Kenji Arai / L3GD20

L3GD20 & L3G4200D / STMicroelectronics / MEMS motion sensor, three-axis gyroscope library

Dependents:   GR-PEACH_test_wo_rtos GR-PEACH_test_on_rtos_works_well

L3GD20.cpp@6:451811697299, 2015-02-24 (annotated)

Committer:
kenjiArai
Date:
Tue Feb 24 12:24:29 2015 +0000
Revision:
6:451811697299
Parent:
5:81fc00bd76fe
Child:
7:f5c0fe6ed71a
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kenjiArai 0:de66621e5370 1 /*
kenjiArai 6:451811697299 2 * mbed library program
kenjiArai 0:de66621e5370 3 * L3GD20 MEMS motion sensor: 3-axis digital gyroscope, made by STMicroelectronics
kenjiArai 0:de66621e5370 4 * http://www.st.com/web/catalog/sense_power/FM89/SC1288
kenjiArai 0:de66621e5370 5 * /PF252443?sc=internet/analog/product/252443.jsp
kenjiArai 0:de66621e5370 6 * L3G4200 DMEMS motion sensor: three-axis digital output gyroscope, made by STMicroelectronics
kenjiArai 0:de66621e5370 7 * http://www.st.com/web/catalog/sense_power/FM89/SC1288
kenjiArai 0:de66621e5370 8 * /PF250373?sc=internet/analog/product/250373.jsp
kenjiArai 0:de66621e5370 9 *
kenjiArai 5:81fc00bd76fe 10 * Copyright (c) 2014,'15 Kenji Arai / JH1PJL
kenjiArai 0:de66621e5370 11 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:de66621e5370 12 * http://mbed.org/users/kenjiArai/
kenjiArai 6:451811697299 13 * Created: July 13th, 2014
kenjiArai 5:81fc00bd76fe 14 * Revised: Feburary 24th, 2015
kenjiArai 0:de66621e5370 15 *
kenjiArai 0:de66621e5370 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
kenjiArai 0:de66621e5370 17 * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
kenjiArai 0:de66621e5370 18 * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
kenjiArai 0:de66621e5370 19 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kenjiArai 0:de66621e5370 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
kenjiArai 0:de66621e5370 21 */
kenjiArai 0:de66621e5370 22
kenjiArai 0:de66621e5370 23 #include "L3GD20.h"
kenjiArai 0:de66621e5370 24
kenjiArai 0:de66621e5370 25 L3GX_GYRO::L3GX_GYRO (PinName p_sda, PinName p_scl,
kenjiArai 6:451811697299 26 uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : _i2c(p_sda, p_scl)
kenjiArai 6:451811697299 27 {
kenjiArai 5:81fc00bd76fe 28 _i2c.frequency(400000);
kenjiArai 0:de66621e5370 29 initialize (addr, data_rate, bandwidth, fullscale);
kenjiArai 0:de66621e5370 30 }
kenjiArai 0:de66621e5370 31
kenjiArai 6:451811697299 32 L3GX_GYRO::L3GX_GYRO (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl)
kenjiArai 6:451811697299 33 {
kenjiArai 5:81fc00bd76fe 34 _i2c.frequency(400000);
kenjiArai 5:81fc00bd76fe 35 initialize (addr, L3GX_DR_95HZ, L3GX_BW_HI, L3GX_FS_250DPS);
kenjiArai 5:81fc00bd76fe 36 }
kenjiArai 5:81fc00bd76fe 37
kenjiArai 0:de66621e5370 38 L3GX_GYRO::L3GX_GYRO (I2C& p_i2c,
kenjiArai 6:451811697299 39 uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : _i2c(p_i2c)
kenjiArai 6:451811697299 40 {
kenjiArai 6:451811697299 41 _i2c.frequency(400000);
kenjiArai 0:de66621e5370 42 initialize (addr, data_rate, bandwidth, fullscale);
kenjiArai 0:de66621e5370 43 }
kenjiArai 0:de66621e5370 44
kenjiArai 6:451811697299 45 L3GX_GYRO::L3GX_GYRO (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c)
kenjiArai 6:451811697299 46 {
kenjiArai 6:451811697299 47 _i2c.frequency(400000);
kenjiArai 5:81fc00bd76fe 48 initialize (addr, L3GX_DR_95HZ, L3GX_BW_HI, L3GX_FS_250DPS);
kenjiArai 5:81fc00bd76fe 49 }
kenjiArai 5:81fc00bd76fe 50
kenjiArai 6:451811697299 51 void L3GX_GYRO::initialize (uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale)
kenjiArai 6:451811697299 52 {
kenjiArai 0:de66621e5370 53 // Check gyro is available of not
kenjiArai 0:de66621e5370 54 gyro_addr = addr;
kenjiArai 6:451811697299 55 dt[0] = L3GX_WHO_AM_I;
kenjiArai 5:81fc00bd76fe 56 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 57 _i2c.read(gyro_addr, dt, 1, false);
kenjiArai 6:451811697299 58 if (dt[0] == I_AM_L3G4200D) {
kenjiArai 0:de66621e5370 59 gyro_ready = 1;
kenjiArai 6:451811697299 60 } else if (dt[0] == I_AM_L3GD20) {
kenjiArai 0:de66621e5370 61 gyro_ready = 1;
kenjiArai 0:de66621e5370 62 } else {
kenjiArai 0:de66621e5370 63 gyro_ready = 0;
kenjiArai 0:de66621e5370 64 return; // gyro chip is NOT on I2C line then terminate this part
kenjiArai 0:de66621e5370 65 }
kenjiArai 0:de66621e5370 66 // Reg.1
kenjiArai 5:81fc00bd76fe 67 dt[0] = L3GX_CTRL_REG1;
kenjiArai 5:81fc00bd76fe 68 dt[1] = 0x0f;
kenjiArai 5:81fc00bd76fe 69 dt[1] |= data_rate << 6;
kenjiArai 5:81fc00bd76fe 70 dt[1] |= bandwidth << 4;
kenjiArai 5:81fc00bd76fe 71 _i2c.write(gyro_addr, dt, 2, false);
kenjiArai 6:451811697299 72 // Reg.3
kenjiArai 5:81fc00bd76fe 73 dt[0] = L3GX_CTRL_REG3;
kenjiArai 5:81fc00bd76fe 74 dt[1] = 0x08;
kenjiArai 5:81fc00bd76fe 75 _i2c.write(gyro_addr, dt, 2, false);
kenjiArai 0:de66621e5370 76 // Reg.4
kenjiArai 5:81fc00bd76fe 77 dt[0] = L3GX_CTRL_REG4;
kenjiArai 6:451811697299 78 switch (fullscale) {
kenjiArai 6:451811697299 79 case L3GX_FS_250DPS:
kenjiArai 6:451811697299 80 fs_factor = 0.00875;
kenjiArai 6:451811697299 81 dt[1] = 0x80;
kenjiArai 6:451811697299 82 break;
kenjiArai 6:451811697299 83 case L3GX_FS_500DPS:
kenjiArai 6:451811697299 84 fs_factor = 0.0175;
kenjiArai 6:451811697299 85 dt[1] = 0x90;
kenjiArai 6:451811697299 86 break;
kenjiArai 6:451811697299 87 case L3GX_FS_2000DPS:
kenjiArai 6:451811697299 88 fs_factor = 0.07;
kenjiArai 6:451811697299 89 dt[1] = 0xa0;
kenjiArai 6:451811697299 90 break;
kenjiArai 6:451811697299 91 default:
kenjiArai 6:451811697299 92 ;
kenjiArai 0:de66621e5370 93 }
kenjiArai 5:81fc00bd76fe 94 _i2c.write(gyro_addr, dt, 2, false);
kenjiArai 0:de66621e5370 95 }
kenjiArai 0:de66621e5370 96
kenjiArai 6:451811697299 97 void L3GX_GYRO::read_data(float *dt_usr)
kenjiArai 6:451811697299 98 {
kenjiArai 6:451811697299 99 char data[6];
kenjiArai 0:de66621e5370 100
kenjiArai 6:451811697299 101 if (gyro_ready == 0) {
kenjiArai 5:81fc00bd76fe 102 dt_usr[0] = 0;
kenjiArai 5:81fc00bd76fe 103 dt_usr[1] = 0;
kenjiArai 5:81fc00bd76fe 104 dt_usr[2] = 0;
kenjiArai 6:451811697299 105 return;
kenjiArai 0:de66621e5370 106 }
kenjiArai 0:de66621e5370 107 // X,Y & Z
kenjiArai 6:451811697299 108 // manual said that
kenjiArai 6:451811697299 109 // In order to read multiple bytes, it is necessary to assert the most significant bit
kenjiArai 6:451811697299 110 // of the subaddress field.
kenjiArai 6:451811697299 111 // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
kenjiArai 6:451811697299 112 // of the first register to be read.
kenjiArai 5:81fc00bd76fe 113 dt[0] = L3GX_OUT_X_L | 0x80;
kenjiArai 6:451811697299 114 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 115 _i2c.read(gyro_addr, data, 6, false);
kenjiArai 0:de66621e5370 116 // data normalization
kenjiArai 5:81fc00bd76fe 117 dt_usr[0] = float(short(data[1] << 8 | data[0])) * fs_factor;
kenjiArai 5:81fc00bd76fe 118 dt_usr[1] = float(short(data[3] << 8 | data[2])) * fs_factor;
kenjiArai 5:81fc00bd76fe 119 dt_usr[2] = float(short(data[5] << 8 | data[4])) * fs_factor;
kenjiArai 0:de66621e5370 120 }
kenjiArai 0:de66621e5370 121
kenjiArai 6:451811697299 122 int8_t L3GX_GYRO::read_temp()
kenjiArai 6:451811697299 123 {
kenjiArai 6:451811697299 124 if (gyro_ready == 1) {
kenjiArai 6:451811697299 125 dt[0] = L3GX_OUT_TEMP;
kenjiArai 5:81fc00bd76fe 126 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 127 _i2c.read(gyro_addr, dt, 1, false);
kenjiArai 0:de66621e5370 128 } else {
kenjiArai 5:81fc00bd76fe 129 dt[0] = 99;
kenjiArai 0:de66621e5370 130 }
kenjiArai 5:81fc00bd76fe 131 return (int8_t)dt[0];
kenjiArai 0:de66621e5370 132 }
kenjiArai 0:de66621e5370 133
kenjiArai 6:451811697299 134 uint8_t L3GX_GYRO::read_id()
kenjiArai 6:451811697299 135 {
kenjiArai 6:451811697299 136 dt[0] = L3GX_WHO_AM_I;
kenjiArai 5:81fc00bd76fe 137 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 138 _i2c.read(gyro_addr, dt, 1, false);
kenjiArai 5:81fc00bd76fe 139 return (uint8_t)dt[0];
kenjiArai 0:de66621e5370 140 }
kenjiArai 6:451811697299 141
kenjiArai 6:451811697299 142 uint8_t L3GX_GYRO::data_ready()
kenjiArai 6:451811697299 143 {
kenjiArai 6:451811697299 144 if (gyro_ready == 1) {
kenjiArai 6:451811697299 145 dt[0] = L3GX_STATUS_REG;
kenjiArai 5:81fc00bd76fe 146 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 147 _i2c.read(gyro_addr, dt, 1, false);
kenjiArai 6:451811697299 148 if (!(dt[0] & 0x01)) {
kenjiArai 0:de66621e5370 149 return 0;
kenjiArai 0:de66621e5370 150 }
kenjiArai 0:de66621e5370 151 }
kenjiArai 0:de66621e5370 152 return 1;;
kenjiArai 0:de66621e5370 153 }
kenjiArai 0:de66621e5370 154
kenjiArai 6:451811697299 155 void L3GX_GYRO::frequency(int hz)
kenjiArai 6:451811697299 156 {
kenjiArai 5:81fc00bd76fe 157 _i2c.frequency(hz);
kenjiArai 1:9475fd0e35ff 158 }
kenjiArai 1:9475fd0e35ff 159
kenjiArai 6:451811697299 160 uint8_t L3GX_GYRO::read_reg(uint8_t addr)
kenjiArai 6:451811697299 161 {
kenjiArai 6:451811697299 162 if (gyro_ready == 1) {
kenjiArai 6:451811697299 163 dt[0] = addr;
kenjiArai 5:81fc00bd76fe 164 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 165 _i2c.read(gyro_addr, dt, 1, false);
kenjiArai 0:de66621e5370 166 } else {
kenjiArai 5:81fc00bd76fe 167 dt[0] = 0xff;
kenjiArai 0:de66621e5370 168 }
kenjiArai 5:81fc00bd76fe 169 return (uint8_t)dt[0];
kenjiArai 0:de66621e5370 170 }
kenjiArai 0:de66621e5370 171
kenjiArai 6:451811697299 172 void L3GX_GYRO::write_reg(uint8_t addr, uint8_t data)
kenjiArai 6:451811697299 173 {
kenjiArai 6:451811697299 174 if (gyro_ready == 1) {
kenjiArai 5:81fc00bd76fe 175 dt[0] = addr;
kenjiArai 6:451811697299 176 dt[1] = data;
kenjiArai 5:81fc00bd76fe 177 _i2c.write(gyro_addr, dt, 2, false);
kenjiArai 0:de66621e5370 178 }
kenjiArai 0:de66621e5370 179 }