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:
- 2012-10-17
- Revision:
- 10:953afcbcebfc
- Parent:
- 2:93f703d2c4d7
- Child:
- 16:74a6531350b5
File content as of revision 10:953afcbcebfc:
// based on http://mbed.org/users/shimniok/code/L3G4200D/ #ifndef L3G4200D_H #define L3G4200D_H #include "mbed.h" // 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 typedef char byte; class L3G4200D { public: L3G4200D(PinName sda, PinName scl); // constructor, uses i2c void read(); // read all axis to array int readTemp(); // read temperature from sensor float data[3]; // where the measured data is saved private: float offset[3]; // offset that's subtracted from every measurement I2C i2c; // i2c object to communicate void writeReg(byte reg, byte value); // write one single register to sensor byte readReg(byte reg); // read one single register from sensor }; #endif