AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
L3G4200D.cpp@0:dc35364e2291, 2012-04-12 (annotated)
- Committer:
- krmreynolds
- Date:
- Thu Apr 12 13:47:23 2012 +0000
- Revision:
- 0:dc35364e2291
- Child:
- 1:3272ece36ce1
Added GNU Agreement
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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krmreynolds | 0:dc35364e2291 | 1 | /* mbed L3G4200D Library version 0.1 |
krmreynolds | 0:dc35364e2291 | 2 | * Copyright (c) 2012 Prediluted |
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 | 0:dc35364e2291 | 23 | |
krmreynolds | 0:dc35364e2291 | 24 | // L3G4200D I2C address |
krmreynolds | 0:dc35364e2291 | 25 | const int L3G4200D::GYR_ADDRESS = 0xd2; |
krmreynolds | 0:dc35364e2291 | 26 | // L3G4200D register addresses |
krmreynolds | 0:dc35364e2291 | 27 | const int L3G4200D::WHO_AM_I = 0x0f; |
krmreynolds | 0:dc35364e2291 | 28 | const int L3G4200D::CTRL_REG1 = 0x20; |
krmreynolds | 0:dc35364e2291 | 29 | const int L3G4200D::CTRL_REG2 = 0x21; |
krmreynolds | 0:dc35364e2291 | 30 | const int L3G4200D::CTRL_REG3 = 0x22; |
krmreynolds | 0:dc35364e2291 | 31 | const int L3G4200D::CTRL_REG4 = 0x23; |
krmreynolds | 0:dc35364e2291 | 32 | const int L3G4200D::CTRL_REG5 = 0x24; |
krmreynolds | 0:dc35364e2291 | 33 | const int L3G4200D::REFERENCE = 0x25; |
krmreynolds | 0:dc35364e2291 | 34 | const int L3G4200D::OUT_TEMP = 0x26; |
krmreynolds | 0:dc35364e2291 | 35 | const int L3G4200D::STATUS_REG = 0x27; |
krmreynolds | 0:dc35364e2291 | 36 | const int L3G4200D::OUT_X_L = 0x28; |
krmreynolds | 0:dc35364e2291 | 37 | const int L3G4200D::OUT_X_H = 0x29; |
krmreynolds | 0:dc35364e2291 | 38 | const int L3G4200D::OUT_Y_L = 0x2a; |
krmreynolds | 0:dc35364e2291 | 39 | const int L3G4200D::OUT_Y_H = 0x2b; |
krmreynolds | 0:dc35364e2291 | 40 | const int L3G4200D::OUT_Z_L = 0x2c; |
krmreynolds | 0:dc35364e2291 | 41 | const int L3G4200D::OUT_Z_H = 0x2d; |
krmreynolds | 0:dc35364e2291 | 42 | const int L3G4200D::FIFO_CTRL_REG = 0x2e; |
krmreynolds | 0:dc35364e2291 | 43 | const int L3G4200D::FIFO_SRC_REG = 0x2f; |
krmreynolds | 0:dc35364e2291 | 44 | const int L3G4200D::INT1_CFG = 0x30; |
krmreynolds | 0:dc35364e2291 | 45 | const int L3G4200D::INT1_SRC = 0x31; |
krmreynolds | 0:dc35364e2291 | 46 | const int L3G4200D::INT1_THS_XH = 0x32; |
krmreynolds | 0:dc35364e2291 | 47 | const int L3G4200D::INT1_THS_XL = 0x33; |
krmreynolds | 0:dc35364e2291 | 48 | const int L3G4200D::INT1_THS_YH = 0x34; |
krmreynolds | 0:dc35364e2291 | 49 | const int L3G4200D::INT1_THS_YL = 0x35; |
krmreynolds | 0:dc35364e2291 | 50 | const int L3G4200D::INT1_THS_ZH = 0x36; |
krmreynolds | 0:dc35364e2291 | 51 | const int L3G4200D::INT1_THS_ZL = 0x37; |
krmreynolds | 0:dc35364e2291 | 52 | const int L3G4200D::INT1_DURATION = 0x38; |
krmreynolds | 0:dc35364e2291 | 53 | |
krmreynolds | 0:dc35364e2291 | 54 | // ----------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 55 | L3G4200D::L3G4200D( PinName sda = p9, PinName scl = p10 ) : _i2c( sda, scl ) { |
krmreynolds | 0:dc35364e2291 | 56 | |
krmreynolds | 0:dc35364e2291 | 57 | // Check that you're talking with an L3G4200D device |
krmreynolds | 0:dc35364e2291 | 58 | if ( this->registerRead( WHO_AM_I ) == 0xd3 ) { |
krmreynolds | 0:dc35364e2291 | 59 | _status = 0; |
krmreynolds | 0:dc35364e2291 | 60 | } else { |
krmreynolds | 0:dc35364e2291 | 61 | _status = 1; |
krmreynolds | 0:dc35364e2291 | 62 | return; |
krmreynolds | 0:dc35364e2291 | 63 | } |
krmreynolds | 0:dc35364e2291 | 64 | |
krmreynolds | 0:dc35364e2291 | 65 | // Enable normal mode... |
krmreynolds | 0:dc35364e2291 | 66 | this->registerWrite( CTRL_REG1, 0x0f ); |
krmreynolds | 0:dc35364e2291 | 67 | |
krmreynolds | 0:dc35364e2291 | 68 | } |
krmreynolds | 0:dc35364e2291 | 69 | |
krmreynolds | 0:dc35364e2291 | 70 | L3G4200D::L3G4200D( ) : _i2c( p9, p10 ) {}; |
krmreynolds | 0:dc35364e2291 | 71 | |
krmreynolds | 0:dc35364e2291 | 72 | // ----------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 73 | int L3G4200D::registerRead( int reg ) { |
krmreynolds | 0:dc35364e2291 | 74 | _bytes[0] = reg & 0xff; |
krmreynolds | 0:dc35364e2291 | 75 | _status = _i2c.write( GYR_ADDRESS, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 76 | if ( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 77 | _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 78 | return( _bytes[0] ); |
krmreynolds | 0:dc35364e2291 | 79 | } |
krmreynolds | 0:dc35364e2291 | 80 | return( 0 ); |
krmreynolds | 0:dc35364e2291 | 81 | } |
krmreynolds | 0:dc35364e2291 | 82 | |
krmreynolds | 0:dc35364e2291 | 83 | // ----------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 84 | void L3G4200D::registerWrite( int reg, char data ) { |
krmreynolds | 0:dc35364e2291 | 85 | _bytes[0] = reg & 0xff; |
krmreynolds | 0:dc35364e2291 | 86 | _bytes[1] = data & 0xff; |
krmreynolds | 0:dc35364e2291 | 87 | _status = _i2c.write( GYR_ADDRESS, _bytes, 2 ); |
krmreynolds | 0:dc35364e2291 | 88 | } |
krmreynolds | 0:dc35364e2291 | 89 | |
krmreynolds | 0:dc35364e2291 | 90 | // ----------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 91 | std::vector<short> L3G4200D::read( void ) { |
krmreynolds | 0:dc35364e2291 | 92 | std::vector<short> gyr( 3, 0 ); |
krmreynolds | 0:dc35364e2291 | 93 | _bytes[0] = OUT_X_L | (1<<7); |
krmreynolds | 0:dc35364e2291 | 94 | _status = _i2c.write( GYR_ADDRESS, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 95 | if ( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 96 | _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 6 ); |
krmreynolds | 0:dc35364e2291 | 97 | if ( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 98 | for ( int i=0; i<3; i++ ) { |
krmreynolds | 0:dc35364e2291 | 99 | gyr[i] = short( _bytes[2*i] | ( _bytes[2*i+1] << 8 )); |
krmreynolds | 0:dc35364e2291 | 100 | } |
krmreynolds | 0:dc35364e2291 | 101 | } |
krmreynolds | 0:dc35364e2291 | 102 | } |
krmreynolds | 0:dc35364e2291 | 103 | |
krmreynolds | 0:dc35364e2291 | 104 | return( gyr ); |
krmreynolds | 0:dc35364e2291 | 105 | } |
krmreynolds | 0:dc35364e2291 | 106 | |
krmreynolds | 0:dc35364e2291 | 107 | // ----------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 108 | std::vector<float> L3G4200D::angularVelocity( void ) { |
krmreynolds | 0:dc35364e2291 | 109 | |
krmreynolds | 0:dc35364e2291 | 110 | std::vector<float> angv(3, 0); |
krmreynolds | 0:dc35364e2291 | 111 | const float fs[] = { 250., 500., 2000., 2000. }; |
krmreynolds | 0:dc35364e2291 | 112 | float fullscale = fs[ ( this->registerRead( L3G4200D::CTRL_REG4 ) >> 4 ) & 0x3 ]; |
krmreynolds | 0:dc35364e2291 | 113 | std::vector<short> g = this->read(); |
krmreynolds | 0:dc35364e2291 | 114 | if ( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 115 | for ( int i=0; i<3; i++ ) { |
krmreynolds | 0:dc35364e2291 | 116 | angv[i] = float( g[i] ) / 32768. * fullscale; |
krmreynolds | 0:dc35364e2291 | 117 | } |
krmreynolds | 0:dc35364e2291 | 118 | } |
krmreynolds | 0:dc35364e2291 | 119 | return( angv ); |
krmreynolds | 0:dc35364e2291 | 120 | } |
krmreynolds | 0:dc35364e2291 | 121 | |
krmreynolds | 0:dc35364e2291 | 122 | |
krmreynolds | 0:dc35364e2291 | 123 | // ----------------------------------------------- |
krmreynolds | 0:dc35364e2291 | 124 | int L3G4200D::temperature( void ) { |
krmreynolds | 0:dc35364e2291 | 125 | |
krmreynolds | 0:dc35364e2291 | 126 | _bytes[0] = OUT_TEMP; |
krmreynolds | 0:dc35364e2291 | 127 | _status = _i2c.write( GYR_ADDRESS, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 128 | if ( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 129 | _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 1 ); |
krmreynolds | 0:dc35364e2291 | 130 | if ( _status == 0 ) { |
krmreynolds | 0:dc35364e2291 | 131 | return( int( _bytes[0] ) ); |
krmreynolds | 0:dc35364e2291 | 132 | } |
krmreynolds | 0:dc35364e2291 | 133 | } |
krmreynolds | 0:dc35364e2291 | 134 | return( 0 ); |
krmreynolds | 0:dc35364e2291 | 135 | } |