 GYRO_REGISTER_TSH_ZH = 0x36, // 00000000 rw
bmanga95 0:772bf4786416 65 GYRO_REGISTER_TSH_ZL = 0x37, // 00000000 rw
bmanga95 0:772bf4786416 66 GYRO_REGISTER_INT1_DURATION = 0x38 // 00000000 rw
bmanga95 0:772bf4786416 67 } gyroRegisters_t;
bmanga95 0:772bf4786416 68 /*=========================================================================*/
bmanga95 0:772bf4786416 69
bmanga95 0:772bf4786416 70 /*=========================================================================
bmanga95 0:772bf4786416 71 OPTIONAL SPEED SETTINGS
bmanga95 0:772bf4786416 72 -----------------------------------------------------------------------*/
bmanga95 0:772bf4786416 73 typedef enum
bmanga95 0:772bf4786416 74 {
bmanga95 0:772bf4786416 75 GYRO_RANGE_250DPS = 250,
bmanga95 0:772bf4786416 76 GYRO_RANGE_500DPS = 500,
bmanga95 0:772bf4786416 77 GYRO_RANGE_2000DPS = 2000
bmanga95 0:772bf4786416 78 } gyroRange_t;
bmanga95 0:772bf4786416 79 /*=========================================================================*/
bmanga95 0:772bf4786416 80
bmanga95 0:772bf4786416 81 class Adafruit_L3GD20_Unified : public Adafruit_Sensor
bmanga95 0:772bf4786416 82 {
bmanga95 0:772bf4786416 83 public:
bmanga95 0:772bf4786416 84 Adafruit_L3GD20_Unified(int32_t sensorID = -1);
bmanga95 0:772bf4786416 85
bmanga95 0:772bf4786416 86 bool begin ( gyroRange_t rng = GYRO_RANGE_250DPS );
bmanga95 0:772bf4786416 87 void enableAutoRange ( bool enabled );
bmanga95 0:772bf4786416 88 void getEvent ( sensors_event_t* );
bmanga95 0:772bf4786416 89 void getSensor ( sensor_t* );
bmanga95 0:772bf4786416 90
bmanga95 0:772bf4786416 91 private:
bmanga95 0:772bf4786416 92 void write8 ( byte reg, byte value );
bmanga95 0:772bf4786416 93 byte read8 ( byte reg );
bmanga95 0:772bf4786416 94 gyroRange_t _range;
bmanga95 0:772bf4786416 95 int32_t _sensorID;
bmanga95 0:772bf4786416 96 bool _autoRangeEnabled;
bmanga95 0:772bf4786416 97 };
bmanga95 0:772bf4786416 98
bmanga95 0:772bf4786416 99 #endif