Diff: L3GD20.h

Revision:

5:81fc00bd76fe

Parent:

4:7d0cec583aa3

Child:

6:451811697299

--- a/L3GD20.h	Sat Dec 27 07:43:49 2014 +0000
+++ b/L3GD20.h	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
@@ -27,19 +27,17 @@
 
 //  L3G4200DMEMS Address
 //  7bit address = 0b110100x(0x68 or 0x69 depends on SA0/SDO)
-//      -> 8bit = 0b1101000x0(0xd0,0xd2) -> 0xd1,0xd3(Read) or 0xd0,0xd2(Write)
-#define L3G4200D_G_CHIP_ADDR  0xd0    // SA0(=SDO pin) = Ground
-#define L3G4200D_V_CHIP_ADDR  0xd2    // SA0(=SDO pin) = Vdd
+#define L3G4200D_G_CHIP_ADDR (0x68 << 1)    // SA0(=SDO pin) = Ground
+#define L3G4200D_V_CHIP_ADDR (0x69 << 1)    // SA0(=SDO pin) = Vdd
 //  L3GD20MEMS Address
 //  7bit address = 0b110101x(0x6a or 0x6b depends on SA0/SDO)
-//      -> 8bit = 0b1101001x0(0xd4,0xd6) -> 0xd5,0xd7(Read) or 0xd4,0xd6(Write)
-#define L3GD20_G_CHIP_ADDR    0xd4    // SA0(=SDO pin) = Ground
-#define L3GD20_V_CHIP_ADDR    0xd6    // SA0(=SDO pin) = Vdd
+#define L3GD20_G_CHIP_ADDR   (0x6a << 1)    // SA0(=SDO pin) = Ground
+#define L3GD20_V_CHIP_ADDR   (0x6b << 1)    // SA0(=SDO pin) = Vdd
 
 //  L3G4200DMEMS ID
-#define I_AM_L3G4200D       0xd3
+#define I_AM_L3G4200D        0xd3
 //  L3GD20MEMS ID
-#define I_AM_L3GD20         0xd4
+#define I_AM_L3GD20          0xd4
 
 //  Register's definition
 #define L3GX_WHO_AM_I        0x0f
@@ -146,6 +144,16 @@
       */
     L3GX_GYRO(PinName p_sda, PinName p_scl,
         uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale);
+
+    /** Configure data pin
+      * @param data SDA and SCL pins
+      * @param device address L3G4200D(SA0=0 or 1) or L3GD20(SA0=0 or 1)
+      * @param ->L3G4200D_G_CHIP_ADDR to L3GD20_V_CHIP_ADDR
+      * @default output data rate selection = DR_100HZ/DR_95HZ
+      * @default bandwidth selection = BW_HI
+      * @default full scale selection = FS_250DPS
+      */
+    L3GX_GYRO(PinName p_sda, PinName p_scl, uint8_t addr);
     
     /** Configure data pin (with other devices on I2C line)
       * @param I2C previous definition
@@ -154,6 +162,15 @@
     L3GX_GYRO(I2C& p_i2c,
         uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale);
 
+    /** Configure data pin (with other devices on I2C line)
+      * @param I2C previous definition
+      * @param other parameters -> please see L3GX_GYRO(PinName p_sda, PinName p_scl,...)
+      * @default output data rate selection = DR_100HZ/DR_95HZ
+      * @default bandwidth selection = BW_HI
+      * @default full scale selection = FS_250DPS
+      */
+    L3GX_GYRO(I2C& p_i2c, uint8_t addr);
+
     /** Read a tow's complemet type data from Gyro
       * @param none
       * @return temperature unit:degreeC(Celsius)
@@ -161,11 +178,11 @@
     int8_t read_temp();
     
     /** Read a float type data from Gyro
-      * @param float type of three arry's address, e.g. float dt[3];
+      * @param float type of three arry's address, e.g. float dt_usr[3];
       * @return Gyro motion data unit in param array:dps(degree per second)
-      * @return dt[0]->x, dt[1]->y, dt[2]->z     
+      * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z     
       */
-    void read_data(float *dt);
+    void read_data(float *dt_usr);
     
     /** Read a Gyro ID number
       * @param none
@@ -201,11 +218,11 @@
 protected:
     void initialize(uint8_t, uint8_t, uint8_t, uint8_t);
 
-    I2C i2c;
+    I2C _i2c;
   
 private:
-    float fs_factor;    // full scale factor
-    char dbf[2];        // working buffer
+    float   fs_factor;  // full scale factor
+    char    dt[2];      // working buffer
     uint8_t gyro_addr;  // gyro sensor address
     uint8_t gyro_id;    // gyro ID
     uint8_t gyro_ready; // gyro is on I2C line = 1, not = 0