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@2:8073008f3036, 2014-12-07 (annotated)
- Committer:
- kenjiArai
- Date:
- Sun Dec 07 08:26:58 2014 +0000
- Revision:
- 2:8073008f3036
- Parent:
- 1:9475fd0e35ff
- Child:
- 3:56bb957380c8
bug fixed in read_data()
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kenjiArai | 0:de66621e5370 | 1 | /* |
kenjiArai | 0:de66621e5370 | 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 | 0:de66621e5370 | 10 | * Copyright (c) 2014 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 | 0:de66621e5370 | 13 | * Created: July 13th, 2014 |
kenjiArai | 1:9475fd0e35ff | 14 | * Revised: September 7th, 2014 |
kenjiArai | 0:de66621e5370 | 15 | * |
kenjiArai | 0:de66621e5370 | 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, |
kenjiArai | 0:de66621e5370 | 17 | * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE |
kenjiArai | 0:de66621e5370 | 18 | * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
kenjiArai | 0:de66621e5370 | 19 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
kenjiArai | 0:de66621e5370 | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
kenjiArai | 0:de66621e5370 | 21 | */ |
kenjiArai | 0:de66621e5370 | 22 | |
kenjiArai | 0:de66621e5370 | 23 | #include "L3GD20.h" |
kenjiArai | 0:de66621e5370 | 24 | |
kenjiArai | 0:de66621e5370 | 25 | L3GX_GYRO::L3GX_GYRO (PinName p_sda, PinName p_scl, |
kenjiArai | 0:de66621e5370 | 26 | uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : i2c(p_sda, p_scl) { |
kenjiArai | 0:de66621e5370 | 27 | initialize (addr, data_rate, bandwidth, fullscale); |
kenjiArai | 0:de66621e5370 | 28 | } |
kenjiArai | 0:de66621e5370 | 29 | |
kenjiArai | 0:de66621e5370 | 30 | L3GX_GYRO::L3GX_GYRO (I2C& p_i2c, |
kenjiArai | 1:9475fd0e35ff | 31 | uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) : i2c(p_i2c) { |
kenjiArai | 1:9475fd0e35ff | 32 | i2c.frequency(400000); |
kenjiArai | 0:de66621e5370 | 33 | initialize (addr, data_rate, bandwidth, fullscale); |
kenjiArai | 0:de66621e5370 | 34 | } |
kenjiArai | 0:de66621e5370 | 35 | |
kenjiArai | 0:de66621e5370 | 36 | void L3GX_GYRO::initialize (uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale) { |
kenjiArai | 0:de66621e5370 | 37 | // Check gyro is available of not |
kenjiArai | 0:de66621e5370 | 38 | gyro_addr = addr; |
kenjiArai | 0:de66621e5370 | 39 | dbf[0] = L3GX_WHO_AM_I; |
kenjiArai | 0:de66621e5370 | 40 | i2c.write(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 41 | i2c.read(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 42 | if (dbf[0] == I_AM_L3G4200D){ |
kenjiArai | 0:de66621e5370 | 43 | gyro_ready = 1; |
kenjiArai | 0:de66621e5370 | 44 | } else if (dbf[0] == I_AM_L3GD20){ |
kenjiArai | 0:de66621e5370 | 45 | gyro_ready = 1; |
kenjiArai | 0:de66621e5370 | 46 | } else { |
kenjiArai | 0:de66621e5370 | 47 | gyro_ready = 0; |
kenjiArai | 0:de66621e5370 | 48 | return; // gyro chip is NOT on I2C line then terminate this part |
kenjiArai | 0:de66621e5370 | 49 | } |
kenjiArai | 0:de66621e5370 | 50 | // Reg.1 |
kenjiArai | 0:de66621e5370 | 51 | dbf[0] = L3GX_CTRL_REG1; |
kenjiArai | 0:de66621e5370 | 52 | dbf[1] = 0x0f; |
kenjiArai | 0:de66621e5370 | 53 | dbf[1] |= data_rate << 6; |
kenjiArai | 0:de66621e5370 | 54 | dbf[1] |= bandwidth << 4; |
kenjiArai | 0:de66621e5370 | 55 | i2c.write(gyro_addr, dbf, 2); |
kenjiArai | 0:de66621e5370 | 56 | // Reg.3 |
kenjiArai | 0:de66621e5370 | 57 | dbf[0] = L3GX_CTRL_REG3; |
kenjiArai | 0:de66621e5370 | 58 | dbf[1] = 0x08; |
kenjiArai | 0:de66621e5370 | 59 | i2c.write(gyro_addr, dbf, 2); |
kenjiArai | 0:de66621e5370 | 60 | // Reg.4 |
kenjiArai | 0:de66621e5370 | 61 | dbf[0] = L3GX_CTRL_REG4; |
kenjiArai | 0:de66621e5370 | 62 | switch (fullscale){ |
kenjiArai | 0:de66621e5370 | 63 | case L3GX_FS_250DPS: |
kenjiArai | 0:de66621e5370 | 64 | fs_factor = 0.00875; |
kenjiArai | 0:de66621e5370 | 65 | dbf[1] = 0x80; |
kenjiArai | 0:de66621e5370 | 66 | break; |
kenjiArai | 0:de66621e5370 | 67 | case L3GX_FS_500DPS: |
kenjiArai | 0:de66621e5370 | 68 | fs_factor = 0.0175; |
kenjiArai | 0:de66621e5370 | 69 | dbf[1] = 0x90; |
kenjiArai | 0:de66621e5370 | 70 | break; |
kenjiArai | 0:de66621e5370 | 71 | case L3GX_FS_2000DPS: |
kenjiArai | 0:de66621e5370 | 72 | fs_factor = 0.07; |
kenjiArai | 0:de66621e5370 | 73 | dbf[1] = 0xa0; |
kenjiArai | 0:de66621e5370 | 74 | break; |
kenjiArai | 0:de66621e5370 | 75 | default: |
kenjiArai | 0:de66621e5370 | 76 | ; |
kenjiArai | 0:de66621e5370 | 77 | } |
kenjiArai | 0:de66621e5370 | 78 | i2c.write(gyro_addr, dbf, 2); |
kenjiArai | 0:de66621e5370 | 79 | } |
kenjiArai | 0:de66621e5370 | 80 | |
kenjiArai | 0:de66621e5370 | 81 | void L3GX_GYRO::read_data(float *dt) { |
kenjiArai | 0:de66621e5370 | 82 | char data[6]; |
kenjiArai | 0:de66621e5370 | 83 | |
kenjiArai | 0:de66621e5370 | 84 | if (gyro_ready == 0){ |
kenjiArai | 0:de66621e5370 | 85 | dt[0] = 0; |
kenjiArai | 0:de66621e5370 | 86 | dt[1] = 0; |
kenjiArai | 0:de66621e5370 | 87 | dt[2] = 0; |
kenjiArai | 0:de66621e5370 | 88 | return; |
kenjiArai | 0:de66621e5370 | 89 | } |
kenjiArai | 0:de66621e5370 | 90 | // X,Y & Z |
kenjiArai | 0:de66621e5370 | 91 | // manual said that |
kenjiArai | 0:de66621e5370 | 92 | // In order to read multiple bytes, it is necessary to assert the most significant bit |
kenjiArai | 0:de66621e5370 | 93 | // of the subaddress field. |
kenjiArai | 0:de66621e5370 | 94 | // In other words, SUB(7) must be equal to ‘1’ while SUB(6-0) represents the address |
kenjiArai | 0:de66621e5370 | 95 | // of the first register to be read. |
kenjiArai | 0:de66621e5370 | 96 | dbf[0] = L3GX_OUT_X_L | 0x80; |
kenjiArai | 2:8073008f3036 | 97 | i2c.write(gyro_addr, dbf, 1); |
kenjiArai | 2:8073008f3036 | 98 | i2c.read(gyro_addr, data, 6); |
kenjiArai | 0:de66621e5370 | 99 | // data normalization |
kenjiArai | 0:de66621e5370 | 100 | dt[0] = float(short(data[1] << 8 | data[0])) * fs_factor; |
kenjiArai | 0:de66621e5370 | 101 | dt[1] = float(short(data[3] << 8 | data[2])) * fs_factor; |
kenjiArai | 0:de66621e5370 | 102 | dt[2] = float(short(data[5] << 8 | data[4])) * fs_factor; |
kenjiArai | 0:de66621e5370 | 103 | } |
kenjiArai | 0:de66621e5370 | 104 | |
kenjiArai | 0:de66621e5370 | 105 | int8_t L3GX_GYRO::read_temp() { |
kenjiArai | 0:de66621e5370 | 106 | if (gyro_ready == 1){ |
kenjiArai | 0:de66621e5370 | 107 | dbf[0] = L3GX_OUT_TEMP; |
kenjiArai | 0:de66621e5370 | 108 | i2c.write(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 109 | i2c.read(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 110 | } else { |
kenjiArai | 0:de66621e5370 | 111 | dbf[0] = 99; |
kenjiArai | 0:de66621e5370 | 112 | } |
kenjiArai | 0:de66621e5370 | 113 | return (int8_t)dbf[0]; |
kenjiArai | 0:de66621e5370 | 114 | } |
kenjiArai | 0:de66621e5370 | 115 | |
kenjiArai | 0:de66621e5370 | 116 | uint8_t L3GX_GYRO::read_id() { |
kenjiArai | 0:de66621e5370 | 117 | dbf[0] = L3GX_WHO_AM_I; |
kenjiArai | 0:de66621e5370 | 118 | i2c.write(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 119 | i2c.read(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 120 | return (uint8_t)dbf[0]; |
kenjiArai | 0:de66621e5370 | 121 | } |
kenjiArai | 0:de66621e5370 | 122 | |
kenjiArai | 0:de66621e5370 | 123 | uint8_t L3GX_GYRO::data_ready() { |
kenjiArai | 0:de66621e5370 | 124 | if (gyro_ready == 1){ |
kenjiArai | 0:de66621e5370 | 125 | dbf[0] = L3GX_STATUS_REG; |
kenjiArai | 0:de66621e5370 | 126 | i2c.write(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 127 | i2c.read(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 128 | if (!(dbf[0] & 0x01)){ |
kenjiArai | 0:de66621e5370 | 129 | return 0; |
kenjiArai | 0:de66621e5370 | 130 | } |
kenjiArai | 0:de66621e5370 | 131 | } |
kenjiArai | 0:de66621e5370 | 132 | return 1;; |
kenjiArai | 0:de66621e5370 | 133 | } |
kenjiArai | 0:de66621e5370 | 134 | |
kenjiArai | 1:9475fd0e35ff | 135 | void L3GX_GYRO::frequency(int hz) { |
kenjiArai | 1:9475fd0e35ff | 136 | i2c.frequency(hz); |
kenjiArai | 1:9475fd0e35ff | 137 | } |
kenjiArai | 1:9475fd0e35ff | 138 | |
kenjiArai | 0:de66621e5370 | 139 | uint8_t L3GX_GYRO::read_reg(uint8_t addr) { |
kenjiArai | 0:de66621e5370 | 140 | if (gyro_ready == 1){ |
kenjiArai | 0:de66621e5370 | 141 | dbf[0] = addr; |
kenjiArai | 0:de66621e5370 | 142 | i2c.write(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 143 | i2c.read(gyro_addr, dbf, 1); |
kenjiArai | 0:de66621e5370 | 144 | } else { |
kenjiArai | 0:de66621e5370 | 145 | dbf[0] = 0xff; |
kenjiArai | 0:de66621e5370 | 146 | } |
kenjiArai | 0:de66621e5370 | 147 | return (uint8_t)dbf[0]; |
kenjiArai | 0:de66621e5370 | 148 | } |
kenjiArai | 0:de66621e5370 | 149 | |
kenjiArai | 0:de66621e5370 | 150 | void L3GX_GYRO::write_reg(uint8_t addr, uint8_t data) { |
kenjiArai | 0:de66621e5370 | 151 | if (gyro_ready == 1){ |
kenjiArai | 0:de66621e5370 | 152 | dbf[0] = addr; |
kenjiArai | 0:de66621e5370 | 153 | dbf[1] = data; |
kenjiArai | 0:de66621e5370 | 154 | i2c.write(gyro_addr, dbf, 2); |
kenjiArai | 0:de66621e5370 | 155 | } |
kenjiArai | 0:de66621e5370 | 156 | } |