Diff: L3GD20.h

Revision:

0:de66621e5370

Child:

1:9475fd0e35ff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3GD20.h	Fri Aug 29 13:26:33 2014 +0000
@@ -0,0 +1,208 @@
+/*
+ * 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
+ *  L3G4200D MEMS motion sensor: three-axis digital output gyroscope, made by STMicroelectronics
+ *      http://www.st.com/web/catalog/sense_power/FM89/SC1288
+ *          /PF250373?sc=internet/analog/product/250373.jsp
+ *
+ * Copyright (c) 2014 Kenji Arai / JH1PJL
+ *  http://www.page.sannet.ne.jp/kenjia/index.html
+ *  http://mbed.org/users/kenjiArai/
+ *      Created: July      13th, 2014 
+ *      Revised: August    29th, 2014
+ *
+ * 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
+ * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef L3GD20_GYRO_H
+#define L3GD20_GYRO_H
+
+#include "mbed.h"
+
+//  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
+//  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
+
+//  L3G4200DMEMS ID
+#define I_AM_L3G4200D       0xd3
+//  L3GD20MEMS ID
+#define I_AM_L3GD20         0xd4
+
+//  Register's definition
+#define L3GX_WHO_AM_I        0x0f
+#define L3GX_CTRL_REG1       0x20
+#define L3GX_CTRL_REG2       0x21
+#define L3GX_CTRL_REG3       0x22
+#define L3GX_CTRL_REG4       0x23
+#define L3GX_CTRL_REG5       0x24
+#define L3GX_REFERENCE       0x25
+#define L3GX_OUT_TEMP        0x26
+#define L3GX_STATUS_REG      0x27
+#define L3GX_OUT_X_L         0x28
+#define L3GX_OUT_X_H         0x29
+#define L3GX_OUT_Y_L         0x2a
+#define L3GX_OUT_Y_H         0x2b
+#define L3GX_OUT_Z_L         0x2c
+#define L3GX_OUT_Z_H         0x2d
+#define L3GX_FIFO_CTRL_REG   0x2e
+#define L3GX_FIFO_SRC_REG    0x2f
+#define L3GX_INT1_CFG        0x30
+#define L3GX_INT1_SRC        0x31
+#define L3GX_INT1_TSH_XH     0x32
+#define L3GX_INT1_TSH_XL     0x33
+#define L3GX_INT1_TSH_YH     0x34
+#define L3GX_INT1_TSH_YL     0x35
+#define L3GX_INT1_TSH_ZH     0x36
+#define L3GX_INT1_TSH_ZL     0x37
+#define L3GX_INT1_DURATION   0x38
+
+// Output Data Rate (ODR)
+//      L3G4200DMEMS
+#define L3GX_DR_100HZ        0
+#define L3GX_DR_200HZ        1
+#define L3GX_DR_400HZ        2
+#define L3GX_DR_800HZ        3
+//      L3GD20MEMS
+#define L3GX_DR_95HZ         0
+#define L3GX_DR_190HZ        1
+#define L3GX_DR_380HZ        2
+#define L3GX_DR_760HZ        3
+
+// Bandwidth (Low pass)
+#define L3GX_BW_LOW          0
+#define L3GX_BW_M_LOW        1
+#define L3GX_BW_M_HI         2
+#define L3GX_BW_HI           3
+
+// Power-down mode enable/disable
+#define L3GX_PD_EN           0
+#define L3GX_PD_DIS          1
+
+// Axis control
+#define L3GX_X_EN            1
+#define L3GX_X_DIS           0
+#define L3GX_Y_EN            1
+#define L3GX_Y_DIS           0
+#define L3GX_Z_EN            1
+#define L3GX_Z_DIS           0
+
+// Full Scale
+#define L3GX_FS_250DPS       0
+#define L3GX_FS_500DPS       1
+#define L3GX_FS_2000DPS      2
+
+//Convert from degrees to radians.
+#define toRadians(x) (x * 0.01745329252)
+//Convert from radians to degrees.
+#define toDegrees(x) (x * 57.2957795)
+
+/** Interface for STMicronics MEMS motion sensor: 3-axis digital gyroscope
+ *      Chip: L3GD20 (new one) and L3G4200 (old one)
+ *
+ * @code
+ * #include "mbed.h"
+ *
+ * // I2C Communication
+ * L3GX_GYRO gyro(p_sda, p_scl, chip_addr, datarate, bandwidth, fullscale);
+ * // If you connected I2C line not only this device but also other devices,
+ * //     you need to declare following method.
+ * I2C i2c(dp5,dp27);              // SDA, SCL
+ * L3GX_GYRO gyro(i2c, chip_addr, datarate, bandwidth, fullscale);
+ *
+ * int main() {
+ * float f[3];
+ * int8_t t;
+ *
+ *   if (gyro.read_id() == I_AM_L3G4200D){
+ *      t = gyro.read_temp();
+ *      gyro.read_data(f);
+ *   }
+ * }
+ * @endcode
+ */
+
+class L3GX_GYRO{
+public:
+    /** 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
+      * @param output data rate selection, DR_100HZ/DR_95HZ to DR_800HZ/DR_760HZ
+      * @param bandwidth selection, BW_LOW to BW_HI
+      * @param full scale selection, FS_250DPS, FS_500DPS, FS_2000DPS
+      */
+    L3GX_GYRO(PinName p_sda, PinName p_scl,
+        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,...)
+      */
+    L3GX_GYRO(I2C& p_i2c,
+        uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale);
+
+    /** Read a tow's complemet type data from Gyro
+      * @param none
+      * @return temperature unit:degreeC(Celsius)
+      */
+    int8_t read_temp();
+    
+    /** Read a float type data from Gyro
+      * @param float type of three arry's address, e.g. float dt[3];
+      * @return Gyro motion data unit in param array:dps(degree per second)
+      * @return dt[0]->x, dt[1]->y, dt[2]->z     
+      */
+    void read_data(float *dt);
+    
+    /** Read a Gyro ID number
+      * @param none
+      * @return if STM MEMS Gyro, it should be I_AM_L3G4200D(0xd3) or I_AM_L3GD20(0xd4)
+      */
+    uint8_t read_id();
+
+    /** Read Data Ready flag
+      * @param none
+      * @return 1 = Ready
+      */
+    uint8_t data_ready();
+
+    /** Read register (general purpose)
+      * @param register's address
+      * @return register data
+      */
+    uint8_t read_reg(uint8_t addr);
+
+    /** Write register (general purpose)
+      * @param register's address
+      * @param data
+      * @return none
+      */
+    void write_reg(uint8_t addr, uint8_t data);
+
+protected:
+    void initialize(uint8_t, uint8_t, uint8_t, uint8_t);
+
+    I2C i2c;
+  
+private:
+    float fs_factor;    // full scale factor
+    char dbf[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    
+};
+
+#endif      // L3GD20_GYRO_H