![](/media/cache/profiles/8ad6635f33710af6a535e8fb8486975e.50x50_q85.jpg)
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.
Sensors/Gyro/L3G4200D.h
- Committer:
- maetugr
- Date:
- 2014-02-14
- Revision:
- 40:2ca410923691
- Parent:
- 34:3aa1cbcde59d
File content as of revision 40:2ca410923691:
// based on http://mbed.org/users/shimniok/code/L3G4200D/ #ifndef L3G4200D_H #define L3G4200D_H #include "mbed.h" #include "I2C_Sensor.h" #define L3G4200D_I2C_ADDRESS 0xD0 // register addresses #define L3G4200D_WHO_AM_I 0x0F #define L3G4200D_CTRL_REG1 0x20 #define L3G4200D_CTRL_REG2 0x21 #define L3G4200D_CTRL_REG3 0x22 #define L3G4200D_CTRL_REG4 0x23 #define L3G4200D_CTRL_REG5 0x24 #define L3G4200D_REFERENCE 0x25 #define L3G4200D_OUT_TEMP 0x26 #define L3G4200D_STATUS_REG 0x27 #define L3G4200D_OUT_X_L 0x28 #define L3G4200D_OUT_X_H 0x29 #define L3G4200D_OUT_Y_L 0x2A #define L3G4200D_OUT_Y_H 0x2B #define L3G4200D_OUT_Z_L 0x2C #define L3G4200D_OUT_Z_H 0x2D #define L3G4200D_FIFO_CTRL_REG 0x2E #define L3G4200D_FIFO_SRC_REG 0x2F #define L3G4200D_INT1_CFG 0x30 #define L3G4200D_INT1_SRC 0x31 #define L3G4200D_INT1_THS_XH 0x32 #define L3G4200D_INT1_THS_XL 0x33 #define L3G4200D_INT1_THS_YH 0x34 #define L3G4200D_INT1_THS_YL 0x35 #define L3G4200D_INT1_THS_ZH 0x36 #define L3G4200D_INT1_THS_ZL 0x37 #define L3G4200D_INT1_DURATION 0x38 class L3G4200D : public I2C_Sensor { public: L3G4200D(PinName sda, PinName scl); // constructor, uses I2C_Sensor class float data[3]; // where the measured data is saved void read(); // read all axis from register to array data float offset[3]; // offset that's subtracted from every measurement void calibrate(int times, float separation_time); // calibration from 'times' measurements with 'separation_time' time between (get an offset while not moving) int readTemp(); // read temperature from sensor private: int raw[3]; void readraw(); }; #endif