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@7:f5c0fe6ed71a, 2017-08-23 (annotated)
- Committer:
- kenjiArai
- Date:
- Wed Aug 23 09:25:40 2017 +0000
- Revision:
- 7:f5c0fe6ed71a
- Parent:
- 6:451811697299
countermeasure for NonCopyable
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | 7:f5c0fe6ed71a | 10 | * Copyright (c) 2014,'15,'17 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 | 7:f5c0fe6ed71a | 13 | * Created: July 13th, 2014 |
kenjiArai | 7:f5c0fe6ed71a | 14 | * Revised: August 23rd, 2017 |
kenjiArai | 0:de66621e5370 | 15 | */ |
kenjiArai | 0:de66621e5370 | 16 | |
kenjiArai | 0:de66621e5370 | 17 | #include "L3GD20.h" |
kenjiArai | 0:de66621e5370 | 18 | |
kenjiArai | 0:de66621e5370 | 19 | L3GX_GYRO::L3GX_GYRO (PinName p_sda, PinName p_scl, |
kenjiArai | 7:f5c0fe6ed71a | 20 | uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) |
kenjiArai | 7:f5c0fe6ed71a | 21 | : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) |
kenjiArai | 6:451811697299 | 22 | { |
kenjiArai | 5:81fc00bd76fe | 23 | _i2c.frequency(400000); |
kenjiArai | 0:de66621e5370 | 24 | initialize (addr, data_rate, bandwidth, fullscale); |
kenjiArai | 0:de66621e5370 | 25 | } |
kenjiArai | 0:de66621e5370 | 26 | |
kenjiArai | 7:f5c0fe6ed71a | 27 | L3GX_GYRO::L3GX_GYRO (PinName p_sda, PinName p_scl, uint8_t addr) |
kenjiArai | 7:f5c0fe6ed71a | 28 | : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p) |
kenjiArai | 6:451811697299 | 29 | { |
kenjiArai | 5:81fc00bd76fe | 30 | _i2c.frequency(400000); |
kenjiArai | 5:81fc00bd76fe | 31 | initialize (addr, L3GX_DR_95HZ, L3GX_BW_HI, L3GX_FS_250DPS); |
kenjiArai | 5:81fc00bd76fe | 32 | } |
kenjiArai | 5:81fc00bd76fe | 33 | |
kenjiArai | 0:de66621e5370 | 34 | L3GX_GYRO::L3GX_GYRO (I2C& p_i2c, |
kenjiArai | 7:f5c0fe6ed71a | 35 | uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) |
kenjiArai | 7:f5c0fe6ed71a | 36 | : _i2c(p_i2c) |
kenjiArai | 6:451811697299 | 37 | { |
kenjiArai | 6:451811697299 | 38 | _i2c.frequency(400000); |
kenjiArai | 0:de66621e5370 | 39 | initialize (addr, data_rate, bandwidth, fullscale); |
kenjiArai | 0:de66621e5370 | 40 | } |
kenjiArai | 0:de66621e5370 | 41 | |
kenjiArai | 7:f5c0fe6ed71a | 42 | L3GX_GYRO::L3GX_GYRO (I2C& p_i2c, uint8_t addr) |
kenjiArai | 7:f5c0fe6ed71a | 43 | : _i2c(p_i2c) |
kenjiArai | 6:451811697299 | 44 | { |
kenjiArai | 6:451811697299 | 45 | _i2c.frequency(400000); |
kenjiArai | 5:81fc00bd76fe | 46 | initialize (addr, L3GX_DR_95HZ, L3GX_BW_HI, L3GX_FS_250DPS); |
kenjiArai | 5:81fc00bd76fe | 47 | } |
kenjiArai | 5:81fc00bd76fe | 48 | |
kenjiArai | 7:f5c0fe6ed71a | 49 | void L3GX_GYRO::initialize (uint8_t addr, uint8_t data_rate, |
kenjiArai | 7:f5c0fe6ed71a | 50 | uint8_t bandwidth, uint8_t fullscale) |
kenjiArai | 6:451811697299 | 51 | { |
kenjiArai | 0:de66621e5370 | 52 | // Check gyro is available of not |
kenjiArai | 0:de66621e5370 | 53 | gyro_addr = addr; |
kenjiArai | 6:451811697299 | 54 | dt[0] = L3GX_WHO_AM_I; |
kenjiArai | 5:81fc00bd76fe | 55 | _i2c.write(gyro_addr, dt, 1, true); |
kenjiArai | 5:81fc00bd76fe | 56 | _i2c.read(gyro_addr, dt, 1, false); |
kenjiArai | 6:451811697299 | 57 | if (dt[0] == I_AM_L3G4200D) { |
kenjiArai | 0:de66621e5370 | 58 | gyro_ready = 1; |
kenjiArai | 6:451811697299 | 59 | } else if (dt[0] == I_AM_L3GD20) { |
kenjiArai | 0:de66621e5370 | 60 | gyro_ready = 1; |
kenjiArai | 0:de66621e5370 | 61 | } else { |
kenjiArai | 0:de66621e5370 | 62 | gyro_ready = 0; |
kenjiArai | 0:de66621e5370 | 63 | return; // gyro chip is NOT on I2C line then terminate this part |
kenjiArai | 0:de66621e5370 | 64 | } |
kenjiArai | 0:de66621e5370 | 65 | // Reg.1 |
kenjiArai | 5:81fc00bd76fe | 66 | dt[0] = L3GX_CTRL_REG1; |
kenjiArai | 5:81fc00bd76fe | 67 | dt[1] = 0x0f; |
kenjiArai | 5:81fc00bd76fe | 68 | dt[1] |= data_rate << 6; |
kenjiArai | 5:81fc00bd76fe | 69 | dt[1] |= bandwidth << 4; |
kenjiArai | 5:81fc00bd76fe | 70 | _i2c.write(gyro_addr, dt, 2, false); |
kenjiArai | 6:451811697299 | 71 | // Reg.3 |
kenjiArai | 5:81fc00bd76fe | 72 | dt[0] = L3GX_CTRL_REG3; |
kenjiArai | 5:81fc00bd76fe | 73 | dt[1] = 0x08; |
kenjiArai | 5:81fc00bd76fe | 74 | _i2c.write(gyro_addr, dt, 2, false); |
kenjiArai | 0:de66621e5370 | 75 | // Reg.4 |
kenjiArai | 5:81fc00bd76fe | 76 | dt[0] = L3GX_CTRL_REG4; |
kenjiArai | 6:451811697299 | 77 | switch (fullscale) { |
kenjiArai | 6:451811697299 | 78 | case L3GX_FS_250DPS: |
kenjiArai | 6:451811697299 | 79 | fs_factor = 0.00875; |
kenjiArai | 6:451811697299 | 80 | dt[1] = 0x80; |
kenjiArai | 6:451811697299 | 81 | break; |
kenjiArai | 6:451811697299 | 82 | case L3GX_FS_500DPS: |
kenjiArai | 6:451811697299 | 83 | fs_factor = 0.0175; |
kenjiArai | 6:451811697299 | 84 | dt[1] = 0x90; |
kenjiArai | 6:451811697299 | 85 | break; |
kenjiArai | 6:451811697299 | 86 | case L3GX_FS_2000DPS: |
kenjiArai | 6:451811697299 | 87 | fs_factor = 0.07; |
kenjiArai | 6:451811697299 | 88 | dt[1] = 0xa0; |
kenjiArai | 6:451811697299 | 89 | break; |
kenjiArai | 6:451811697299 | 90 | default: |
kenjiArai | 6:451811697299 | 91 | ; |
kenjiArai | 0:de66621e5370 | 92 | } |
kenjiArai | 5:81fc00bd76fe | 93 | _i2c.write(gyro_addr, dt, 2, false); |
kenjiArai | 0:de66621e5370 | 94 | } |
kenjiArai | 0:de66621e5370 | 95 | |
kenjiArai | 6:451811697299 | 96 | void L3GX_GYRO::read_data(float *dt_usr) |
kenjiArai | 6:451811697299 | 97 | { |
kenjiArai | 6:451811697299 | 98 | char data[6]; |
kenjiArai | 0:de66621e5370 | 99 | |
kenjiArai | 6:451811697299 | 100 | if (gyro_ready == 0) { |
kenjiArai | 5:81fc00bd76fe | 101 | dt_usr[0] = 0; |
kenjiArai | 5:81fc00bd76fe | 102 | dt_usr[1] = 0; |
kenjiArai | 5:81fc00bd76fe | 103 | dt_usr[2] = 0; |
kenjiArai | 6:451811697299 | 104 | return; |
kenjiArai | 0:de66621e5370 | 105 | } |
kenjiArai | 0:de66621e5370 | 106 | // X,Y & Z |
kenjiArai | 6:451811697299 | 107 | // manual said that |
kenjiArai | 6:451811697299 | 108 | // In order to read multiple bytes, it is necessary to assert the most significant bit |
kenjiArai | 6:451811697299 | 109 | // of the subaddress field. |
kenjiArai | 6:451811697299 | 110 | // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address |
kenjiArai | 6:451811697299 | 111 | // of the first register to be read. |
kenjiArai | 5:81fc00bd76fe | 112 | dt[0] = L3GX_OUT_X_L | 0x80; |
kenjiArai | 6:451811697299 | 113 | _i2c.write(gyro_addr, dt, 1, true); |
kenjiArai | 5:81fc00bd76fe | 114 | _i2c.read(gyro_addr, data, 6, false); |
kenjiArai | 0:de66621e5370 | 115 | // data normalization |
kenjiArai | 5:81fc00bd76fe | 116 | dt_usr[0] = float(short(data[1] << 8 | data[0])) * fs_factor; |
kenjiArai | 5:81fc00bd76fe | 117 | dt_usr[1] = float(short(data[3] << 8 | data[2])) * fs_factor; |
kenjiArai | 5:81fc00bd76fe | 118 | dt_usr[2] = float(short(data[5] << 8 | data[4])) * fs_factor; |
kenjiArai | 0:de66621e5370 | 119 | } |
kenjiArai | 0:de66621e5370 | 120 | |
kenjiArai | 6:451811697299 | 121 | int8_t L3GX_GYRO::read_temp() |
kenjiArai | 6:451811697299 | 122 | { |
kenjiArai | 6:451811697299 | 123 | if (gyro_ready == 1) { |
kenjiArai | 6:451811697299 | 124 | dt[0] = L3GX_OUT_TEMP; |
kenjiArai | 5:81fc00bd76fe | 125 | _i2c.write(gyro_addr, dt, 1, true); |
kenjiArai | 5:81fc00bd76fe | 126 | _i2c.read(gyro_addr, dt, 1, false); |
kenjiArai | 0:de66621e5370 | 127 | } else { |
kenjiArai | 5:81fc00bd76fe | 128 | dt[0] = 99; |
kenjiArai | 0:de66621e5370 | 129 | } |
kenjiArai | 5:81fc00bd76fe | 130 | return (int8_t)dt[0]; |
kenjiArai | 0:de66621e5370 | 131 | } |
kenjiArai | 0:de66621e5370 | 132 | |
kenjiArai | 6:451811697299 | 133 | uint8_t L3GX_GYRO::read_id() |
kenjiArai | 6:451811697299 | 134 | { |
kenjiArai | 6:451811697299 | 135 | dt[0] = L3GX_WHO_AM_I; |
kenjiArai | 5:81fc00bd76fe | 136 | _i2c.write(gyro_addr, dt, 1, true); |
kenjiArai | 5:81fc00bd76fe | 137 | _i2c.read(gyro_addr, dt, 1, false); |
kenjiArai | 5:81fc00bd76fe | 138 | return (uint8_t)dt[0]; |
kenjiArai | 0:de66621e5370 | 139 | } |
kenjiArai | 6:451811697299 | 140 | |
kenjiArai | 6:451811697299 | 141 | uint8_t L3GX_GYRO::data_ready() |
kenjiArai | 6:451811697299 | 142 | { |
kenjiArai | 6:451811697299 | 143 | if (gyro_ready == 1) { |
kenjiArai | 6:451811697299 | 144 | dt[0] = L3GX_STATUS_REG; |
kenjiArai | 5:81fc00bd76fe | 145 | _i2c.write(gyro_addr, dt, 1, true); |
kenjiArai | 5:81fc00bd76fe | 146 | _i2c.read(gyro_addr, dt, 1, false); |
kenjiArai | 6:451811697299 | 147 | if (!(dt[0] & 0x01)) { |
kenjiArai | 0:de66621e5370 | 148 | return 0; |
kenjiArai | 0:de66621e5370 | 149 | } |
kenjiArai | 0:de66621e5370 | 150 | } |
kenjiArai | 0:de66621e5370 | 151 | return 1;; |
kenjiArai | 0:de66621e5370 | 152 | } |
kenjiArai | 0:de66621e5370 | 153 | |
kenjiArai | 6:451811697299 | 154 | void L3GX_GYRO::frequency(int hz) |
kenjiArai | 6:451811697299 | 155 | { |
kenjiArai | 5:81fc00bd76fe | 156 | _i2c.frequency(hz); |
kenjiArai | 1:9475fd0e35ff | 157 | } |
kenjiArai | 1:9475fd0e35ff | 158 | |
kenjiArai | 6:451811697299 | 159 | uint8_t L3GX_GYRO::read_reg(uint8_t addr) |
kenjiArai | 6:451811697299 | 160 | { |
kenjiArai | 6:451811697299 | 161 | if (gyro_ready == 1) { |
kenjiArai | 6:451811697299 | 162 | dt[0] = addr; |
kenjiArai | 5:81fc00bd76fe | 163 | _i2c.write(gyro_addr, dt, 1, true); |
kenjiArai | 5:81fc00bd76fe | 164 | _i2c.read(gyro_addr, dt, 1, false); |
kenjiArai | 0:de66621e5370 | 165 | } else { |
kenjiArai | 5:81fc00bd76fe | 166 | dt[0] = 0xff; |
kenjiArai | 0:de66621e5370 | 167 | } |
kenjiArai | 5:81fc00bd76fe | 168 | return (uint8_t)dt[0]; |
kenjiArai | 0:de66621e5370 | 169 | } |
kenjiArai | 0:de66621e5370 | 170 | |
kenjiArai | 6:451811697299 | 171 | void L3GX_GYRO::write_reg(uint8_t addr, uint8_t data) |
kenjiArai | 6:451811697299 | 172 | { |
kenjiArai | 6:451811697299 | 173 | if (gyro_ready == 1) { |
kenjiArai | 5:81fc00bd76fe | 174 | dt[0] = addr; |
kenjiArai | 6:451811697299 | 175 | dt[1] = data; |
kenjiArai | 5:81fc00bd76fe | 176 | _i2c.write(gyro_addr, dt, 2, false); |
kenjiArai | 0:de66621e5370 | 177 | } |
kenjiArai | 0:de66621e5370 | 178 | } |
kenjiArai | 7:f5c0fe6ed71a | 179 | |
kenjiArai | 7:f5c0fe6ed71a | 180 |