Diff: L3GD20.cpp

Revision:

6:451811697299

Parent:

5:81fc00bd76fe

Child:

7:f5c0fe6ed71a

--- a/L3GD20.cpp	Tue Feb 24 12:21:41 2015 +0000
+++ b/L3GD20.cpp	Tue Feb 24 12:24:29 2015 +0000
@@ -1,5 +1,5 @@
 /*
- * mbed library program 
+ * mbed library program
  *  L3GD20 MEMS motion sensor: 3-axis digital gyroscope, made by STMicroelectronics
  *      http://www.st.com/web/catalog/sense_power/FM89/SC1288
  *          /PF252443?sc=internet/analog/product/252443.jsp
@@ -10,7 +10,7 @@
  * Copyright (c) 2014,'15 Kenji Arai / JH1PJL
  *  http://www.page.sannet.ne.jp/kenjia/index.html
  *  http://mbed.org/users/kenjiArai/
- *      Created: July      13th, 2014 
+ *      Created: July      13th, 2014
  *      Revised: Feburary  24th, 2015
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
@@ -23,36 +23,41 @@
 #include "L3GD20.h"
 
 L3GX_GYRO::L3GX_GYRO (PinName p_sda, PinName p_scl,
-    uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : _i2c(p_sda, p_scl) {
+                      uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : _i2c(p_sda, p_scl)
+{
     _i2c.frequency(400000);
     initialize (addr, data_rate, bandwidth, fullscale);
 }
 
-L3GX_GYRO::L3GX_GYRO (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl) {
+L3GX_GYRO::L3GX_GYRO (PinName p_sda, PinName p_scl, uint8_t addr) : _i2c(p_sda, p_scl)
+{
     _i2c.frequency(400000);
     initialize (addr, L3GX_DR_95HZ, L3GX_BW_HI, L3GX_FS_250DPS);
 }
 
 L3GX_GYRO::L3GX_GYRO (I2C& p_i2c,
-    uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : _i2c(p_i2c) {
-    _i2c.frequency(400000); 
+                      uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : _i2c(p_i2c)
+{
+    _i2c.frequency(400000);
     initialize (addr, data_rate, bandwidth, fullscale);
 }
 
-L3GX_GYRO::L3GX_GYRO (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c) {
-    _i2c.frequency(400000); 
+L3GX_GYRO::L3GX_GYRO (I2C& p_i2c, uint8_t addr) : _i2c(p_i2c)
+{
+    _i2c.frequency(400000);
     initialize (addr, L3GX_DR_95HZ, L3GX_BW_HI, L3GX_FS_250DPS);
 }
 
-void L3GX_GYRO::initialize (uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) {
+void L3GX_GYRO::initialize (uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale)
+{
     // Check gyro is available of not
     gyro_addr = addr;
-    dt[0] = L3GX_WHO_AM_I; 
+    dt[0] = L3GX_WHO_AM_I;
     _i2c.write(gyro_addr, dt, 1, true);
     _i2c.read(gyro_addr, dt, 1, false);
-    if (dt[0] == I_AM_L3G4200D){
+    if (dt[0] == I_AM_L3G4200D) {
         gyro_ready = 1;
-    } else if (dt[0] == I_AM_L3GD20){
+    } else if (dt[0] == I_AM_L3GD20) {
         gyro_ready = 1;
     } else {
         gyro_ready = 0;
@@ -64,48 +69,49 @@
     dt[1] |= data_rate << 6;
     dt[1] |= bandwidth << 4;
     _i2c.write(gyro_addr, dt, 2, false);
-    //  Reg.3 
+    //  Reg.3
     dt[0] = L3GX_CTRL_REG3;
     dt[1] = 0x08;
     _i2c.write(gyro_addr, dt, 2, false);
     //  Reg.4
     dt[0] = L3GX_CTRL_REG4;
-    switch (fullscale){
-    case L3GX_FS_250DPS:
-        fs_factor = 0.00875;
-        dt[1] = 0x80;
-        break;
-    case L3GX_FS_500DPS:
-        fs_factor = 0.0175;
-        dt[1] = 0x90;
-        break;
-    case L3GX_FS_2000DPS:
-        fs_factor = 0.07;
-        dt[1] = 0xa0;
-        break;
-    default:
-        ;
+    switch (fullscale) {
+        case L3GX_FS_250DPS:
+            fs_factor = 0.00875;
+            dt[1] = 0x80;
+            break;
+        case L3GX_FS_500DPS:
+            fs_factor = 0.0175;
+            dt[1] = 0x90;
+            break;
+        case L3GX_FS_2000DPS:
+            fs_factor = 0.07;
+            dt[1] = 0xa0;
+            break;
+        default:
+            ;
     }
     _i2c.write(gyro_addr, dt, 2, false);
 }
 
-void L3GX_GYRO::read_data(float *dt_usr) {
-char data[6];
+void L3GX_GYRO::read_data(float *dt_usr)
+{
+    char data[6];
 
-    if (gyro_ready == 0){
+    if (gyro_ready == 0) {
         dt_usr[0] = 0;
         dt_usr[1] = 0;
         dt_usr[2] = 0;
-        return;  
+        return;
     }
     // X,Y & Z
-        // manual said that
-        // In order to read multiple bytes, it is necessary to assert the most significant bit
-        // of the subaddress field.
-        // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
-        // of the first register to be read.
+    // manual said that
+    // In order to read multiple bytes, it is necessary to assert the most significant bit
+    // of the subaddress field.
+    // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address
+    // of the first register to be read.
     dt[0] = L3GX_OUT_X_L | 0x80;
-    _i2c.write(gyro_addr, dt, 1, true); 
+    _i2c.write(gyro_addr, dt, 1, true);
     _i2c.read(gyro_addr, data, 6, false);
     // data normalization
     dt_usr[0] = float(short(data[1] << 8 | data[0])) * fs_factor;
@@ -113,9 +119,10 @@
     dt_usr[2] = float(short(data[5] << 8 | data[4])) * fs_factor;
 }
 
-int8_t L3GX_GYRO::read_temp() {
-    if (gyro_ready == 1){
-        dt[0] = L3GX_OUT_TEMP; 
+int8_t L3GX_GYRO::read_temp()
+{
+    if (gyro_ready == 1) {
+        dt[0] = L3GX_OUT_TEMP;
         _i2c.write(gyro_addr, dt, 1, true);
         _i2c.read(gyro_addr, dt, 1, false);
     } else {
@@ -124,32 +131,36 @@
     return (int8_t)dt[0];
 }
 
-uint8_t L3GX_GYRO::read_id() {
-    dt[0] = L3GX_WHO_AM_I; 
+uint8_t L3GX_GYRO::read_id()
+{
+    dt[0] = L3GX_WHO_AM_I;
     _i2c.write(gyro_addr, dt, 1, true);
     _i2c.read(gyro_addr, dt, 1, false);
     return (uint8_t)dt[0];
 }
-    
-uint8_t L3GX_GYRO::data_ready() {
-    if (gyro_ready == 1){
-        dt[0] = L3GX_STATUS_REG; 
+
+uint8_t L3GX_GYRO::data_ready()
+{
+    if (gyro_ready == 1) {
+        dt[0] = L3GX_STATUS_REG;
         _i2c.write(gyro_addr, dt, 1, true);
         _i2c.read(gyro_addr, dt, 1, false);
-        if (!(dt[0] & 0x01)){
+        if (!(dt[0] & 0x01)) {
             return 0;
         }
     }
     return 1;;
 }
 
-void L3GX_GYRO::frequency(int hz) {
+void L3GX_GYRO::frequency(int hz)
+{
     _i2c.frequency(hz);
 }
 
-uint8_t L3GX_GYRO::read_reg(uint8_t addr) {
-    if (gyro_ready == 1){
-        dt[0] = addr; 
+uint8_t L3GX_GYRO::read_reg(uint8_t addr)
+{
+    if (gyro_ready == 1) {
+        dt[0] = addr;
         _i2c.write(gyro_addr, dt, 1, true);
         _i2c.read(gyro_addr, dt, 1, false);
     } else {
@@ -158,10 +169,11 @@
     return (uint8_t)dt[0];
 }
 
-void L3GX_GYRO::write_reg(uint8_t addr, uint8_t data) {
-    if (gyro_ready == 1){
+void L3GX_GYRO::write_reg(uint8_t addr, uint8_t data)
+{
+    if (gyro_ready == 1) {
         dt[0] = addr;
-        dt[1] = data; 
+        dt[1] = data;
         _i2c.write(gyro_addr, dt, 2, false);
     }
 }