Diff: L3GD20.cpp

Revision:

5:81fc00bd76fe

Parent:

4:7d0cec583aa3

Child:

6:451811697299

--- a/L3GD20.cpp	Sat Dec 27 07:43:49 2014 +0000
+++ b/L3GD20.cpp	Tue Feb 24 12:21:41 2015 +0000
@@ -7,11 +7,11 @@
  *      http://www.st.com/web/catalog/sense_power/FM89/SC1288
  *          /PF250373?sc=internet/analog/product/250373.jsp
  *
- * Copyright (c) 2014 Kenji Arai / JH1PJL
+ * 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 
- *      Revised: December  27th, 2014
+ *      Revised: Feburary  24th, 2015
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
  * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
@@ -23,68 +23,79 @@
 #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) {
+    _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); 
+    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) {
     // Check gyro is available of not
     gyro_addr = addr;
-    dbf[0] = L3GX_WHO_AM_I; 
-    i2c.write(gyro_addr, dbf, 1); 
-    i2c.read(gyro_addr, dbf, 1);
-    if (dbf[0] == I_AM_L3G4200D){
+    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){
         gyro_ready = 1;
-    } else if (dbf[0] == I_AM_L3GD20){
+    } else if (dt[0] == I_AM_L3GD20){
         gyro_ready = 1;
     } else {
         gyro_ready = 0;
         return;     // gyro chip is NOT on I2C line then terminate this part
     }
     //  Reg.1
-    dbf[0] = L3GX_CTRL_REG1;
-    dbf[1] = 0x0f;
-    dbf[1] |= data_rate << 6;
-    dbf[1] |= bandwidth << 4;
-    i2c.write(gyro_addr, dbf, 2);
+    dt[0] = L3GX_CTRL_REG1;
+    dt[1] = 0x0f;
+    dt[1] |= data_rate << 6;
+    dt[1] |= bandwidth << 4;
+    _i2c.write(gyro_addr, dt, 2, false);
     //  Reg.3 
-    dbf[0] = L3GX_CTRL_REG3;
-    dbf[1] = 0x08;
-    i2c.write(gyro_addr, dbf, 2);
+    dt[0] = L3GX_CTRL_REG3;
+    dt[1] = 0x08;
+    _i2c.write(gyro_addr, dt, 2, false);
     //  Reg.4
-    dbf[0] = L3GX_CTRL_REG4;
+    dt[0] = L3GX_CTRL_REG4;
     switch (fullscale){
     case L3GX_FS_250DPS:
         fs_factor = 0.00875;
-        dbf[1] = 0x80;
+        dt[1] = 0x80;
         break;
     case L3GX_FS_500DPS:
         fs_factor = 0.0175;
-        dbf[1] = 0x90;
+        dt[1] = 0x90;
         break;
     case L3GX_FS_2000DPS:
         fs_factor = 0.07;
-        dbf[1] = 0xa0;
+        dt[1] = 0xa0;
         break;
     default:
         ;
     }
-    i2c.write(gyro_addr, dbf, 2);
+    _i2c.write(gyro_addr, dt, 2, false);
 }
 
-void L3GX_GYRO::read_data(float *dt) {
+void L3GX_GYRO::read_data(float *dt_usr) {
 char data[6];
 
     if (gyro_ready == 0){
-        dt[0] = 0;
-        dt[1] = 0;
-        dt[2] = 0;
+        dt_usr[0] = 0;
+        dt_usr[1] = 0;
+        dt_usr[2] = 0;
         return;  
     }
     // X,Y & Z
@@ -93,39 +104,39 @@
         // 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.
-    dbf[0] = L3GX_OUT_X_L | 0x80;
-    i2c.write(gyro_addr, dbf, 1, true); 
-    i2c.read(gyro_addr, data, 6, false);
+    dt[0] = L3GX_OUT_X_L | 0x80;
+    _i2c.write(gyro_addr, dt, 1, true); 
+    _i2c.read(gyro_addr, data, 6, false);
     // data normalization
-    dt[0] = float(short(data[1] << 8 | data[0])) * fs_factor;
-    dt[1] = float(short(data[3] << 8 | data[2])) * fs_factor;
-    dt[2] = float(short(data[5] << 8 | data[4])) * fs_factor;   
+    dt_usr[0] = float(short(data[1] << 8 | data[0])) * fs_factor;
+    dt_usr[1] = float(short(data[3] << 8 | data[2])) * fs_factor;
+    dt_usr[2] = float(short(data[5] << 8 | data[4])) * fs_factor;
 }
 
 int8_t L3GX_GYRO::read_temp() {
     if (gyro_ready == 1){
-        dbf[0] = L3GX_OUT_TEMP; 
-        i2c.write(gyro_addr, dbf, 1);
-        i2c.read(gyro_addr, dbf, 1);
+        dt[0] = L3GX_OUT_TEMP; 
+        _i2c.write(gyro_addr, dt, 1, true);
+        _i2c.read(gyro_addr, dt, 1, false);
     } else {
-        dbf[0] = 99;
+        dt[0] = 99;
     }
-    return (int8_t)dbf[0];
+    return (int8_t)dt[0];
 }
 
 uint8_t L3GX_GYRO::read_id() {
-    dbf[0] = L3GX_WHO_AM_I; 
-    i2c.write(gyro_addr, dbf, 1); 
-    i2c.read(gyro_addr, dbf, 1);
-    return (uint8_t)dbf[0];
+    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){
-        dbf[0] = L3GX_STATUS_REG; 
-        i2c.write(gyro_addr, dbf, 1); 
-        i2c.read(gyro_addr, dbf, 1);
-        if (!(dbf[0] & 0x01)){
+        dt[0] = L3GX_STATUS_REG; 
+        _i2c.write(gyro_addr, dt, 1, true);
+        _i2c.read(gyro_addr, dt, 1, false);
+        if (!(dt[0] & 0x01)){
             return 0;
         }
     }
@@ -133,24 +144,24 @@
 }
 
 void L3GX_GYRO::frequency(int hz) {
-    i2c.frequency(hz);
+    _i2c.frequency(hz);
 }
 
 uint8_t L3GX_GYRO::read_reg(uint8_t addr) {
     if (gyro_ready == 1){
-        dbf[0] = addr; 
-        i2c.write(gyro_addr, dbf, 1); 
-        i2c.read(gyro_addr, dbf, 1);
+        dt[0] = addr; 
+        _i2c.write(gyro_addr, dt, 1, true);
+        _i2c.read(gyro_addr, dt, 1, false);
     } else {
-        dbf[0] = 0xff;
+        dt[0] = 0xff;
     }
-    return (uint8_t)dbf[0];
+    return (uint8_t)dt[0];
 }
 
 void L3GX_GYRO::write_reg(uint8_t addr, uint8_t data) {
     if (gyro_ready == 1){
-        dbf[0] = addr;
-        dbf[1] = data; 
-        i2c.write(gyro_addr, dbf, 2); 
+        dt[0] = addr;
+        dt[1] = data; 
+        _i2c.write(gyro_addr, dt, 2, false);
     }
 }