AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
L3G4200D.cpp
- Committer:
- krmreynolds
- Date:
- 2012-04-12
- Revision:
- 0:dc35364e2291
- Child:
- 1:3272ece36ce1
File content as of revision 0:dc35364e2291:
/* 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 ); }