Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

Sensors/Gyro/L3G4200D.h@34:3aa1cbcde59d, 2013-06-10 (annotated)

Committer:
maetugr
Date:
Mon Jun 10 13:22:46 2013 +0000
Revision:
34:3aa1cbcde59d
Child:
40:2ca410923691
First version with new ESCs (they are working with the KK Board); some strange kicks in the behaviour of balancing, next step a logger

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 34:3aa1cbcde59d 1 // based on http://mbed.org/users/shimniok/code/L3G4200D/
maetugr 34:3aa1cbcde59d 2
maetugr 34:3aa1cbcde59d 3 #ifndef L3G4200D_H
maetugr 34:3aa1cbcde59d 4 #define L3G4200D_H
maetugr 34:3aa1cbcde59d 5
maetugr 34:3aa1cbcde59d 6 #include "mbed.h"
maetugr 34:3aa1cbcde59d 7 #include "I2C_Sensor.h"
maetugr 34:3aa1cbcde59d 8
maetugr 34:3aa1cbcde59d 9 #define L3G4200D_I2C_ADDRESS 0xD0
maetugr 34:3aa1cbcde59d 10
maetugr 34:3aa1cbcde59d 11 // register addresses
maetugr 34:3aa1cbcde59d 12 #define L3G4200D_WHO_AM_I 0x0F
maetugr 34:3aa1cbcde59d 13
maetugr 34:3aa1cbcde59d 14 #define L3G4200D_CTRL_REG1 0x20
maetugr 34:3aa1cbcde59d 15 #define L3G4200D_CTRL_REG2 0x21
maetugr 34:3aa1cbcde59d 16 #define L3G4200D_CTRL_REG3 0x22
maetugr 34:3aa1cbcde59d 17 #define L3G4200D_CTRL_REG4 0x23
maetugr 34:3aa1cbcde59d 18 #define L3G4200D_CTRL_REG5 0x24
maetugr 34:3aa1cbcde59d 19 #define L3G4200D_REFERENCE 0x25
maetugr 34:3aa1cbcde59d 20 #define L3G4200D_OUT_TEMP 0x26
maetugr 34:3aa1cbcde59d 21 #define L3G4200D_STATUS_REG 0x27
maetugr 34:3aa1cbcde59d 22
maetugr 34:3aa1cbcde59d 23 #define L3G4200D_OUT_X_L 0x28
maetugr 34:3aa1cbcde59d 24 #define L3G4200D_OUT_X_H 0x29
maetugr 34:3aa1cbcde59d 25 #define L3G4200D_OUT_Y_L 0x2A
maetugr 34:3aa1cbcde59d 26 #define L3G4200D_OUT_Y_H 0x2B
maetugr 34:3aa1cbcde59d 27 #define L3G4200D_OUT_Z_L 0x2C
maetugr 34:3aa1cbcde59d 28 #define L3G4200D_OUT_Z_H 0x2D
maetugr 34:3aa1cbcde59d 29
maetugr 34:3aa1cbcde59d 30 #define L3G4200D_FIFO_CTRL_REG 0x2E
maetugr 34:3aa1cbcde59d 31 #define L3G4200D_FIFO_SRC_REG 0x2F
maetugr 34:3aa1cbcde59d 32
maetugr 34:3aa1cbcde59d 33 #define L3G4200D_INT1_CFG 0x30
maetugr 34:3aa1cbcde59d 34 #define L3G4200D_INT1_SRC 0x31
maetugr 34:3aa1cbcde59d 35 #define L3G4200D_INT1_THS_XH 0x32
maetugr 34:3aa1cbcde59d 36 #define L3G4200D_INT1_THS_XL 0x33
maetugr 34:3aa1cbcde59d 37 #define L3G4200D_INT1_THS_YH 0x34
maetugr 34:3aa1cbcde59d 38 #define L3G4200D_INT1_THS_YL 0x35
maetugr 34:3aa1cbcde59d 39 #define L3G4200D_INT1_THS_ZH 0x36
maetugr 34:3aa1cbcde59d 40 #define L3G4200D_INT1_THS_ZL 0x37
maetugr 34:3aa1cbcde59d 41 #define L3G4200D_INT1_DURATION 0x38
maetugr 34:3aa1cbcde59d 42
maetugr 34:3aa1cbcde59d 43 class L3G4200D : public I2C_Sensor
maetugr 34:3aa1cbcde59d 44 {
maetugr 34:3aa1cbcde59d 45 public:
maetugr 34:3aa1cbcde59d 46 L3G4200D(PinName sda, PinName scl); // constructor, uses I2C_Sensor class
maetugr 34:3aa1cbcde59d 47 virtual void read(); // read all axis from register to array data
maetugr 34:3aa1cbcde59d 48 float offset[3]; // offset that's subtracted from every measurement
maetugr 34:3aa1cbcde59d 49 void calibrate(int times, float separation_time); // calibration from 'times' measurements with 'separation_time' time between (get an offset while not moving)
maetugr 34:3aa1cbcde59d 50 int readTemp(); // read temperature from sensor
maetugr 34:3aa1cbcde59d 51
maetugr 34:3aa1cbcde59d 52 private:
maetugr 34:3aa1cbcde59d 53 virtual void readraw();
maetugr 34:3aa1cbcde59d 54 };
maetugr 34:3aa1cbcde59d 55
maetugr 34:3aa1cbcde59d 56 #endif