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
L3GD20_Resister.h
- Committer:
- lelect
- Date:
- 2014-04-03
- Revision:
- 0:a07d3c1c7d2d
File content as of revision 0:a07d3c1c7d2d:
#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