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@20:e116e596e540, 2012-11-05 (annotated)

Committer:
maetugr
Date:
Mon Nov 05 09:19:01 2012 +0000
Revision:
20:e116e596e540
Parent:
18:c8c09a3913ba
Child:
21:c2a2e7cbabdd
Eine Achse stabil! bereits abgehoben an Schnur! (erst Gyro im I2C_Sensor)(acos nan abgefangen)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:0c4fafa398b4 1 // based on http://mbed.org/users/shimniok/code/L3G4200D/
maetugr 0:0c4fafa398b4 2
maetugr 2:93f703d2c4d7 3 #ifndef L3G4200D_H
maetugr 2:93f703d2c4d7 4 #define L3G4200D_H
maetugr 0:0c4fafa398b4 5
maetugr 0:0c4fafa398b4 6 #include "mbed.h"
maetugr 16:74a6531350b5 7 #include "I2C_Sensor.h"
maetugr 0:0c4fafa398b4 8
maetugr 20:e116e596e540 9 #define L3G4200D_I2C_ADDRESS 0xD0
maetugr 17:e096e85f6c36 10
maetugr 0:0c4fafa398b4 11 // register addresses
maetugr 17:e096e85f6c36 12 #define L3G4200D_WHO_AM_I 0x0F
maetugr 0:0c4fafa398b4 13
maetugr 17:e096e85f6c36 14 #define L3G4200D_CTRL_REG1 0x20
maetugr 17:e096e85f6c36 15 #define L3G4200D_CTRL_REG2 0x21
maetugr 17:e096e85f6c36 16 #define L3G4200D_CTRL_REG3 0x22
maetugr 17:e096e85f6c36 17 #define L3G4200D_CTRL_REG4 0x23
maetugr 17:e096e85f6c36 18 #define L3G4200D_CTRL_REG5 0x24
maetugr 17:e096e85f6c36 19 #define L3G4200D_REFERENCE 0x25
maetugr 17:e096e85f6c36 20 #define L3G4200D_OUT_TEMP 0x26
maetugr 17:e096e85f6c36 21 #define L3G4200D_STATUS_REG 0x27
maetugr 0:0c4fafa398b4 22
maetugr 17:e096e85f6c36 23 #define L3G4200D_OUT_X_L 0x28
maetugr 17:e096e85f6c36 24 #define L3G4200D_OUT_X_H 0x29
maetugr 17:e096e85f6c36 25 #define L3G4200D_OUT_Y_L 0x2A
maetugr 17:e096e85f6c36 26 #define L3G4200D_OUT_Y_H 0x2B
maetugr 17:e096e85f6c36 27 #define L3G4200D_OUT_Z_L 0x2C
maetugr 17:e096e85f6c36 28 #define L3G4200D_OUT_Z_H 0x2D
maetugr 0:0c4fafa398b4 29
maetugr 17:e096e85f6c36 30 #define L3G4200D_FIFO_CTRL_REG 0x2E
maetugr 17:e096e85f6c36 31 #define L3G4200D_FIFO_SRC_REG 0x2F
maetugr 0:0c4fafa398b4 32
maetugr 17:e096e85f6c36 33 #define L3G4200D_INT1_CFG 0x30
maetugr 17:e096e85f6c36 34 #define L3G4200D_INT1_SRC 0x31
maetugr 17:e096e85f6c36 35 #define L3G4200D_INT1_THS_XH 0x32
maetugr 17:e096e85f6c36 36 #define L3G4200D_INT1_THS_XL 0x33
maetugr 17:e096e85f6c36 37 #define L3G4200D_INT1_THS_YH 0x34
maetugr 17:e096e85f6c36 38 #define L3G4200D_INT1_THS_YL 0x35
maetugr 17:e096e85f6c36 39 #define L3G4200D_INT1_THS_ZH 0x36
maetugr 17:e096e85f6c36 40 #define L3G4200D_INT1_THS_ZL 0x37
maetugr 17:e096e85f6c36 41 #define L3G4200D_INT1_DURATION 0x38
maetugr 0:0c4fafa398b4 42
maetugr 16:74a6531350b5 43 class L3G4200D : public I2C_Sensor
maetugr 0:0c4fafa398b4 44 {
maetugr 0:0c4fafa398b4 45 public:
maetugr 16:74a6531350b5 46 L3G4200D(PinName sda, PinName scl); // constructor, uses I2C_Sensor class
maetugr 18:c8c09a3913ba 47 virtual void read(); // read all axis from register to array data
maetugr 16:74a6531350b5 48 int readTemp(); // read temperature from sensor
maetugr 0:0c4fafa398b4 49
maetugr 0:0c4fafa398b4 50 private:
maetugr 17:e096e85f6c36 51 float offset[3]; // offset that's subtracted from every measurement
maetugr 20:e116e596e540 52 virtual void readraw();
maetugr 0:0c4fafa398b4 53 };
maetugr 0:0c4fafa398b4 54
maetugr 0:0c4fafa398b4 55 #endif