Diff: L3G4200D.cpp

Revision:

1:3272ece36ce1

Parent:

0:dc35364e2291

--- a/L3G4200D.cpp	Thu Apr 12 13:47:23 2012 +0000
+++ b/L3G4200D.cpp	Mon Apr 23 14:31:08 2012 +0000
@@ -1,5 +1,5 @@
 /* mbed L3G4200D Library version 0.1
- * Copyright (c) 2012 Prediluted
+ * Copyright (c) 2012 Ported to MBED and modified by Prediluted (Kris Reynolds)
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -20,116 +20,52 @@
  * THE SOFTWARE.
  */
 #include <L3G4200D.h>
+#include <math.h>
+#include "mbed.h"
 
-// L3G4200D I2C address
-const int L3G4200D::GYR_ADDRESS = 0xd2;
-// L3G4200D register addresses
-const int L3G4200D::WHO_AM_I = 0x0f;
-const int L3G4200D::CTRL_REG1 = 0x20;
-const int L3G4200D::CTRL_REG2 = 0x21;
-const int L3G4200D::CTRL_REG3 = 0x22;
-const int L3G4200D::CTRL_REG4 = 0x23;
-const int L3G4200D::CTRL_REG5 = 0x24;
-const int L3G4200D::REFERENCE = 0x25;
-const int L3G4200D::OUT_TEMP = 0x26;
-const int L3G4200D::STATUS_REG = 0x27;
-const int L3G4200D::OUT_X_L = 0x28;
-const int L3G4200D::OUT_X_H = 0x29;
-const int L3G4200D::OUT_Y_L = 0x2a;
-const int L3G4200D::OUT_Y_H = 0x2b;
-const int L3G4200D::OUT_Z_L = 0x2c;
-const int L3G4200D::OUT_Z_H = 0x2d;
-const int L3G4200D::FIFO_CTRL_REG = 0x2e;
-const int L3G4200D::FIFO_SRC_REG = 0x2f;
-const int L3G4200D::INT1_CFG = 0x30;
-const int L3G4200D::INT1_SRC = 0x31;
-const int L3G4200D::INT1_THS_XH = 0x32;
-const int L3G4200D::INT1_THS_XL = 0x33;
-const int L3G4200D::INT1_THS_YH = 0x34;
-const int L3G4200D::INT1_THS_YL = 0x35;
-const int L3G4200D::INT1_THS_ZH = 0x36;
-const int L3G4200D::INT1_THS_ZL = 0x37;
-const int L3G4200D::INT1_DURATION = 0x38;
+
+L3G4200D::L3G4200D( PinName sda = p9, PinName scl = p10 ) : i2c( sda, scl ) {
+    writeReg( L3G4200D_CTRL_REG1, 0x0f );
+}
 
-// -----------------------------------------------
-L3G4200D::L3G4200D( PinName sda = p9, PinName scl = p10 ) : _i2c( sda, scl ) {
+void L3G4200D::writeReg( byte reg, byte value ) {
+    char data[2] = { reg, value };
+    i2c.write( GYR_ADDRESS, data, 2 );
+}
 
-    // Check that you're talking with an L3G4200D device
-    if ( this->registerRead( WHO_AM_I ) == 0xd3 ) {
-        _status = 0;
-    } else {
-        _status = 1;
-        return;
-    }
-
-    // Enable normal mode...
-    this->registerWrite( CTRL_REG1, 0x0f );
-
+char L3G4200D::readReg( byte reg ) {
+    char value[1];
+    char data[1] = { reg };
+    i2c.write( GYR_ADDRESS, data, 1 );
+    i2c.read( GYR_ADDRESS, value, 1 );
+    return value[0];
 }
 
-L3G4200D::L3G4200D(  ) : _i2c( p9, p10 ) {};
+void L3G4200D::read( void ) {
+    char data[1] = { L3G4200D_OUT_X_L | (1<<7) };
+    char output[6];
+    i2c.write( GYR_ADDRESS, data, 1 );
 
-// -----------------------------------------------
-int L3G4200D::registerRead(  int reg ) {
-    _bytes[0] = reg & 0xff;
-    _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
-    if ( _status ==  0 ) {
-        _status = _i2c.read(  GYR_ADDRESS + 1, _bytes, 1 );
-        return( _bytes[0] );
-    }
-    return( 0 );
-}
+    i2c.read( GYR_ADDRESS, output, 6 );
 
-// -----------------------------------------------
-void L3G4200D::registerWrite( int reg, char data ) {
-    _bytes[0] = reg & 0xff;
-    _bytes[1] = data & 0xff;
-    _status = _i2c.write( GYR_ADDRESS, _bytes, 2 );
+    g.x = short( output[1] << 8 | output[0] );
+    g.y = short( output[3] << 8 | output[2] );
+    g.z = short( output[5] << 8 | output[4] );
 }
 
-// -----------------------------------------------
-std::vector<short> L3G4200D::read( void ) {
-    std::vector<short> gyr( 3, 0 );
-    _bytes[0] = OUT_X_L | (1<<7);
-    _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
-    if ( _status == 0 ) {
-        _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 6 );
-        if ( _status == 0 ) {
-            for ( int i=0; i<3; i++ ) {
-                gyr[i] = short( _bytes[2*i] | ( _bytes[2*i+1] << 8 ));
-            }
-        }
-    }
-
-    return( gyr );
+void L3G4200D::vector_cross(const Plane *a,const Plane *b, Plane *out) {
+    out->x = a->y*b->z - a->z*b->y;
+    out->y = a->z*b->x - a->x*b->z;
+    out->z = a->x*b->y - a->y*b->x;
 }
 
-// -----------------------------------------------
-std::vector<float> L3G4200D::angularVelocity( void ) {
-
-    std::vector<float> angv(3, 0);
-    const float fs[] = { 250., 500., 2000., 2000. };
-    float fullscale =  fs[ ( this->registerRead( L3G4200D::CTRL_REG4 ) >> 4 ) & 0x3 ];
-    std::vector<short> g = this->read();
-    if ( _status == 0 ) {
-        for ( int i=0; i<3; i++ ) {
-            angv[i] = float( g[i] ) / 32768. * fullscale;
-        }
-    }
-    return( angv );
+float L3G4200D::vector_dot(const Plane *a,const Plane *b) {
+    return a->x*b->x+a->y*b->y+a->z*b->z;
 }
 
-
-// -----------------------------------------------
-int L3G4200D::temperature( void ) {
-
-    _bytes[0] = OUT_TEMP;
-    _status = _i2c.write( GYR_ADDRESS, _bytes, 1 );
-    if ( _status == 0 ) {
-        _status = _i2c.read( GYR_ADDRESS + 1, _bytes, 1 );
-        if ( _status == 0 ) {
-            return( int( _bytes[0] ) );
-        }
-    }
-    return( 0 );
+void L3G4200D::vector_normalize(Plane *a) {
+    float mag = sqrt(vector_dot(a,a));
+    a->x /= mag;
+    a->y /= mag;
+    a->z /= mag;
 }
\ No newline at end of file