AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
Diff: L3G4200D.cpp
- Revision:
- 0:dc35364e2291
- Child:
- 1:3272ece36ce1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/L3G4200D.cpp Thu Apr 12 13:47:23 2012 +0000 @@ -0,0 +1,135 @@ +/* mbed L3G4200D Library version 0.1 + * Copyright (c) 2012 Prediluted + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ +#include <L3G4200D.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 ) { + + // 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 ); + +} + +L3G4200D::L3G4200D( ) : _i2c( p9, p10 ) {}; + +// ----------------------------------------------- +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 ); +} + +// ----------------------------------------------- +void L3G4200D::registerWrite( int reg, char data ) { + _bytes[0] = reg & 0xff; + _bytes[1] = data & 0xff; + _status = _i2c.write( GYR_ADDRESS, _bytes, 2 ); +} + +// ----------------------------------------------- +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 ); +} + +// ----------------------------------------------- +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 ); +} + + +// ----------------------------------------------- +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 ); +} \ No newline at end of file