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RaheeNew
Fork of Adafruit9-DOf by
Source/Adafruit_L3GD20_U.cpp
- Committer:
- jatinsha
- Date:
- 2015-11-28
- Revision:
- 1:c3381056a1c6
- Parent:
- 0:772bf4786416
File content as of revision 1:c3381056a1c6:
/*************************************************** This is a library for the L3GD20 GYROSCOPE Designed specifically to work with the Adafruit L3GD20 Breakout ----> https://www.adafruit.com/products/1032 These sensors use I2C or SPI to communicate, 2 pins (I2C) or 4 pins (SPI) are required to interface. Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit! Written by Kevin "KTOWN" Townsend for Adafruit Industries. BSD license, all text above must be included in any redistribution ****************************************************/ #include "Adafruit_L3GD20_U.h" /*************************************************************************** PRIVATE FUNCTIONS ***************************************************************************/ /**************************************************************************/ /*! @brief Abstract away platform differences in Arduino wire library */ /**************************************************************************/ void Adafruit_L3GD20_Unified::write8(byte reg, byte value) { byte data[2] = {reg,value}; i2c->write(L3GD20_ADDRESS, data, 2); } /**************************************************************************/ /*! @brief Abstract away platform differences in Arduino wire library */ /**************************************************************************/ byte Adafruit_L3GD20_Unified::read8(byte reg) { byte value = reg; i2c->write(L3GD20_ADDRESS, &value, 1); i2c->read (L3GD20_ADDRESS, &value, 1); return value; } /*************************************************************************** CONSTRUCTOR ***************************************************************************/ /**************************************************************************/ /*! @brief Instantiates a new Adafruit_L3GD20_Unified class */ /**************************************************************************/ Adafruit_L3GD20_Unified::Adafruit_L3GD20_Unified(int32_t sensorID) { _sensorID = sensorID; _autoRangeEnabled = false; } /*************************************************************************** PUBLIC FUNCTIONS ***************************************************************************/ /**************************************************************************/ /*! @brief Setups the HW */ /**************************************************************************/ bool Adafruit_L3GD20_Unified::begin(gyroRange_t rng) { /* Set the range the an appropriate value */ _range = rng; /* Make sure we have the correct chip ID since this checks for correct address and that the IC is properly connected */ uint8_t id = read8(GYRO_REGISTER_WHO_AM_I); //Serial.println(id, HEX); if ((id != L3GD20_ID) && (id != L3GD20H_ID)) { return false; } /* Set CTRL_REG1 (0x20) ==================================================================== BIT Symbol Description Default --- ------ --------------------------------------------- ------- 7-6 DR1/0 Output data rate 00 5-4 BW1/0 Bandwidth selection 00 3 PD 0 = Power-down mode, 1 = normal/sleep mode 0 2 ZEN Z-axis enable (0 = disabled, 1 = enabled) 1 1 YEN Y-axis enable (0 = disabled, 1 = enabled) 1 0 XEN X-axis enable (0 = disabled, 1 = enabled) 1 */ /* Reset then switch to normal mode and enable all three channels */ write8(GYRO_REGISTER_CTRL_REG1, 0x00); write8(GYRO_REGISTER_CTRL_REG1, 0x0F); /* ------------------------------------------------------------------ */ /* Set CTRL_REG2 (0x21) ==================================================================== BIT Symbol Description Default --- ------ --------------------------------------------- ------- 5-4 HPM1/0 High-pass filter mode selection 00 3-0 HPCF3..0 High-pass filter cutoff frequency selection 0000 */ /* Nothing to do ... keep default values */ /* ------------------------------------------------------------------ */ /* Set CTRL_REG3 (0x22) ==================================================================== BIT Symbol Description Default --- ------ --------------------------------------------- ------- 7 I1_Int1 Interrupt enable on INT1 (0=disable,1=enable) 0 6 I1_Boot Boot status on INT1 (0=disable,1=enable) 0 5 H-Lactive Interrupt active config on INT1 (0=high,1=low) 0 4 PP_OD Push-Pull/Open-Drain (0=PP, 1=OD) 0 3 I2_DRDY Data ready on DRDY/INT2 (0=disable,1=enable) 0 2 I2_WTM FIFO wtrmrk int on DRDY/INT2 (0=dsbl,1=enbl) 0 1 I2_ORun FIFO overrun int on DRDY/INT2 (0=dsbl,1=enbl) 0 0 I2_Empty FIFI empty int on DRDY/INT2 (0=dsbl,1=enbl) 0 */ /* Nothing to do ... keep default values */ /* ------------------------------------------------------------------ */ /* Set CTRL_REG4 (0x23) ==================================================================== BIT Symbol Description Default --- ------ --------------------------------------------- ------- 7 BDU Block Data Update (0=continuous, 1=LSB/MSB) 0 6 BLE Big/Little-Endian (0=Data LSB, 1=Data MSB) 0 5-4 FS1/0 Full scale selection 00 00 = 250 dps 01 = 500 dps 10 = 2000 dps 11 = 2000 dps 0 SIM SPI Mode (0=4-wire, 1=3-wire) 0 */ /* Adjust resolution if requested */ switch(_range) { case GYRO_RANGE_250DPS: write8(GYRO_REGISTER_CTRL_REG4, 0x00); break; case GYRO_RANGE_500DPS: write8(GYRO_REGISTER_CTRL_REG4, 0x10); break; case GYRO_RANGE_2000DPS: write8(GYRO_REGISTER_CTRL_REG4, 0x20); break; } /* ------------------------------------------------------------------ */ /* Set CTRL_REG5 (0x24) ==================================================================== BIT Symbol Description Default --- ------ --------------------------------------------- ------- 7 BOOT Reboot memory content (0=normal, 1=reboot) 0 6 FIFO_EN FIFO enable (0=FIFO disable, 1=enable) 0 4 HPen High-pass filter enable (0=disable,1=enable) 0 3-2 INT1_SEL INT1 Selection config 00 1-0 OUT_SEL Out selection config 00 */ /* Nothing to do ... keep default values */ /* ------------------------------------------------------------------ */ return true; } /**************************************************************************/ /*! @brief Enables or disables auto-ranging */ /**************************************************************************/ void Adafruit_L3GD20_Unified::enableAutoRange(bool enabled) { _autoRangeEnabled = enabled; } /**************************************************************************/ /*! @brief Gets the most recent sensor event */ /**************************************************************************/ void Adafruit_L3GD20_Unified::getEvent(sensors_event_t* event) { bool readingValid = false; /* Clear the event */ memset(event, 0, sizeof(sensors_event_t)); event->version = sizeof(sensors_event_t); event->sensor_id = _sensorID; event->type = SENSOR_TYPE_GYROSCOPE; while(!readingValid) { event->timestamp = millis(); i2c->writeByte(L3GD20_ADDRESS, GYRO_REGISTER_OUT_X_L | 0x80); byte data[6]; i2c->read(L3GD20_ADDRESS, data, 6); /* Shift values to create properly formed integer (low byte first) */ event->gyro.x = (int16_t)(data[0] | (data[1] << 8)); event->gyro.y = (int16_t)(data[2] | (data[3] << 8)); event->gyro.z = (int16_t)(data[4] | (data[5] << 8)); /* Make sure the sensor isn't saturating if auto-ranging is enabled */ if (!_autoRangeEnabled) { readingValid = true; } else { /* Check if the sensor is saturating or not */ if ( (event->gyro.x >= 32760) | (event->gyro.x <= -32760) | (event->gyro.y >= 32760) | (event->gyro.y <= -32760) | (event->gyro.z >= 32760) | (event->gyro.z <= -32760) ) { /* Saturating .... increase the range if we can */ switch(_range) { case GYRO_RANGE_500DPS: /* Push the range up to 2000dps */ _range = GYRO_RANGE_2000DPS; write8(GYRO_REGISTER_CTRL_REG1, 0x00); write8(GYRO_REGISTER_CTRL_REG1, 0x0F); write8(GYRO_REGISTER_CTRL_REG4, 0x20); write8(GYRO_REGISTER_CTRL_REG5, 0x80); readingValid = false; // Serial.println("Changing range to 2000DPS"); break; case GYRO_RANGE_250DPS: /* Push the range up to 500dps */ _range = GYRO_RANGE_500DPS; write8(GYRO_REGISTER_CTRL_REG1, 0x00); write8(GYRO_REGISTER_CTRL_REG1, 0x0F); write8(GYRO_REGISTER_CTRL_REG4, 0x10); write8(GYRO_REGISTER_CTRL_REG5, 0x80); readingValid = false; // Serial.println("Changing range to 500DPS"); break; default: readingValid = true; break; } } else { /* All values are withing range */ readingValid = true; } } } /* Compensate values depending on the resolution */ switch(_range) { case GYRO_RANGE_250DPS: event->gyro.x *= GYRO_SENSITIVITY_250DPS; event->gyro.y *= GYRO_SENSITIVITY_250DPS; event->gyro.z *= GYRO_SENSITIVITY_250DPS; break; case GYRO_RANGE_500DPS: event->gyro.x *= GYRO_SENSITIVITY_500DPS; event->gyro.y *= GYRO_SENSITIVITY_500DPS; event->gyro.z *= GYRO_SENSITIVITY_500DPS; break; case GYRO_RANGE_2000DPS: event->gyro.x *= GYRO_SENSITIVITY_2000DPS; event->gyro.y *= GYRO_SENSITIVITY_2000DPS; event->gyro.z *= GYRO_SENSITIVITY_2000DPS; break; } /* Convert values to rad/s */ event->gyro.x *= SENSORS_DPS_TO_RADS; event->gyro.y *= SENSORS_DPS_TO_RADS; event->gyro.z *= SENSORS_DPS_TO_RADS; } /**************************************************************************/ /*! @brief Gets the sensor_t data */ /**************************************************************************/ void Adafruit_L3GD20_Unified::getSensor(sensor_t* sensor) { /* Clear the sensor_t object */ memset(sensor, 0, sizeof(sensor_t)); /* Insert the sensor name in the fixed length char array */ strncpy (sensor->name, "L3GD20", sizeof(sensor->name) - 1); sensor->name[sizeof(sensor->name)- 1] = 0; sensor->version = 1; sensor->sensor_id = _sensorID; sensor->type = SENSOR_TYPE_GYROSCOPE; sensor->min_delay = 0; sensor->max_value = (float)this->_range * SENSORS_DPS_TO_RADS; sensor->min_value = (this->_range * -1.0) * SENSORS_DPS_TO_RADS; sensor->resolution = 0.0F; // TBD }