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@5:81fc00bd76fe, 2015-02-24 (annotated)

Committer:
kenjiArai
Date:
Tue Feb 24 12:21:41 2015 +0000
Revision:
5:81fc00bd76fe
Parent:
4:7d0cec583aa3
Child:
6:451811697299
unified format, data name and others, added function call

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:de66621e5370 1 /*
kenjiArai 0:de66621e5370 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 0:de66621e5370 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 5:81fc00bd76fe 26 uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : _i2c(p_sda, p_scl) {
kenjiArai 5:81fc00bd76fe 27 _i2c.frequency(400000);
kenjiArai 0:de66621e5370 28 initialize (addr, data_rate, bandwidth, fullscale);
kenjiArai 0:de66621e5370 29 }
kenjiArai 0:de66621e5370 30
kenjiArai 5:81fc00bd76fe 31 L3GX_GYRO::L3GX_GYRO (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl) {
kenjiArai 5:81fc00bd76fe 32 _i2c.frequency(400000);
kenjiArai 5:81fc00bd76fe 33 initialize (addr, L3GX_DR_95HZ, L3GX_BW_HI, L3GX_FS_250DPS);
kenjiArai 5:81fc00bd76fe 34 }
kenjiArai 5:81fc00bd76fe 35
kenjiArai 0:de66621e5370 36 L3GX_GYRO::L3GX_GYRO (I2C& p_i2c,
kenjiArai 5:81fc00bd76fe 37 uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : _i2c(p_i2c) {
kenjiArai 5:81fc00bd76fe 38 _i2c.frequency(400000);
kenjiArai 0:de66621e5370 39 initialize (addr, data_rate, bandwidth, fullscale);
kenjiArai 0:de66621e5370 40 }
kenjiArai 0:de66621e5370 41
kenjiArai 5:81fc00bd76fe 42 L3GX_GYRO::L3GX_GYRO (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c) {
kenjiArai 5:81fc00bd76fe 43 _i2c.frequency(400000);
kenjiArai 5:81fc00bd76fe 44 initialize (addr, L3GX_DR_95HZ, L3GX_BW_HI, L3GX_FS_250DPS);
kenjiArai 5:81fc00bd76fe 45 }
kenjiArai 5:81fc00bd76fe 46
kenjiArai 0:de66621e5370 47 void L3GX_GYRO::initialize (uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) {
kenjiArai 0:de66621e5370 48 // Check gyro is available of not
kenjiArai 0:de66621e5370 49 gyro_addr = addr;
kenjiArai 5:81fc00bd76fe 50 dt[0] = L3GX_WHO_AM_I;
kenjiArai 5:81fc00bd76fe 51 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 52 _i2c.read(gyro_addr, dt, 1, false);
kenjiArai 5:81fc00bd76fe 53 if (dt[0] == I_AM_L3G4200D){
kenjiArai 0:de66621e5370 54 gyro_ready = 1;
kenjiArai 5:81fc00bd76fe 55 } else if (dt[0] == I_AM_L3GD20){
kenjiArai 0:de66621e5370 56 gyro_ready = 1;
kenjiArai 0:de66621e5370 57 } else {
kenjiArai 0:de66621e5370 58 gyro_ready = 0;
kenjiArai 0:de66621e5370 59 return; // gyro chip is NOT on I2C line then terminate this part
kenjiArai 0:de66621e5370 60 }
kenjiArai 0:de66621e5370 61 // Reg.1
kenjiArai 5:81fc00bd76fe 62 dt[0] = L3GX_CTRL_REG1;
kenjiArai 5:81fc00bd76fe 63 dt[1] = 0x0f;
kenjiArai 5:81fc00bd76fe 64 dt[1] |= data_rate << 6;
kenjiArai 5:81fc00bd76fe 65 dt[1] |= bandwidth << 4;
kenjiArai 5:81fc00bd76fe 66 _i2c.write(gyro_addr, dt, 2, false);
kenjiArai 0:de66621e5370 67 // Reg.3
kenjiArai 5:81fc00bd76fe 68 dt[0] = L3GX_CTRL_REG3;
kenjiArai 5:81fc00bd76fe 69 dt[1] = 0x08;
kenjiArai 5:81fc00bd76fe 70 _i2c.write(gyro_addr, dt, 2, false);
kenjiArai 0:de66621e5370 71 // Reg.4
kenjiArai 5:81fc00bd76fe 72 dt[0] = L3GX_CTRL_REG4;
kenjiArai 0:de66621e5370 73 switch (fullscale){
kenjiArai 0:de66621e5370 74 case L3GX_FS_250DPS:
kenjiArai 0:de66621e5370 75 fs_factor = 0.00875;
kenjiArai 5:81fc00bd76fe 76 dt[1] = 0x80;
kenjiArai 0:de66621e5370 77 break;
kenjiArai 0:de66621e5370 78 case L3GX_FS_500DPS:
kenjiArai 0:de66621e5370 79 fs_factor = 0.0175;
kenjiArai 5:81fc00bd76fe 80 dt[1] = 0x90;
kenjiArai 0:de66621e5370 81 break;
kenjiArai 0:de66621e5370 82 case L3GX_FS_2000DPS:
kenjiArai 0:de66621e5370 83 fs_factor = 0.07;
kenjiArai 5:81fc00bd76fe 84 dt[1] = 0xa0;
kenjiArai 0:de66621e5370 85 break;
kenjiArai 0:de66621e5370 86 default:
kenjiArai 0:de66621e5370 87 ;
kenjiArai 0:de66621e5370 88 }
kenjiArai 5:81fc00bd76fe 89 _i2c.write(gyro_addr, dt, 2, false);
kenjiArai 0:de66621e5370 90 }
kenjiArai 0:de66621e5370 91
kenjiArai 5:81fc00bd76fe 92 void L3GX_GYRO::read_data(float *dt_usr) {
kenjiArai 0:de66621e5370 93 char data[6];
kenjiArai 0:de66621e5370 94
kenjiArai 0:de66621e5370 95 if (gyro_ready == 0){
kenjiArai 5:81fc00bd76fe 96 dt_usr[0] = 0;
kenjiArai 5:81fc00bd76fe 97 dt_usr[1] = 0;
kenjiArai 5:81fc00bd76fe 98 dt_usr[2] = 0;
kenjiArai 0:de66621e5370 99 return;
kenjiArai 0:de66621e5370 100 }
kenjiArai 0:de66621e5370 101 // X,Y & Z
kenjiArai 0:de66621e5370 102 // manual said that
kenjiArai 0:de66621e5370 103 // In order to read multiple bytes, it is necessary to assert the most significant bit
kenjiArai 0:de66621e5370 104 // of the subaddress field.
kenjiArai 0:de66621e5370 105 // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
kenjiArai 0:de66621e5370 106 // of the first register to be read.
kenjiArai 5:81fc00bd76fe 107 dt[0] = L3GX_OUT_X_L | 0x80;
kenjiArai 5:81fc00bd76fe 108 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 109 _i2c.read(gyro_addr, data, 6, false);
kenjiArai 0:de66621e5370 110 // data normalization
kenjiArai 5:81fc00bd76fe 111 dt_usr[0] = float(short(data[1] << 8 | data[0])) * fs_factor;
kenjiArai 5:81fc00bd76fe 112 dt_usr[1] = float(short(data[3] << 8 | data[2])) * fs_factor;
kenjiArai 5:81fc00bd76fe 113 dt_usr[2] = float(short(data[5] << 8 | data[4])) * fs_factor;
kenjiArai 0:de66621e5370 114 }
kenjiArai 0:de66621e5370 115
kenjiArai 0:de66621e5370 116 int8_t L3GX_GYRO::read_temp() {
kenjiArai 0:de66621e5370 117 if (gyro_ready == 1){
kenjiArai 5:81fc00bd76fe 118 dt[0] = L3GX_OUT_TEMP;
kenjiArai 5:81fc00bd76fe 119 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 120 _i2c.read(gyro_addr, dt, 1, false);
kenjiArai 0:de66621e5370 121 } else {
kenjiArai 5:81fc00bd76fe 122 dt[0] = 99;
kenjiArai 0:de66621e5370 123 }
kenjiArai 5:81fc00bd76fe 124 return (int8_t)dt[0];
kenjiArai 0:de66621e5370 125 }
kenjiArai 0:de66621e5370 126
kenjiArai 0:de66621e5370 127 uint8_t L3GX_GYRO::read_id() {
kenjiArai 5:81fc00bd76fe 128 dt[0] = L3GX_WHO_AM_I;
kenjiArai 5:81fc00bd76fe 129 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 130 _i2c.read(gyro_addr, dt, 1, false);
kenjiArai 5:81fc00bd76fe 131 return (uint8_t)dt[0];
kenjiArai 0:de66621e5370 132 }
kenjiArai 0:de66621e5370 133
kenjiArai 0:de66621e5370 134 uint8_t L3GX_GYRO::data_ready() {
kenjiArai 0:de66621e5370 135 if (gyro_ready == 1){
kenjiArai 5:81fc00bd76fe 136 dt[0] = L3GX_STATUS_REG;
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 if (!(dt[0] & 0x01)){
kenjiArai 0:de66621e5370 140 return 0;
kenjiArai 0:de66621e5370 141 }
kenjiArai 0:de66621e5370 142 }
kenjiArai 0:de66621e5370 143 return 1;;
kenjiArai 0:de66621e5370 144 }
kenjiArai 0:de66621e5370 145
kenjiArai 1:9475fd0e35ff 146 void L3GX_GYRO::frequency(int hz) {
kenjiArai 5:81fc00bd76fe 147 _i2c.frequency(hz);
kenjiArai 1:9475fd0e35ff 148 }
kenjiArai 1:9475fd0e35ff 149
kenjiArai 0:de66621e5370 150 uint8_t L3GX_GYRO::read_reg(uint8_t addr) {
kenjiArai 0:de66621e5370 151 if (gyro_ready == 1){
kenjiArai 5:81fc00bd76fe 152 dt[0] = addr;
kenjiArai 5:81fc00bd76fe 153 _i2c.write(gyro_addr, dt, 1, true);
kenjiArai 5:81fc00bd76fe 154 _i2c.read(gyro_addr, dt, 1, false);
kenjiArai 0:de66621e5370 155 } else {
kenjiArai 5:81fc00bd76fe 156 dt[0] = 0xff;
kenjiArai 0:de66621e5370 157 }
kenjiArai 5:81fc00bd76fe 158 return (uint8_t)dt[0];
kenjiArai 0:de66621e5370 159 }
kenjiArai 0:de66621e5370 160
kenjiArai 0:de66621e5370 161 void L3GX_GYRO::write_reg(uint8_t addr, uint8_t data) {
kenjiArai 0:de66621e5370 162 if (gyro_ready == 1){
kenjiArai 5:81fc00bd76fe 163 dt[0] = addr;
kenjiArai 5:81fc00bd76fe 164 dt[1] = data;
kenjiArai 5:81fc00bd76fe 165 _i2c.write(gyro_addr, dt, 2, false);
kenjiArai 0:de66621e5370 166 }
kenjiArai 0:de66621e5370 167 }