L3GD20.h

00001 /* Copyright (c) 2011 Pololu Corporation.  For more information, see
00002  * 
00003  * http://www.pololu.com/
00004  * http://forum.pololu.com/
00005  * 
00006  * Permission is hereby granted, free of charge, to any person
00007  * obtaining a copy of this software and associated documentation
00008  * files (the "Software"), to deal in the Software without
00009  * restriction, including without limitation the rights to use,
00010  * copy, modify, merge, publish, distribute, sublicense, and/or sell
00011  * copies of the Software, and to permit persons to whom the
00012  * Software is furnished to do so, subject to the following
00013  * conditions:
00014  * 
00015  * The above copyright notice and this permission notice shall be
00016  * included in all copies or substantial portions of the Software.
00017  * 
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
00019  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
00020  * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00021  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
00022  * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
00023  * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
00024  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
00025  * OTHER DEALINGS IN THE SOFTWARE.
00026  */
00027 
00028 #ifndef __L3GD20_H
00029 #define __L3GD20_H
00030 
00031 #include "mbed.h"
00032 
00033 // register addresses
00034 
00035 #define L3GD20_WHO_AM_I      0x0F
00036 
00037 #define L3GD20_CTRL_REG1     0x20
00038 #define L3GD20_CTRL_REG2     0x21
00039 #define L3GD20_CTRL_REG3     0x22
00040 #define L3GD20_CTRL_REG4     0x23
00041 #define L3GD20_CTRL_REG5     0x24
00042 #define L3GD20_REFERENCE     0x25
00043 #define L3GD20_OUT_TEMP      0x26
00044 #define L3GD20_STATUS_REG    0x27
00045 
00046 #define L3GD20_OUT_X_L       0x28
00047 #define L3GD20_OUT_X_H       0x29
00048 #define L3GD20_OUT_Y_L       0x2A
00049 #define L3GD20_OUT_Y_H       0x2B
00050 #define L3GD20_OUT_Z_L       0x2C
00051 #define L3GD20_OUT_Z_H       0x2D
00052 
00053 #define L3GD20_FIFO_CTRL_REG 0x2E
00054 #define L3GD20_FIFO_SRC_REG  0x2F
00055 
00056 #define L3GD20_INT1_CFG      0x30
00057 #define L3GD20_INT1_SRC      0x31
00058 #define L3GD20_INT1_THS_XH   0x32
00059 #define L3GD20_INT1_THS_XL   0x33
00060 #define L3GD20_INT1_THS_YH   0x34
00061 #define L3GD20_INT1_THS_YL   0x35
00062 #define L3GD20_INT1_THS_ZH   0x36
00063 #define L3GD20_INT1_THS_ZL   0x37
00064 #define L3GD20_INT1_DURATION 0x38
00065 
00066 /** Interface library for the ST L3GD20 3-axis gyro
00067  *
00068  * Ported from Pololu L3GD20 library for Arduino by
00069  *
00070  * @code
00071  * #include "mbed.h"
00072  * #include "L3GD20.h"
00073  * L3GD20 gyro(p28, p27);
00074  * ...
00075  * int g[3];
00076  * gyro.read(g);
00077  * @endcode
00078  */
00079 class L3GD20
00080 {
00081     public:
00082         /** Create a new L3GD20 I2C interface
00083          * @param sda is the pin for the I2C SDA line
00084          * @param scl is the pin for the I2C SCL line
00085          */
00086          L3GD20(PinName sda, PinName scl);
00087      
00088       void setDefault();
00089         /** Read gyro values
00090          * @param g Array containing x, y, and z gyro values
00091          * @return g Array containing x, y, and z gyro values
00092          */
00093         bool read(float *gx, float *gy, float *gz);
00094     private:
00095             I2C _L3GD20;
00096         float *gx, *gy, *gz;
00097 
00098         bool write_reg(int addr_i2c,int addr_reg, char v);
00099         bool read_reg(int addr_i2c,int addr_reg, char *v);
00100         bool recv(char sad, char sub, char *buf, int length);
00101 };
00102 
00103 #endif
00104 
00105