Tatsuki Fukuda
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
Diff: L3GD20_Resister.h
- Revision:
- 0:a07d3c1c7d2d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/L3GD20_Resister.h Thu Apr 03 12:26:20 2014 +0000
@@ -0,0 +1,349 @@
+#ifndef L3GD20_RESISTER_MAP
+#define L3GD20_RESISTER_MAP
+
+union CTRL_REG1 {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned Yen:1;
+ unsigned Xen:1;
+ unsigned Zen:1;
+ unsigned PD:1;
+ unsigned BW0:1;
+ unsigned BW1:1;
+ unsigned DR0:1;
+ unsigned DR1:1;
+ } b;
+ struct {
+ unsigned Enable:3;
+ unsigned PD:1;
+ unsigned BW:2;
+ unsigned DR:2;
+ } B;
+};
+union CTRL_REG2 {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned HPCF0:1;
+ unsigned HPCF1:1;
+ unsigned HPCF2:1;
+ unsigned HPCF3:1;
+ unsigned HPM0:1;
+ unsigned HPM1:1;
+ unsigned :2;
+ } b;
+ struct {
+ unsigned HPCF:4;
+ unsigned HPM:2;
+ unsigned none:2;
+ } B;
+};
+union CTRL_REG3 {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned I2_Empty:1;
+ unsigned I2_ORun:1;
+ unsigned I2_WTM:1;
+ unsigned I2_DRDY:1;
+ unsigned PP_OD:1;
+ unsigned H_Lactive:1;
+ unsigned I1_Boot:1;
+ unsigned I1_Int1:1;
+ } b;
+};
+union CTRL_REG4 {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned SIM:1;
+ unsigned none:2;
+ unsigned nil:1;
+ unsigned FS0:1;
+ unsigned FS1:1;
+ unsigned BLE:1;
+ unsigned BDU:1;
+ } b;
+ struct {
+ unsigned SIM:1;
+ unsigned none:2;
+ unsigned nil:1;
+ unsigned FS:2;
+ unsigned BLE:1;
+ unsigned BDU:1;
+ } B;
+};
+union CTRL_REG5 {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned Out_Sel0:1;
+ unsigned Out_Sel1:1;
+ unsigned INT_Sel0:1;
+ unsigned INT_Sel1:1;
+ unsigned HPen:1;
+ unsigned nil:1;
+ unsigned FIFO_EN:1;
+ unsigned BOOT:1;
+ } b;
+ struct {
+ unsigned Out_Sel:2;
+ unsigned INT_Sel:2;
+ unsigned HPen:1;
+ unsigned nil:1;
+ unsigned FIFO_EN:1;
+ unsigned BOOT:1;
+ } B;
+};
+union REF_DATACAP {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned Ref0:1;
+ unsigned Ref1:1;
+ unsigned Ref2:1;
+ unsigned Ref3:1;
+ unsigned Ref4:1;
+ unsigned Ref5:1;
+ unsigned Ref6:1;
+ unsigned Ref7:1;
+ } b;
+ struct {
+ unsigned Ref:8;
+ } B;
+};
+union OUT_TEMP {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned Temp0:1;
+ unsigned Temp1:1;
+ unsigned Temp2:1;
+ unsigned Temp3:1;
+ unsigned Temp4:1;
+ unsigned Temp5:1;
+ unsigned Temp6:1;
+ unsigned Temp7:1;
+ } b;
+ struct {
+ unsigned Temp:8;
+ } B;
+};
+union STATUS_REG {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned XDA:1;
+ unsigned YDA:1;
+ unsigned ZDA:1;
+ unsigned ZYXDA:1;
+ unsigned XOR:1;
+ unsigned YOR:1;
+ unsigned ZOR:1;
+ unsigned XYZOR:1;
+ } b;
+};
+union FIFO_CTRL_REG {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned WTM0:1;
+ unsigned WTM1:1;
+ unsigned WTM2:1;
+ unsigned WTM3:1;
+ unsigned WTM4:1;
+ unsigned FM0:1;
+ unsigned FM1:1;
+ unsigned FM2:1;
+ } b;
+ struct {
+ unsigned WTM:5;
+ unsigned FM:3;
+ } B;
+};
+union FIFO_SRC_REG {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned FSS0:1;
+ unsigned FSS1:1;
+ unsigned FSS2:1;
+ unsigned FSS3:1;
+ unsigned FSS4:1;
+ unsigned EMPTY:1;
+ unsigned OVR:1;
+ unsigned WTM:1;
+ } b;
+ struct {
+ unsigned FSS:5;
+ unsigned EMPTY:1;
+ unsigned OVR:1;
+ unsigned WTM:1;
+ } B;
+};
+union INT1_CFG {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned XLIE:1;
+ unsigned XHIE:1;
+ unsigned YLIE:1;
+ unsigned YHIE:1;
+ unsigned ZLIE:1;
+ unsigned ZHIE:1;
+ unsigned LIR:1;
+ unsigned ANDOR:1;
+ } b;
+};
+union INT1_TSH_XH {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned THSX8:1;
+ unsigned THSX9:1;
+ unsigned THSX10:1;
+ unsigned THSX11:1;
+ unsigned THSX12:1;
+ unsigned THSX13:1;
+ unsigned THSX14:1;
+ unsigned nil:1;
+ } b;
+ struct {
+ unsigned THSH:7;
+ } B;
+};
+union INT1_TSH_XL {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned THSX0:1;
+ unsigned THSX1:1;
+ unsigned THSX2:1;
+ unsigned THSX3:1;
+ unsigned THSX4:1;
+ unsigned THSX5:1;
+ unsigned THSX6:1;
+ unsigned THSX7:1;
+ } b;
+ struct {
+ unsigned THSL:7;
+ } B;
+};
+union INT1_TSH_YH {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned THSY8:1;
+ unsigned THSY9:1;
+ unsigned THSY10:1;
+ unsigned THSY11:1;
+ unsigned THSY12:1;
+ unsigned THSY13:1;
+ unsigned THSY14:1;
+ unsigned nil:1;
+ } b;
+ struct {
+ unsigned THSH:7;
+ } B;
+};
+union INT1_TSH_YL {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned THSY0:1;
+ unsigned THSY1:1;
+ unsigned THSY2:1;
+ unsigned THSY3:1;
+ unsigned THSY4:1;
+ unsigned THSY5:1;
+ unsigned THSY6:1;
+ unsigned THSY7:1;
+ } b;
+ struct {
+ unsigned THSL:7;
+ } B;
+};
+union INT1_TSH_ZH {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned THSZ8:1;
+ unsigned THSZ9:1;
+ unsigned THSZ10:1;
+ unsigned THSZ11:1;
+ unsigned THSZ12:1;
+ unsigned THSZ13:1;
+ unsigned THSZ14:1;
+ unsigned nil:1;
+ } b;
+ struct {
+ unsigned THSH:7;
+ } B;
+};
+union INT1_TSH_ZL {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned THSZ0:1;
+ unsigned THSZ1:1;
+ unsigned THSZ2:1;
+ unsigned THSZ3:1;
+ unsigned THSZ4:1;
+ unsigned THSZ5:1;
+ unsigned THSZ6:1;
+ unsigned THSZ7:1;
+ } b;
+ struct {
+ unsigned THSL:7;
+ } B;
+};
+union INT1_DURATION {
+ int word;
+ uint8_t byte;
+ struct {
+ unsigned D0:1;
+ unsigned D1:1;
+ unsigned D2:1;
+ unsigned D3:1;
+ unsigned D4:1;
+ unsigned D5:1;
+ unsigned D6:1;
+ unsigned WAIT:1;
+ } b;
+ struct {
+ unsigned D:6;
+ unsigned WAIT:1;
+ } B;
+};
+/*
+#define L3GD20_READ 0x80
+#define L3GD20_WHO_AM_I 0x0F
+#define L3GD20_CTRL_REG1 0x20
+#define L3GD20_CTRL_REG2 0x21
+#define L3GD20_CTRL_REG3 0x22
+#define L3GD20_CTRL_REG4 0x23
+#define L3GD20_CTRL_REG5 0x24
+#define L3GD20_REFERENCE 0x25
+#define L3GD20_OUT_TEMP 0x26
+#define L3GD20_STATUS_REG 0x27
+#define L3GD20_OUT_X_L 0x28
+#define L3GD20_OUT_X_H 0x29
+#define L3GD20_OUT_Y_L 0x2A
+#define L3GD20_OUT_Y_H 0x2B
+#define L3GD20_OUT_Z_L 0x2C
+#define L3GD20_OUT_Z_H 0x2D
+#define L3GD20_FIFO_CTRL_REG 0x2E
+#define L3GD20_FIFO_SRC_REG 0x2F
+#define L3GD20_INT1_CFG 0x30
+#define L3GD20_INT1_SRC 0x31
+#define L3GD20_INT1_THS_XH 0x32
+#define L3GD20_INT1_THS_XL 0x33
+#define L3GD20_INT1_THS_YH 0x34
+#define L3GD20_INT1_THS_YL 0x35
+#define L3GD20_INT1_THS_ZH 0x36
+#define L3GD20_INT1_THS_ZL 0x37
+#define L3GD20_INT1_DURATION 0x38
+*/
+
+#endif
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