AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
L3G4200D.h
- 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. */ #ifndef L3G4200D_h #define L3G4200D_h #include "mbed.h" #include <vector> class L3G4200D { public: /** * Create an L3G4200D object connected to the specified I2C pins * @param sda I2C SDA pin * @param scl I2C SCL pin */ L3G4200D( PinName sda, PinName scl ); L3G4200D( void ); /** * Return status code of prevoius function call */ inline int getStatus( void ) { return( _status ); } /** * Read specified register content * @param reg register address */ int registerRead( int reg ); /** * Write to specified register * @param reg register address * @parma data data to be written */ void registerWrite( int reg, char data ); /** * read gyroscope vector */ std::vector<short> read( void ); /** * Read angular velogity (in degrees per second) */ std::vector<float> angularVelocity( void ); /** * Read temperature (in celsius) */ int temperature( void ); // Device registers addresses static const int WHO_AM_I; static const int CTRL_REG1; static const int CTRL_REG2; static const int CTRL_REG3; static const int CTRL_REG4; static const int CTRL_REG5; static const int REFERENCE; static const int OUT_TEMP; static const int STATUS_REG; static const int OUT_X_L; static const int OUT_X_H; static const int OUT_Y_L; static const int OUT_Y_H; static const int OUT_Z_L; static const int OUT_Z_H; static const int FIFO_CTRL_REG; static const int FIFO_SRC_REG; static const int INT1_CFG; static const int INT1_SRC; static const int INT1_THS_XH; static const int INT1_THS_XL; static const int INT1_THS_YH; static const int INT1_THS_YL; static const int INT1_THS_ZH; static const int INT1_THS_ZL; static const int INT1_DURATION; private: int _status; I2C _i2c; char _bytes[7]; static const int GYR_ADDRESS; }; #endif // L3G4200D_h