Kris Reynolds / DCM_AHRS

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?

UserRevisionLine numberNew contents of line
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 }