AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
L3G4200D.cpp@1:3272ece36ce1, 2012-04-23 (annotated)
- Committer:
- krmreynolds
- Date:
- Mon Apr 23 14:31:08 2012 +0000
- Revision:
- 1:3272ece36ce1
- Parent:
- 0:dc35364e2291
Ported L3G4200D and LSM303 from the Polulu website, dropped the horrible code that someone else built
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
krmreynolds | 0:dc35364e2291 | 1 | /* mbed L3G4200D Library version 0.1 |
krmreynolds | 1:3272ece36ce1 | 2 | * Copyright (c) 2012 Ported to MBED and modified by Prediluted (Kris Reynolds) |
krmreynolds | 0:dc35364e2291 | 3 | * |
krmreynolds | 0:dc35364e2291 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
krmreynolds | 0:dc35364e2291 | 5 | * of this software and associated documentation files (the "Software"), to deal |
krmreynolds | 0:dc35364e2291 | 6 | * in the Software without restriction, including without limitation the rights |
krmreynolds | 0:dc35364e2291 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
krmreynolds | 0:dc35364e2291 | 8 | * copies of the Software, and to permit persons to whom the Software is |
krmreynolds | 0:dc35364e2291 | 9 | * furnished to do so, subject to the following conditions: |
krmreynolds | 0:dc35364e2291 | 10 | * |
krmreynolds | 0:dc35364e2291 | 11 | * The above copyright notice and this permission notice shall be included in |
krmreynolds | 0:dc35364e2291 | 12 | * all copies or substantial portions of the Software. |
krmreynolds | 0:dc35364e2291 | 13 | * |
krmreynolds | 0:dc35364e2291 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
krmreynolds | 0:dc35364e2291 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
krmreynolds | 0:dc35364e2291 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
krmreynolds | 0:dc35364e2291 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
krmreynolds | 0:dc35364e2291 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
krmreynolds | 0:dc35364e2291 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
krmreynolds | 0:dc35364e2291 | 20 | * THE SOFTWARE. |
krmreynolds | 0:dc35364e2291 | 21 | */ |
krmreynolds | 0:dc35364e2291 | 22 | #include <L3G4200D.h> |
krmreynolds | 1:3272ece36ce1 | 23 | #include <math.h> |
krmreynolds | 1:3272ece36ce1 | 24 | #include "mbed.h" |
krmreynolds | 0:dc35364e2291 | 25 | |
krmreynolds | 1:3272ece36ce1 | 26 | |
krmreynolds | 1:3272ece36ce1 | 27 | L3G4200D::L3G4200D( PinName sda = p9, PinName scl = p10 ) : i2c( sda, scl ) { |
krmreynolds | 1:3272ece36ce1 | 28 | writeReg( L3G4200D_CTRL_REG1, 0x0f ); |
krmreynolds | 1:3272ece36ce1 | 29 | } |
krmreynolds | 0:dc35364e2291 | 30 | |
krmreynolds | 1:3272ece36ce1 | 31 | void L3G4200D::writeReg( byte reg, byte value ) { |
krmreynolds | 1:3272ece36ce1 | 32 | char data[2] = { reg, value }; |
krmreynolds | 1:3272ece36ce1 | 33 | i2c.write( GYR_ADDRESS, data, 2 ); |
krmreynolds | 1:3272ece36ce1 | 34 | } |
krmreynolds | 0:dc35364e2291 | 35 | |
krmreynolds | 1:3272ece36ce1 | 36 | char L3G4200D::readReg( byte reg ) { |
krmreynolds | 1:3272ece36ce1 | 37 | char value[1]; |
krmreynolds | 1:3272ece36ce1 | 38 | char data[1] = { reg }; |
krmreynolds | 1:3272ece36ce1 | 39 | i2c.write( GYR_ADDRESS, data, 1 ); |
krmreynolds | 1:3272ece36ce1 | 40 | i2c.read( GYR_ADDRESS, value, 1 ); |
krmreynolds | 1:3272ece36ce1 | 41 | return value[0]; |
krmreynolds | 0:dc35364e2291 | 42 | } |
krmreynolds | 0:dc35364e2291 | 43 | |
krmreynolds | 1:3272ece36ce1 | 44 | void L3G4200D::read( void ) { |
krmreynolds | 1:3272ece36ce1 | 45 | char data[1] = { L3G4200D_OUT_X_L | (1<<7) }; |
krmreynolds | 1:3272ece36ce1 | 46 | char output[6]; |
krmreynolds | 1:3272ece36ce1 | 47 | i2c.write( GYR_ADDRESS, data, 1 ); |
krmreynolds | 0:dc35364e2291 | 48 | |
krmreynolds | 1:3272ece36ce1 | 49 | i2c.read( GYR_ADDRESS, output, 6 ); |
krmreynolds | 0:dc35364e2291 | 50 | |
krmreynolds | 1:3272ece36ce1 | 51 | g.x = short( output[1] << 8 | output[0] ); |
krmreynolds | 1:3272ece36ce1 | 52 | g.y = short( output[3] << 8 | output[2] ); |
krmreynolds | 1:3272ece36ce1 | 53 | g.z = short( output[5] << 8 | output[4] ); |
krmreynolds | 0:dc35364e2291 | 54 | } |
krmreynolds | 0:dc35364e2291 | 55 | |
krmreynolds | 1:3272ece36ce1 | 56 | void L3G4200D::vector_cross(const Plane *a,const Plane *b, Plane *out) { |
krmreynolds | 1:3272ece36ce1 | 57 | out->x = a->y*b->z - a->z*b->y; |
krmreynolds | 1:3272ece36ce1 | 58 | out->y = a->z*b->x - a->x*b->z; |
krmreynolds | 1:3272ece36ce1 | 59 | out->z = a->x*b->y - a->y*b->x; |
krmreynolds | 0:dc35364e2291 | 60 | } |
krmreynolds | 0:dc35364e2291 | 61 | |
krmreynolds | 1:3272ece36ce1 | 62 | float L3G4200D::vector_dot(const Plane *a,const Plane *b) { |
krmreynolds | 1:3272ece36ce1 | 63 | return a->x*b->x+a->y*b->y+a->z*b->z; |
krmreynolds | 0:dc35364e2291 | 64 | } |
krmreynolds | 0:dc35364e2291 | 65 | |
krmreynolds | 1:3272ece36ce1 | 66 | void L3G4200D::vector_normalize(Plane *a) { |
krmreynolds | 1:3272ece36ce1 | 67 | float mag = sqrt(vector_dot(a,a)); |
krmreynolds | 1:3272ece36ce1 | 68 | a->x /= mag; |
krmreynolds | 1:3272ece36ce1 | 69 | a->y /= mag; |
krmreynolds | 1:3272ece36ce1 | 70 | a->z /= mag; |
krmreynolds | 0:dc35364e2291 | 71 | } |