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.cpp@16:74a6531350b5, 2012-10-31 (annotated)
- Committer:
- maetugr
- Date:
- Wed Oct 31 14:44:07 2012 +0000
- Revision:
- 16:74a6531350b5
- Parent:
- 15:753c5d6a63b3
- Child:
- 17:e096e85f6c36
nach Kompassumstellung auf I2C_Sensor (nicht getestet)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 0:0c4fafa398b4 | 1 | #include "mbed.h" |
maetugr | 0:0c4fafa398b4 | 2 | #include "L3G4200D.h" |
maetugr | 0:0c4fafa398b4 | 3 | #include <math.h> |
maetugr | 0:0c4fafa398b4 | 4 | |
maetugr | 16:74a6531350b5 | 5 | #define L3G4200D_I2C_ADDRESS 0xD0 // TODO: Adressen??? |
maetugr | 0:0c4fafa398b4 | 6 | |
maetugr | 16:74a6531350b5 | 7 | L3G4200D::L3G4200D(PinName sda, PinName scl) : I2C_Sensor(sda, scl, L3G4200D_I2C_ADDRESS) |
maetugr | 0:0c4fafa398b4 | 8 | { |
maetugr | 0:0c4fafa398b4 | 9 | // Turns on the L3G4200D's gyro and places it in normal mode. |
maetugr | 16:74a6531350b5 | 10 | // Normal power mode, all axes enabled (for detailed info see datasheet) |
maetugr | 0:0c4fafa398b4 | 11 | |
maetugr | 16:74a6531350b5 | 12 | //writeRegister(L3G4200D_CTRL_REG2, 0x05); // control filter |
maetugr | 16:74a6531350b5 | 13 | writeRegister(L3G4200D_CTRL_REG2, 0x00); // highpass filter disabled |
maetugr | 16:74a6531350b5 | 14 | writeRegister(L3G4200D_CTRL_REG3, 0x00); |
maetugr | 16:74a6531350b5 | 15 | writeRegister(L3G4200D_CTRL_REG4, 0x20); // sets acuracy to 2000 dps (degree per second) |
maetugr | 16:74a6531350b5 | 16 | |
maetugr | 16:74a6531350b5 | 17 | writeRegister(L3G4200D_REFERENCE, 0x00); |
maetugr | 16:74a6531350b5 | 18 | //writeRegister(L3G4200D_STATUS_REG, 0x0F); |
maetugr | 0:0c4fafa398b4 | 19 | |
maetugr | 16:74a6531350b5 | 20 | writeRegister(L3G4200D_INT1_THS_XH, 0x2C); // TODO: WTF?? |
maetugr | 16:74a6531350b5 | 21 | writeRegister(L3G4200D_INT1_THS_XL, 0xA4); |
maetugr | 16:74a6531350b5 | 22 | writeRegister(L3G4200D_INT1_THS_YH, 0x2C); |
maetugr | 16:74a6531350b5 | 23 | writeRegister(L3G4200D_INT1_THS_YL, 0xA4); |
maetugr | 16:74a6531350b5 | 24 | writeRegister(L3G4200D_INT1_THS_ZH, 0x2C); |
maetugr | 16:74a6531350b5 | 25 | writeRegister(L3G4200D_INT1_THS_ZL, 0xA4); |
maetugr | 16:74a6531350b5 | 26 | //writeRegister(L3G4200D_INT1_DURATION, 0x00); |
maetugr | 0:0c4fafa398b4 | 27 | |
maetugr | 16:74a6531350b5 | 28 | writeRegister(L3G4200D_CTRL_REG5, 0x00); // deactivates the filters (only use one of these options) |
maetugr | 16:74a6531350b5 | 29 | //writeRegister(L3G4200D_CTRL_REG5, 0x12); // activates both high and low pass filters |
maetugr | 16:74a6531350b5 | 30 | //writeRegister(L3G4200D_CTRL_REG5, 0x01); // activates high pass filter |
maetugr | 2:93f703d2c4d7 | 31 | |
maetugr | 16:74a6531350b5 | 32 | writeRegister(L3G4200D_CTRL_REG1, 0x0F); // starts Gyro measurement |
maetugr | 16:74a6531350b5 | 33 | |
maetugr | 16:74a6531350b5 | 34 | // calibrate gyro with an average of count samples (result of calibration stored in offset[]) |
maetugr | 2:93f703d2c4d7 | 35 | for (int j = 0; j < 3; j++) |
maetugr | 2:93f703d2c4d7 | 36 | offset[j] = 0; |
maetugr | 2:93f703d2c4d7 | 37 | |
maetugr | 16:74a6531350b5 | 38 | float Gyro_calib[3] = {0,0,0}; // temporary var for the sum of calibration measurement |
maetugr | 2:93f703d2c4d7 | 39 | |
maetugr | 16:74a6531350b5 | 40 | for (int i = 0; i < 50; i++) { // read 50 times the data in a very short time |
maetugr | 10:953afcbcebfc | 41 | read(); |
maetugr | 2:93f703d2c4d7 | 42 | for (int j = 0; j < 3; j++) |
maetugr | 10:953afcbcebfc | 43 | Gyro_calib[j] += data[j]; |
maetugr | 16:74a6531350b5 | 44 | wait(0.001); // TODO: maybe less or no wait !! |
maetugr | 2:93f703d2c4d7 | 45 | } |
maetugr | 2:93f703d2c4d7 | 46 | |
maetugr | 2:93f703d2c4d7 | 47 | for (int j = 0; j < 3; j++) |
maetugr | 16:74a6531350b5 | 48 | offset[j] = Gyro_calib[j]/count; // take the average of the calibration measurements |
maetugr | 0:0c4fafa398b4 | 49 | } |
maetugr | 0:0c4fafa398b4 | 50 | |
maetugr | 10:953afcbcebfc | 51 | void L3G4200D::read() |
maetugr | 0:0c4fafa398b4 | 52 | { |
maetugr | 16:74a6531350b5 | 53 | char buffer[6]; // 8-Bit pieces of axis data |
maetugr | 16:74a6531350b5 | 54 | |
maetugr | 2:93f703d2c4d7 | 55 | buffer[0] = L3G4200D_OUT_X_L | (1 << 7); |
maetugr | 14:cf260677ecde | 56 | |
maetugr | 16:74a6531350b5 | 57 | readMultiRegister(L3G4200D_OUT_X_L, buffer, 6); // parameter: |
maetugr | 0:0c4fafa398b4 | 58 | |
maetugr | 16:74a6531350b5 | 59 | data[0] = (short) (buffer[1] << 8 | buffer[0]); // compose 8-Bit pieces to 16-bit short integers |
maetugr | 11:9bf69bc6df45 | 60 | data[1] = (short) (buffer[3] << 8 | buffer[2]); |
maetugr | 11:9bf69bc6df45 | 61 | data[2] = (short) (buffer[5] << 8 | buffer[4]); |
maetugr | 2:93f703d2c4d7 | 62 | |
maetugr | 2:93f703d2c4d7 | 63 | for (int j = 0; j < 3; j++) |
maetugr | 16:74a6531350b5 | 64 | data[j] -= offset[j]; // add offset from calibration |
maetugr | 0:0c4fafa398b4 | 65 | } |
maetugr | 0:0c4fafa398b4 | 66 | |
maetugr | 1:5a64632b1eb9 | 67 | int L3G4200D::readTemp() |
maetugr | 0:0c4fafa398b4 | 68 | { |
maetugr | 16:74a6531350b5 | 69 | return (short) readRegister(L3G4200D_OUT_TEMP); // read the sensors register for the temperature |
maetugr | 0:0c4fafa398b4 | 70 | } |