Adafruit 9DOF - L3GD20H Driver
Dependents: Galileo_HoverBoardRider projetinterface MAINTEST Test_gyro
L3GD20H.cpp@0:81b60e58e9e1, 2016-04-09 (annotated)
- Committer:
- julioefajardo
- Date:
- Sat Apr 09 04:27:11 2016 +0000
- Revision:
- 0:81b60e58e9e1
Adafruit 9 DOF - L3GD20H Driver
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
julioefajardo | 0:81b60e58e9e1 | 1 | /** |
julioefajardo | 0:81b60e58e9e1 | 2 | * Copyright (c) 2011 Pololu Corporation. For more information, see |
julioefajardo | 0:81b60e58e9e1 | 3 | * |
julioefajardo | 0:81b60e58e9e1 | 4 | * http://www.pololu.com/ |
julioefajardo | 0:81b60e58e9e1 | 5 | * http://forum.pololu.com/ |
julioefajardo | 0:81b60e58e9e1 | 6 | * |
julioefajardo | 0:81b60e58e9e1 | 7 | * Permission is hereby granted, free of charge, to any person |
julioefajardo | 0:81b60e58e9e1 | 8 | * obtaining a copy of this software and associated documentation |
julioefajardo | 0:81b60e58e9e1 | 9 | * files (the "Software"), to deal in the Software without |
julioefajardo | 0:81b60e58e9e1 | 10 | * restriction, including without limitation the rights to use, |
julioefajardo | 0:81b60e58e9e1 | 11 | * copy, modify, merge, publish, distribute, sublicense, and/or sell |
julioefajardo | 0:81b60e58e9e1 | 12 | * copies of the Software, and to permit persons to whom the |
julioefajardo | 0:81b60e58e9e1 | 13 | * Software is furnished to do so, subject to the following |
julioefajardo | 0:81b60e58e9e1 | 14 | * conditions: |
julioefajardo | 0:81b60e58e9e1 | 15 | * |
julioefajardo | 0:81b60e58e9e1 | 16 | * The above copyright notice and this permission notice shall be |
julioefajardo | 0:81b60e58e9e1 | 17 | * included in all copies or substantial portions of the Software. |
julioefajardo | 0:81b60e58e9e1 | 18 | * |
julioefajardo | 0:81b60e58e9e1 | 19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
julioefajardo | 0:81b60e58e9e1 | 20 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
julioefajardo | 0:81b60e58e9e1 | 21 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
julioefajardo | 0:81b60e58e9e1 | 22 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
julioefajardo | 0:81b60e58e9e1 | 23 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
julioefajardo | 0:81b60e58e9e1 | 24 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
julioefajardo | 0:81b60e58e9e1 | 25 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
julioefajardo | 0:81b60e58e9e1 | 26 | * OTHER DEALINGS IN THE SOFTWARE. |
julioefajardo | 0:81b60e58e9e1 | 27 | */ |
julioefajardo | 0:81b60e58e9e1 | 28 | |
julioefajardo | 0:81b60e58e9e1 | 29 | #include "mbed.h" |
julioefajardo | 0:81b60e58e9e1 | 30 | #include "L3GD20H.h" |
julioefajardo | 0:81b60e58e9e1 | 31 | |
julioefajardo | 0:81b60e58e9e1 | 32 | |
julioefajardo | 0:81b60e58e9e1 | 33 | // Defines //////////////////////////////////////////////////////////////// |
julioefajardo | 0:81b60e58e9e1 | 34 | |
julioefajardo | 0:81b60e58e9e1 | 35 | // The Arduino two-wire interface uses a 7-bit number for the address, |
julioefajardo | 0:81b60e58e9e1 | 36 | // and sets the last bit correctly based on reads and writes |
julioefajardo | 0:81b60e58e9e1 | 37 | // mbed I2C libraries take the 7-bit address shifted left 1 bit |
julioefajardo | 0:81b60e58e9e1 | 38 | // #define GYR_ADDRESS (0xD2 >> 1) |
julioefajardo | 0:81b60e58e9e1 | 39 | #define GYR_ADDRESS 0xD6 |
julioefajardo | 0:81b60e58e9e1 | 40 | |
julioefajardo | 0:81b60e58e9e1 | 41 | |
julioefajardo | 0:81b60e58e9e1 | 42 | // Public Methods ////////////////////////////////////////////////////////////// |
julioefajardo | 0:81b60e58e9e1 | 43 | |
julioefajardo | 0:81b60e58e9e1 | 44 | // Constructor |
julioefajardo | 0:81b60e58e9e1 | 45 | L3GD20H::L3GD20H(PinName sda, PinName scl): |
julioefajardo | 0:81b60e58e9e1 | 46 | _L3GD20H(sda, scl) |
julioefajardo | 0:81b60e58e9e1 | 47 | { |
julioefajardo | 0:81b60e58e9e1 | 48 | char reg_v; |
julioefajardo | 0:81b60e58e9e1 | 49 | _L3GD20H.frequency(100000); |
julioefajardo | 0:81b60e58e9e1 | 50 | |
julioefajardo | 0:81b60e58e9e1 | 51 | // 0x0F = 0b00001111 |
julioefajardo | 0:81b60e58e9e1 | 52 | // Normal power mode, all axes enabled |
julioefajardo | 0:81b60e58e9e1 | 53 | reg_v = 0; |
julioefajardo | 0:81b60e58e9e1 | 54 | reg_v |= 0x0F; |
julioefajardo | 0:81b60e58e9e1 | 55 | write_reg(GYR_ADDRESS,L3GD20_CTRL_REG1,reg_v); |
julioefajardo | 0:81b60e58e9e1 | 56 | |
julioefajardo | 0:81b60e58e9e1 | 57 | |
julioefajardo | 0:81b60e58e9e1 | 58 | |
julioefajardo | 0:81b60e58e9e1 | 59 | } |
julioefajardo | 0:81b60e58e9e1 | 60 | |
julioefajardo | 0:81b60e58e9e1 | 61 | |
julioefajardo | 0:81b60e58e9e1 | 62 | |
julioefajardo | 0:81b60e58e9e1 | 63 | bool L3GD20H::read(short g[3]) { |
julioefajardo | 0:81b60e58e9e1 | 64 | char gyr[6]; |
julioefajardo | 0:81b60e58e9e1 | 65 | |
julioefajardo | 0:81b60e58e9e1 | 66 | if (recv(GYR_ADDRESS, L3GD20_OUT_X_L, gyr, 6)) { |
julioefajardo | 0:81b60e58e9e1 | 67 | //scale is 1 dps/digit |
julioefajardo | 0:81b60e58e9e1 | 68 | g[0] = (gyr[1] << 8 | gyr[0]); |
julioefajardo | 0:81b60e58e9e1 | 69 | g[1] = (gyr[3] << 8 | gyr[2]); |
julioefajardo | 0:81b60e58e9e1 | 70 | g[2] = (gyr[5] << 8 | gyr[4]); |
julioefajardo | 0:81b60e58e9e1 | 71 | |
julioefajardo | 0:81b60e58e9e1 | 72 | |
julioefajardo | 0:81b60e58e9e1 | 73 | return true; |
julioefajardo | 0:81b60e58e9e1 | 74 | } |
julioefajardo | 0:81b60e58e9e1 | 75 | |
julioefajardo | 0:81b60e58e9e1 | 76 | return false; |
julioefajardo | 0:81b60e58e9e1 | 77 | } |
julioefajardo | 0:81b60e58e9e1 | 78 | |
julioefajardo | 0:81b60e58e9e1 | 79 | |
julioefajardo | 0:81b60e58e9e1 | 80 | |
julioefajardo | 0:81b60e58e9e1 | 81 | |
julioefajardo | 0:81b60e58e9e1 | 82 | bool L3GD20H::write_reg(int addr_i2c,int addr_reg, char v) |
julioefajardo | 0:81b60e58e9e1 | 83 | { |
julioefajardo | 0:81b60e58e9e1 | 84 | char data[2] = {addr_reg, v}; |
julioefajardo | 0:81b60e58e9e1 | 85 | return L3GD20H::_L3GD20H.write(addr_i2c, data, 2) == 0; |
julioefajardo | 0:81b60e58e9e1 | 86 | } |
julioefajardo | 0:81b60e58e9e1 | 87 | |
julioefajardo | 0:81b60e58e9e1 | 88 | bool L3GD20H::read_reg(int addr_i2c,int addr_reg, char *v) |
julioefajardo | 0:81b60e58e9e1 | 89 | { |
julioefajardo | 0:81b60e58e9e1 | 90 | char data = addr_reg; |
julioefajardo | 0:81b60e58e9e1 | 91 | bool result = false; |
julioefajardo | 0:81b60e58e9e1 | 92 | |
julioefajardo | 0:81b60e58e9e1 | 93 | __disable_irq(); |
julioefajardo | 0:81b60e58e9e1 | 94 | if ((_L3GD20H.write(addr_i2c, &data, 1) == 0) && (_L3GD20H.read(addr_i2c, &data, 1) == 0)){ |
julioefajardo | 0:81b60e58e9e1 | 95 | *v = data; |
julioefajardo | 0:81b60e58e9e1 | 96 | result = true; |
julioefajardo | 0:81b60e58e9e1 | 97 | } |
julioefajardo | 0:81b60e58e9e1 | 98 | __enable_irq(); |
julioefajardo | 0:81b60e58e9e1 | 99 | return result; |
julioefajardo | 0:81b60e58e9e1 | 100 | } |
julioefajardo | 0:81b60e58e9e1 | 101 | |
julioefajardo | 0:81b60e58e9e1 | 102 | |
julioefajardo | 0:81b60e58e9e1 | 103 | bool L3GD20H::recv(char sad, char sub, char *buf, int length) { |
julioefajardo | 0:81b60e58e9e1 | 104 | if (length > 1) sub |= 0x80; |
julioefajardo | 0:81b60e58e9e1 | 105 | |
julioefajardo | 0:81b60e58e9e1 | 106 | return _L3GD20H.write(sad, &sub, 1, true) == 0 && _L3GD20H.read(sad, buf, length) == 0; |
julioefajardo | 0:81b60e58e9e1 | 107 | } |