Tatsuki Fukuda / L3GD20

秋月販売のL3GD20使用8pinDIPジャイロセンサーモジュールのライブラリです。　　　 FIFOを使って等間隔データの読み込みができます。　　　 構造体のポインタをreadメソッドに渡すと値が入ります。　　　 <今後の予定> ・レジスタへのアクセスの整理整頓　　　 ・データレート/HighLowのフィルター/分解能の設定メソッド　　　 ・mbedピン変化割り込みによるデータ取得(おそらく関数ポインタを割り込み処理のメソッドに渡してもらう)　　　 ・読み取りデータにフィルターをかける。　　　 ・データ取得の高速化　　　

L3GD20.cpp@0:a07d3c1c7d2d, 2014-04-03 (annotated)

Committer:
lelect
Date:
Thu Apr 03 12:26:20 2014 +0000
Revision:
0:a07d3c1c7d2d
<L3GD20 SPI class(unused interrupt)>; you can use normal mode and FIFO mode(only change fifo configration,cannot change other configration); I'm going to use the interrupt other class.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lelect 0:a07d3c1c7d2d 1 #include "mbed.h"
lelect 0:a07d3c1c7d2d 2 #include "L3GD20.h"
lelect 0:a07d3c1c7d2d 3 L3GD20::L3GD20(PinName miso, PinName mosi, PinName scl, PinName cs/*, PinName interrupt1=NC, PinName interrupt2=NC*/)
lelect 0:a07d3c1c7d2d 4 :_spi(miso,mosi,scl)
lelect 0:a07d3c1c7d2d 5 ,_cs(cs)
lelect 0:a07d3c1c7d2d 6 {
lelect 0:a07d3c1c7d2d 7 _spi.format(8,3);
lelect 0:a07d3c1c7d2d 8 _spi.frequency(10000000);
lelect 0:a07d3c1c7d2d 9 int val;
lelect 0:a07d3c1c7d2d 10 read(null,&val);
lelect 0:a07d3c1c7d2d 11 read(WhoAmI,&val);
lelect 0:a07d3c1c7d2d 12 if(val==0x0F)
lelect 0:a07d3c1c7d2d 13 printf("L3GD20 is OK\r\n");
lelect 0:a07d3c1c7d2d 14 else
lelect 0:a07d3c1c7d2d 15 printf("Where is L3GD20\r\n");
lelect 0:a07d3c1c7d2d 16 configReadOut();
lelect 0:a07d3c1c7d2d 17 statusReadOut();
lelect 0:a07d3c1c7d2d 18
lelect 0:a07d3c1c7d2d 19 }
lelect 0:a07d3c1c7d2d 20 void L3GD20::write(RESISTER reg,int val)
lelect 0:a07d3c1c7d2d 21 {
lelect 0:a07d3c1c7d2d 22 _cs=0;
lelect 0:a07d3c1c7d2d 23 _spi.write(reg);
lelect 0:a07d3c1c7d2d 24 _spi.write(val);
lelect 0:a07d3c1c7d2d 25 _cs=1;
lelect 0:a07d3c1c7d2d 26 }
lelect 0:a07d3c1c7d2d 27 void L3GD20::read(RESISTER reg,int* val)
lelect 0:a07d3c1c7d2d 28 {
lelect 0:a07d3c1c7d2d 29 _cs=0;
lelect 0:a07d3c1c7d2d 30 _spi.write(READ|reg);
lelect 0:a07d3c1c7d2d 31 (*val)=_spi.write(0x00);
lelect 0:a07d3c1c7d2d 32 _cs=1;
lelect 0:a07d3c1c7d2d 33 }
lelect 0:a07d3c1c7d2d 34 void L3GD20::start(DIRECTION enable)
lelect 0:a07d3c1c7d2d 35 {
lelect 0:a07d3c1c7d2d 36 _config.CTRL_REG1.B.Enable=enable;
lelect 0:a07d3c1c7d2d 37 _config.CTRL_REG1.b.PD=1;
lelect 0:a07d3c1c7d2d 38 write(CtrlReg1,_config.CTRL_REG1.word);
lelect 0:a07d3c1c7d2d 39 }
lelect 0:a07d3c1c7d2d 40 void L3GD20::stop()
lelect 0:a07d3c1c7d2d 41 {
lelect 0:a07d3c1c7d2d 42 _config.CTRL_REG1.word=_config.CTRL_REG1.word&0xF0;
lelect 0:a07d3c1c7d2d 43 write(CtrlReg1,_config.CTRL_REG1.word);
lelect 0:a07d3c1c7d2d 44 }
lelect 0:a07d3c1c7d2d 45 void L3GD20::sleep()
lelect 0:a07d3c1c7d2d 46 {
lelect 0:a07d3c1c7d2d 47 _config.CTRL_REG1.word=_config.CTRL_REG1.word&0xF8;
lelect 0:a07d3c1c7d2d 48 write(CtrlReg1,_config.CTRL_REG1.word);
lelect 0:a07d3c1c7d2d 49 }
lelect 0:a07d3c1c7d2d 50 void L3GD20::read(anglerrates* val,DIRECTION direction)
lelect 0:a07d3c1c7d2d 51 {
lelect 0:a07d3c1c7d2d 52 if(direction&X) {
lelect 0:a07d3c1c7d2d 53 int x_l,x_h;
lelect 0:a07d3c1c7d2d 54 read(OutXL,&x_l);
lelect 0:a07d3c1c7d2d 55 read(OutXH,&x_h);
lelect 0:a07d3c1c7d2d 56 val->X=(x_l)|(x_h<<8);
lelect 0:a07d3c1c7d2d 57 }
lelect 0:a07d3c1c7d2d 58 if(direction&Y) {
lelect 0:a07d3c1c7d2d 59 int y_l,y_h;
lelect 0:a07d3c1c7d2d 60 read(OutYL,&y_l);
lelect 0:a07d3c1c7d2d 61 read(OutYH,&y_h);
lelect 0:a07d3c1c7d2d 62 val->Y=(y_l)|(y_h<<8);
lelect 0:a07d3c1c7d2d 63 }
lelect 0:a07d3c1c7d2d 64 if(direction&Z) {
lelect 0:a07d3c1c7d2d 65 int z_l,z_h;
lelect 0:a07d3c1c7d2d 66 read(OutZL,&z_l);
lelect 0:a07d3c1c7d2d 67 read(OutZH,&z_h);
lelect 0:a07d3c1c7d2d 68 val->Z=(z_l)|(z_h<<8);
lelect 0:a07d3c1c7d2d 69 }
lelect 0:a07d3c1c7d2d 70 if(_config.CTRL_REG4.B.FS==0x00) {
lelect 0:a07d3c1c7d2d 71 val->x=8.75*(float)val->X;
lelect 0:a07d3c1c7d2d 72 val->y=8.75*(float)val->Y;
lelect 0:a07d3c1c7d2d 73 val->z=8.75*(float)val->Z;
lelect 0:a07d3c1c7d2d 74 } else if(_config.CTRL_REG4.B.FS==0x01) {
lelect 0:a07d3c1c7d2d 75 val->x=17.5*(float)val->X;
lelect 0:a07d3c1c7d2d 76 val->y=17.5*(float)val->Y;
lelect 0:a07d3c1c7d2d 77 val->z=17.5*(float)val->Z;
lelect 0:a07d3c1c7d2d 78 } else if((_config.CTRL_REG4.B.FS==0x10)|(_config.CTRL_REG4.B.FS==0x11)) {
lelect 0:a07d3c1c7d2d 79 val->x=70.0*(float)val->X;
lelect 0:a07d3c1c7d2d 80 val->y=70.0*(float)val->Y;
lelect 0:a07d3c1c7d2d 81 val->z=70.0*(float)val->Z;
lelect 0:a07d3c1c7d2d 82 }
lelect 0:a07d3c1c7d2d 83 }
lelect 0:a07d3c1c7d2d 84 int L3GD20::readTemperature()
lelect 0:a07d3c1c7d2d 85 {
lelect 0:a07d3c1c7d2d 86 read(OutTemp,&_status.OUT_TEMP);
lelect 0:a07d3c1c7d2d 87 return _status.OUT_TEMP;
lelect 0:a07d3c1c7d2d 88 }
lelect 0:a07d3c1c7d2d 89 void L3GD20::enableFIFO(FIFO_mode mode,FIFOstatus interrupt,const int threshold)
lelect 0:a07d3c1c7d2d 90 {
lelect 0:a07d3c1c7d2d 91 _config.CTRL_REG5.b.FIFO_EN=1;
lelect 0:a07d3c1c7d2d 92 if(interrupt&empty) {
lelect 0:a07d3c1c7d2d 93 _config.CTRL_REG3.b.I2_Empty=1;
lelect 0:a07d3c1c7d2d 94 } else if(interrupt&watermark) {
lelect 0:a07d3c1c7d2d 95 _config.CTRL_REG3.b.I2_WTM=1;
lelect 0:a07d3c1c7d2d 96 } else if(interrupt&overrun) {
lelect 0:a07d3c1c7d2d 97 _config.CTRL_REG3.b.I2_ORun=1;
lelect 0:a07d3c1c7d2d 98 }
lelect 0:a07d3c1c7d2d 99 _config.FIFO_CTRL_REG.B.FM=mode;
lelect 0:a07d3c1c7d2d 100 if((0<threshold)&&(threshold<31)) {
lelect 0:a07d3c1c7d2d 101 _config.FIFO_CTRL_REG.B.WTM=threshold;
lelect 0:a07d3c1c7d2d 102 } else {
lelect 0:a07d3c1c7d2d 103 _config.FIFO_CTRL_REG.B.WTM=30;
lelect 0:a07d3c1c7d2d 104 }
lelect 0:a07d3c1c7d2d 105 write(CtrlReg3,_config.CTRL_REG3.word);
lelect 0:a07d3c1c7d2d 106 write(CtrlReg5,_config.CTRL_REG5.word);
lelect 0:a07d3c1c7d2d 107 write(FIFOCtrlReg,_config.FIFO_CTRL_REG.word);
lelect 0:a07d3c1c7d2d 108 }
lelect 0:a07d3c1c7d2d 109 void L3GD20::updateFIFO(void)
lelect 0:a07d3c1c7d2d 110 {
lelect 0:a07d3c1c7d2d 111 read(FIFOSrcReg,&_status.FIFO_SRC_REG.word);
lelect 0:a07d3c1c7d2d 112 read(FIFOCtrlReg,&_config.FIFO_CTRL_REG.word);
lelect 0:a07d3c1c7d2d 113
lelect 0:a07d3c1c7d2d 114 if(_status.FIFO_SRC_REG.b.WTM) {
lelect 0:a07d3c1c7d2d 115 FIFO.status=watermark;
lelect 0:a07d3c1c7d2d 116 } else if(_status.FIFO_SRC_REG.b.EMPTY) {
lelect 0:a07d3c1c7d2d 117 FIFO.status=empty;
lelect 0:a07d3c1c7d2d 118 } else if(_status.FIFO_SRC_REG.b.OVR) {
lelect 0:a07d3c1c7d2d 119 FIFO.status=overrun;
lelect 0:a07d3c1c7d2d 120 } else {
lelect 0:a07d3c1c7d2d 121 FIFO.status=none;
lelect 0:a07d3c1c7d2d 122 }
lelect 0:a07d3c1c7d2d 123 FIFO.level=_status.FIFO_SRC_REG.B.FSS;
lelect 0:a07d3c1c7d2d 124 }
lelect 0:a07d3c1c7d2d 125 void L3GD20::configReadOut(void)
lelect 0:a07d3c1c7d2d 126 {
lelect 0:a07d3c1c7d2d 127 read(CtrlReg1,&_config.CTRL_REG1.word);
lelect 0:a07d3c1c7d2d 128 read(CtrlReg2,&_config.CTRL_REG2.word);
lelect 0:a07d3c1c7d2d 129 read(CtrlReg3,&_config.CTRL_REG3.word);
lelect 0:a07d3c1c7d2d 130 read(CtrlReg4,&_config.CTRL_REG4.word);
lelect 0:a07d3c1c7d2d 131 read(CtrlReg5,&_config.CTRL_REG5.word);
lelect 0:a07d3c1c7d2d 132 read(Reference,&_config.REF_DATACAP.word);
lelect 0:a07d3c1c7d2d 133 read(FIFOCtrlReg,&_config.FIFO_CTRL_REG.word);
lelect 0:a07d3c1c7d2d 134 read(INT1Cfg,&_config.INT1_CFG.word);
lelect 0:a07d3c1c7d2d 135 read(INT1ThsXH,&_config.INT1_TSH_XH.word);
lelect 0:a07d3c1c7d2d 136 read(INT1ThsXL,&_config.INT1_TSH_XL.word);
lelect 0:a07d3c1c7d2d 137 read(INT1ThsYH,&_config.INT1_TSH_YH.word);
lelect 0:a07d3c1c7d2d 138 read(INT1ThsYL,&_config.INT1_TSH_YL.word);
lelect 0:a07d3c1c7d2d 139 read(INT1ThsZH,&_config.INT1_TSH_ZH.word);
lelect 0:a07d3c1c7d2d 140 read(INT1ThsZL,&_config.INT1_TSH_ZL.word);
lelect 0:a07d3c1c7d2d 141 read(INT1Duration,&_config.INT1_DURATION.word);
lelect 0:a07d3c1c7d2d 142 }
lelect 0:a07d3c1c7d2d 143
lelect 0:a07d3c1c7d2d 144 void L3GD20::statusReadOut(void)
lelect 0:a07d3c1c7d2d 145 {
lelect 0:a07d3c1c7d2d 146 read(OutTemp,&_status.OUT_TEMP);
lelect 0:a07d3c1c7d2d 147 read(StatusReg,&_status.STATUS_REG);
lelect 0:a07d3c1c7d2d 148 read(FIFOSrcReg,&_status.FIFO_SRC_REG.word);
lelect 0:a07d3c1c7d2d 149 read(INT1Src,&_status.INT1_SRC);
lelect 0:a07d3c1c7d2d 150 }