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Port of Adafruit Arduino code
Fork of Adafruit9-DOf by
Source/Adafruit_L3GD20_U.cpp@2:fe10a40b42e8, 2015-11-29 (annotated)
- Committer:
- jatinsha
- Date:
- Sun Nov 29 18:41:42 2015 +0000
- Revision:
- 2:fe10a40b42e8
- Parent:
- 0:772bf4786416
none
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bmanga95 | 0:772bf4786416 | 1 | /*************************************************** |
bmanga95 | 0:772bf4786416 | 2 | This is a library for the L3GD20 GYROSCOPE |
bmanga95 | 0:772bf4786416 | 3 | |
bmanga95 | 0:772bf4786416 | 4 | Designed specifically to work with the Adafruit L3GD20 Breakout |
bmanga95 | 0:772bf4786416 | 5 | ----> https://www.adafruit.com/products/1032 |
bmanga95 | 0:772bf4786416 | 6 | |
bmanga95 | 0:772bf4786416 | 7 | These sensors use I2C or SPI to communicate, 2 pins (I2C) |
bmanga95 | 0:772bf4786416 | 8 | or 4 pins (SPI) are required to interface. |
bmanga95 | 0:772bf4786416 | 9 | |
bmanga95 | 0:772bf4786416 | 10 | Adafruit invests time and resources providing this open source code, |
bmanga95 | 0:772bf4786416 | 11 | please support Adafruit and open-source hardware by purchasing |
bmanga95 | 0:772bf4786416 | 12 | products from Adafruit! |
bmanga95 | 0:772bf4786416 | 13 | |
bmanga95 | 0:772bf4786416 | 14 | Written by Kevin "KTOWN" Townsend for Adafruit Industries. |
bmanga95 | 0:772bf4786416 | 15 | BSD license, all text above must be included in any redistribution |
bmanga95 | 0:772bf4786416 | 16 | ****************************************************/ |
bmanga95 | 0:772bf4786416 | 17 | |
bmanga95 | 0:772bf4786416 | 18 | #include "Adafruit_L3GD20_U.h" |
bmanga95 | 0:772bf4786416 | 19 | |
bmanga95 | 0:772bf4786416 | 20 | /*************************************************************************** |
bmanga95 | 0:772bf4786416 | 21 | PRIVATE FUNCTIONS |
bmanga95 | 0:772bf4786416 | 22 | ***************************************************************************/ |
bmanga95 | 0:772bf4786416 | 23 | |
bmanga95 | 0:772bf4786416 | 24 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 25 | /*! |
bmanga95 | 0:772bf4786416 | 26 | @brief Abstract away platform differences in Arduino wire library |
bmanga95 | 0:772bf4786416 | 27 | */ |
bmanga95 | 0:772bf4786416 | 28 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 29 | void Adafruit_L3GD20_Unified::write8(byte reg, byte value) |
bmanga95 | 0:772bf4786416 | 30 | { |
bmanga95 | 0:772bf4786416 | 31 | byte data[2] = {reg,value}; |
bmanga95 | 0:772bf4786416 | 32 | i2c->write(L3GD20_ADDRESS, data, 2); |
bmanga95 | 0:772bf4786416 | 33 | } |
bmanga95 | 0:772bf4786416 | 34 | |
bmanga95 | 0:772bf4786416 | 35 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 36 | /*! |
bmanga95 | 0:772bf4786416 | 37 | @brief Abstract away platform differences in Arduino wire library |
bmanga95 | 0:772bf4786416 | 38 | */ |
bmanga95 | 0:772bf4786416 | 39 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 40 | byte Adafruit_L3GD20_Unified::read8(byte reg) |
bmanga95 | 0:772bf4786416 | 41 | { |
bmanga95 | 0:772bf4786416 | 42 | byte value = reg; |
bmanga95 | 0:772bf4786416 | 43 | i2c->write(L3GD20_ADDRESS, &value, 1); |
bmanga95 | 0:772bf4786416 | 44 | i2c->read (L3GD20_ADDRESS, &value, 1); |
bmanga95 | 0:772bf4786416 | 45 | |
bmanga95 | 0:772bf4786416 | 46 | return value; |
bmanga95 | 0:772bf4786416 | 47 | } |
bmanga95 | 0:772bf4786416 | 48 | |
bmanga95 | 0:772bf4786416 | 49 | /*************************************************************************** |
bmanga95 | 0:772bf4786416 | 50 | CONSTRUCTOR |
bmanga95 | 0:772bf4786416 | 51 | ***************************************************************************/ |
bmanga95 | 0:772bf4786416 | 52 | |
bmanga95 | 0:772bf4786416 | 53 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 54 | /*! |
bmanga95 | 0:772bf4786416 | 55 | @brief Instantiates a new Adafruit_L3GD20_Unified class |
bmanga95 | 0:772bf4786416 | 56 | */ |
bmanga95 | 0:772bf4786416 | 57 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 58 | Adafruit_L3GD20_Unified::Adafruit_L3GD20_Unified(int32_t sensorID) { |
bmanga95 | 0:772bf4786416 | 59 | _sensorID = sensorID; |
bmanga95 | 0:772bf4786416 | 60 | _autoRangeEnabled = false; |
bmanga95 | 0:772bf4786416 | 61 | } |
bmanga95 | 0:772bf4786416 | 62 | |
bmanga95 | 0:772bf4786416 | 63 | /*************************************************************************** |
bmanga95 | 0:772bf4786416 | 64 | PUBLIC FUNCTIONS |
bmanga95 | 0:772bf4786416 | 65 | ***************************************************************************/ |
bmanga95 | 0:772bf4786416 | 66 | |
bmanga95 | 0:772bf4786416 | 67 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 68 | /*! |
bmanga95 | 0:772bf4786416 | 69 | @brief Setups the HW |
bmanga95 | 0:772bf4786416 | 70 | */ |
bmanga95 | 0:772bf4786416 | 71 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 72 | bool Adafruit_L3GD20_Unified::begin(gyroRange_t rng) |
bmanga95 | 0:772bf4786416 | 73 | { |
bmanga95 | 0:772bf4786416 | 74 | |
bmanga95 | 0:772bf4786416 | 75 | |
bmanga95 | 0:772bf4786416 | 76 | /* Set the range the an appropriate value */ |
bmanga95 | 0:772bf4786416 | 77 | _range = rng; |
bmanga95 | 0:772bf4786416 | 78 | |
bmanga95 | 0:772bf4786416 | 79 | /* Make sure we have the correct chip ID since this checks |
bmanga95 | 0:772bf4786416 | 80 | for correct address and that the IC is properly connected */ |
bmanga95 | 0:772bf4786416 | 81 | uint8_t id = read8(GYRO_REGISTER_WHO_AM_I); |
bmanga95 | 0:772bf4786416 | 82 | //Serial.println(id, HEX); |
bmanga95 | 0:772bf4786416 | 83 | if ((id != L3GD20_ID) && (id != L3GD20H_ID)) |
bmanga95 | 0:772bf4786416 | 84 | { |
bmanga95 | 0:772bf4786416 | 85 | return false; |
bmanga95 | 0:772bf4786416 | 86 | } |
bmanga95 | 0:772bf4786416 | 87 | |
bmanga95 | 0:772bf4786416 | 88 | /* Set CTRL_REG1 (0x20) |
bmanga95 | 0:772bf4786416 | 89 | ==================================================================== |
bmanga95 | 0:772bf4786416 | 90 | BIT Symbol Description Default |
bmanga95 | 0:772bf4786416 | 91 | --- ------ --------------------------------------------- ------- |
bmanga95 | 0:772bf4786416 | 92 | 7-6 DR1/0 Output data rate 00 |
bmanga95 | 0:772bf4786416 | 93 | 5-4 BW1/0 Bandwidth selection 00 |
bmanga95 | 0:772bf4786416 | 94 | 3 PD 0 = Power-down mode, 1 = normal/sleep mode 0 |
bmanga95 | 0:772bf4786416 | 95 | 2 ZEN Z-axis enable (0 = disabled, 1 = enabled) 1 |
bmanga95 | 0:772bf4786416 | 96 | 1 YEN Y-axis enable (0 = disabled, 1 = enabled) 1 |
bmanga95 | 0:772bf4786416 | 97 | 0 XEN X-axis enable (0 = disabled, 1 = enabled) 1 */ |
bmanga95 | 0:772bf4786416 | 98 | |
bmanga95 | 0:772bf4786416 | 99 | /* Reset then switch to normal mode and enable all three channels */ |
bmanga95 | 0:772bf4786416 | 100 | write8(GYRO_REGISTER_CTRL_REG1, 0x00); |
bmanga95 | 0:772bf4786416 | 101 | write8(GYRO_REGISTER_CTRL_REG1, 0x0F); |
bmanga95 | 0:772bf4786416 | 102 | /* ------------------------------------------------------------------ */ |
bmanga95 | 0:772bf4786416 | 103 | |
bmanga95 | 0:772bf4786416 | 104 | /* Set CTRL_REG2 (0x21) |
bmanga95 | 0:772bf4786416 | 105 | ==================================================================== |
bmanga95 | 0:772bf4786416 | 106 | BIT Symbol Description Default |
bmanga95 | 0:772bf4786416 | 107 | --- ------ --------------------------------------------- ------- |
bmanga95 | 0:772bf4786416 | 108 | 5-4 HPM1/0 High-pass filter mode selection 00 |
bmanga95 | 0:772bf4786416 | 109 | 3-0 HPCF3..0 High-pass filter cutoff frequency selection 0000 */ |
bmanga95 | 0:772bf4786416 | 110 | |
bmanga95 | 0:772bf4786416 | 111 | /* Nothing to do ... keep default values */ |
bmanga95 | 0:772bf4786416 | 112 | /* ------------------------------------------------------------------ */ |
bmanga95 | 0:772bf4786416 | 113 | |
bmanga95 | 0:772bf4786416 | 114 | /* Set CTRL_REG3 (0x22) |
bmanga95 | 0:772bf4786416 | 115 | ==================================================================== |
bmanga95 | 0:772bf4786416 | 116 | BIT Symbol Description Default |
bmanga95 | 0:772bf4786416 | 117 | --- ------ --------------------------------------------- ------- |
bmanga95 | 0:772bf4786416 | 118 | 7 I1_Int1 Interrupt enable on INT1 (0=disable,1=enable) 0 |
bmanga95 | 0:772bf4786416 | 119 | 6 I1_Boot Boot status on INT1 (0=disable,1=enable) 0 |
bmanga95 | 0:772bf4786416 | 120 | 5 H-Lactive Interrupt active config on INT1 (0=high,1=low) 0 |
bmanga95 | 0:772bf4786416 | 121 | 4 PP_OD Push-Pull/Open-Drain (0=PP, 1=OD) 0 |
bmanga95 | 0:772bf4786416 | 122 | 3 I2_DRDY Data ready on DRDY/INT2 (0=disable,1=enable) 0 |
bmanga95 | 0:772bf4786416 | 123 | 2 I2_WTM FIFO wtrmrk int on DRDY/INT2 (0=dsbl,1=enbl) 0 |
bmanga95 | 0:772bf4786416 | 124 | 1 I2_ORun FIFO overrun int on DRDY/INT2 (0=dsbl,1=enbl) 0 |
bmanga95 | 0:772bf4786416 | 125 | 0 I2_Empty FIFI empty int on DRDY/INT2 (0=dsbl,1=enbl) 0 */ |
bmanga95 | 0:772bf4786416 | 126 | |
bmanga95 | 0:772bf4786416 | 127 | /* Nothing to do ... keep default values */ |
bmanga95 | 0:772bf4786416 | 128 | /* ------------------------------------------------------------------ */ |
bmanga95 | 0:772bf4786416 | 129 | |
bmanga95 | 0:772bf4786416 | 130 | /* Set CTRL_REG4 (0x23) |
bmanga95 | 0:772bf4786416 | 131 | ==================================================================== |
bmanga95 | 0:772bf4786416 | 132 | BIT Symbol Description Default |
bmanga95 | 0:772bf4786416 | 133 | --- ------ --------------------------------------------- ------- |
bmanga95 | 0:772bf4786416 | 134 | 7 BDU Block Data Update (0=continuous, 1=LSB/MSB) 0 |
bmanga95 | 0:772bf4786416 | 135 | 6 BLE Big/Little-Endian (0=Data LSB, 1=Data MSB) 0 |
bmanga95 | 0:772bf4786416 | 136 | 5-4 FS1/0 Full scale selection 00 |
bmanga95 | 0:772bf4786416 | 137 | 00 = 250 dps |
bmanga95 | 0:772bf4786416 | 138 | 01 = 500 dps |
bmanga95 | 0:772bf4786416 | 139 | 10 = 2000 dps |
bmanga95 | 0:772bf4786416 | 140 | 11 = 2000 dps |
bmanga95 | 0:772bf4786416 | 141 | 0 SIM SPI Mode (0=4-wire, 1=3-wire) 0 */ |
bmanga95 | 0:772bf4786416 | 142 | |
bmanga95 | 0:772bf4786416 | 143 | /* Adjust resolution if requested */ |
bmanga95 | 0:772bf4786416 | 144 | switch(_range) |
bmanga95 | 0:772bf4786416 | 145 | { |
bmanga95 | 0:772bf4786416 | 146 | case GYRO_RANGE_250DPS: |
bmanga95 | 0:772bf4786416 | 147 | write8(GYRO_REGISTER_CTRL_REG4, 0x00); |
bmanga95 | 0:772bf4786416 | 148 | break; |
bmanga95 | 0:772bf4786416 | 149 | case GYRO_RANGE_500DPS: |
bmanga95 | 0:772bf4786416 | 150 | write8(GYRO_REGISTER_CTRL_REG4, 0x10); |
bmanga95 | 0:772bf4786416 | 151 | break; |
bmanga95 | 0:772bf4786416 | 152 | case GYRO_RANGE_2000DPS: |
bmanga95 | 0:772bf4786416 | 153 | write8(GYRO_REGISTER_CTRL_REG4, 0x20); |
bmanga95 | 0:772bf4786416 | 154 | break; |
bmanga95 | 0:772bf4786416 | 155 | } |
bmanga95 | 0:772bf4786416 | 156 | /* ------------------------------------------------------------------ */ |
bmanga95 | 0:772bf4786416 | 157 | |
bmanga95 | 0:772bf4786416 | 158 | /* Set CTRL_REG5 (0x24) |
bmanga95 | 0:772bf4786416 | 159 | ==================================================================== |
bmanga95 | 0:772bf4786416 | 160 | BIT Symbol Description Default |
bmanga95 | 0:772bf4786416 | 161 | --- ------ --------------------------------------------- ------- |
bmanga95 | 0:772bf4786416 | 162 | 7 BOOT Reboot memory content (0=normal, 1=reboot) 0 |
bmanga95 | 0:772bf4786416 | 163 | 6 FIFO_EN FIFO enable (0=FIFO disable, 1=enable) 0 |
bmanga95 | 0:772bf4786416 | 164 | 4 HPen High-pass filter enable (0=disable,1=enable) 0 |
bmanga95 | 0:772bf4786416 | 165 | 3-2 INT1_SEL INT1 Selection config 00 |
bmanga95 | 0:772bf4786416 | 166 | 1-0 OUT_SEL Out selection config 00 */ |
bmanga95 | 0:772bf4786416 | 167 | |
bmanga95 | 0:772bf4786416 | 168 | /* Nothing to do ... keep default values */ |
bmanga95 | 0:772bf4786416 | 169 | /* ------------------------------------------------------------------ */ |
bmanga95 | 0:772bf4786416 | 170 | |
bmanga95 | 0:772bf4786416 | 171 | return true; |
bmanga95 | 0:772bf4786416 | 172 | } |
bmanga95 | 0:772bf4786416 | 173 | |
bmanga95 | 0:772bf4786416 | 174 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 175 | /*! |
bmanga95 | 0:772bf4786416 | 176 | @brief Enables or disables auto-ranging |
bmanga95 | 0:772bf4786416 | 177 | */ |
bmanga95 | 0:772bf4786416 | 178 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 179 | void Adafruit_L3GD20_Unified::enableAutoRange(bool enabled) |
bmanga95 | 0:772bf4786416 | 180 | { |
bmanga95 | 0:772bf4786416 | 181 | _autoRangeEnabled = enabled; |
bmanga95 | 0:772bf4786416 | 182 | } |
bmanga95 | 0:772bf4786416 | 183 | |
bmanga95 | 0:772bf4786416 | 184 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 185 | /*! |
bmanga95 | 0:772bf4786416 | 186 | @brief Gets the most recent sensor event |
bmanga95 | 0:772bf4786416 | 187 | */ |
bmanga95 | 0:772bf4786416 | 188 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 189 | void Adafruit_L3GD20_Unified::getEvent(sensors_event_t* event) |
bmanga95 | 0:772bf4786416 | 190 | { |
bmanga95 | 0:772bf4786416 | 191 | bool readingValid = false; |
bmanga95 | 0:772bf4786416 | 192 | |
bmanga95 | 0:772bf4786416 | 193 | /* Clear the event */ |
bmanga95 | 0:772bf4786416 | 194 | memset(event, 0, sizeof(sensors_event_t)); |
bmanga95 | 0:772bf4786416 | 195 | |
bmanga95 | 0:772bf4786416 | 196 | event->version = sizeof(sensors_event_t); |
bmanga95 | 0:772bf4786416 | 197 | event->sensor_id = _sensorID; |
bmanga95 | 0:772bf4786416 | 198 | event->type = SENSOR_TYPE_GYROSCOPE; |
bmanga95 | 0:772bf4786416 | 199 | |
bmanga95 | 0:772bf4786416 | 200 | while(!readingValid) |
bmanga95 | 0:772bf4786416 | 201 | { |
bmanga95 | 0:772bf4786416 | 202 | event->timestamp = millis(); |
bmanga95 | 0:772bf4786416 | 203 | |
bmanga95 | 0:772bf4786416 | 204 | |
bmanga95 | 0:772bf4786416 | 205 | i2c->writeByte(L3GD20_ADDRESS, GYRO_REGISTER_OUT_X_L | 0x80); |
bmanga95 | 0:772bf4786416 | 206 | |
bmanga95 | 0:772bf4786416 | 207 | byte data[6]; |
bmanga95 | 0:772bf4786416 | 208 | |
bmanga95 | 0:772bf4786416 | 209 | i2c->read(L3GD20_ADDRESS, data, 6); |
bmanga95 | 0:772bf4786416 | 210 | |
bmanga95 | 0:772bf4786416 | 211 | /* Shift values to create properly formed integer (low byte first) */ |
bmanga95 | 0:772bf4786416 | 212 | event->gyro.x = (int16_t)(data[0] | (data[1] << 8)); |
bmanga95 | 0:772bf4786416 | 213 | event->gyro.y = (int16_t)(data[2] | (data[3] << 8)); |
bmanga95 | 0:772bf4786416 | 214 | event->gyro.z = (int16_t)(data[4] | (data[5] << 8)); |
bmanga95 | 0:772bf4786416 | 215 | |
bmanga95 | 0:772bf4786416 | 216 | /* Make sure the sensor isn't saturating if auto-ranging is enabled */ |
bmanga95 | 0:772bf4786416 | 217 | if (!_autoRangeEnabled) |
bmanga95 | 0:772bf4786416 | 218 | { |
bmanga95 | 0:772bf4786416 | 219 | readingValid = true; |
bmanga95 | 0:772bf4786416 | 220 | } |
bmanga95 | 0:772bf4786416 | 221 | else |
bmanga95 | 0:772bf4786416 | 222 | { |
bmanga95 | 0:772bf4786416 | 223 | /* Check if the sensor is saturating or not */ |
bmanga95 | 0:772bf4786416 | 224 | if ( (event->gyro.x >= 32760) | (event->gyro.x <= -32760) | |
bmanga95 | 0:772bf4786416 | 225 | (event->gyro.y >= 32760) | (event->gyro.y <= -32760) | |
bmanga95 | 0:772bf4786416 | 226 | (event->gyro.z >= 32760) | (event->gyro.z <= -32760) ) |
bmanga95 | 0:772bf4786416 | 227 | { |
bmanga95 | 0:772bf4786416 | 228 | /* Saturating .... increase the range if we can */ |
bmanga95 | 0:772bf4786416 | 229 | switch(_range) |
bmanga95 | 0:772bf4786416 | 230 | { |
bmanga95 | 0:772bf4786416 | 231 | case GYRO_RANGE_500DPS: |
bmanga95 | 0:772bf4786416 | 232 | /* Push the range up to 2000dps */ |
bmanga95 | 0:772bf4786416 | 233 | _range = GYRO_RANGE_2000DPS; |
bmanga95 | 0:772bf4786416 | 234 | write8(GYRO_REGISTER_CTRL_REG1, 0x00); |
bmanga95 | 0:772bf4786416 | 235 | write8(GYRO_REGISTER_CTRL_REG1, 0x0F); |
bmanga95 | 0:772bf4786416 | 236 | write8(GYRO_REGISTER_CTRL_REG4, 0x20); |
bmanga95 | 0:772bf4786416 | 237 | write8(GYRO_REGISTER_CTRL_REG5, 0x80); |
bmanga95 | 0:772bf4786416 | 238 | readingValid = false; |
bmanga95 | 0:772bf4786416 | 239 | // Serial.println("Changing range to 2000DPS"); |
bmanga95 | 0:772bf4786416 | 240 | break; |
bmanga95 | 0:772bf4786416 | 241 | case GYRO_RANGE_250DPS: |
bmanga95 | 0:772bf4786416 | 242 | /* Push the range up to 500dps */ |
bmanga95 | 0:772bf4786416 | 243 | _range = GYRO_RANGE_500DPS; |
bmanga95 | 0:772bf4786416 | 244 | write8(GYRO_REGISTER_CTRL_REG1, 0x00); |
bmanga95 | 0:772bf4786416 | 245 | write8(GYRO_REGISTER_CTRL_REG1, 0x0F); |
bmanga95 | 0:772bf4786416 | 246 | write8(GYRO_REGISTER_CTRL_REG4, 0x10); |
bmanga95 | 0:772bf4786416 | 247 | write8(GYRO_REGISTER_CTRL_REG5, 0x80); |
bmanga95 | 0:772bf4786416 | 248 | readingValid = false; |
bmanga95 | 0:772bf4786416 | 249 | // Serial.println("Changing range to 500DPS"); |
bmanga95 | 0:772bf4786416 | 250 | break; |
bmanga95 | 0:772bf4786416 | 251 | default: |
bmanga95 | 0:772bf4786416 | 252 | readingValid = true; |
bmanga95 | 0:772bf4786416 | 253 | break; |
bmanga95 | 0:772bf4786416 | 254 | } |
bmanga95 | 0:772bf4786416 | 255 | } |
bmanga95 | 0:772bf4786416 | 256 | else |
bmanga95 | 0:772bf4786416 | 257 | { |
bmanga95 | 0:772bf4786416 | 258 | /* All values are withing range */ |
bmanga95 | 0:772bf4786416 | 259 | readingValid = true; |
bmanga95 | 0:772bf4786416 | 260 | } |
bmanga95 | 0:772bf4786416 | 261 | } |
bmanga95 | 0:772bf4786416 | 262 | } |
bmanga95 | 0:772bf4786416 | 263 | |
bmanga95 | 0:772bf4786416 | 264 | /* Compensate values depending on the resolution */ |
bmanga95 | 0:772bf4786416 | 265 | switch(_range) |
bmanga95 | 0:772bf4786416 | 266 | { |
bmanga95 | 0:772bf4786416 | 267 | case GYRO_RANGE_250DPS: |
bmanga95 | 0:772bf4786416 | 268 | event->gyro.x *= GYRO_SENSITIVITY_250DPS; |
bmanga95 | 0:772bf4786416 | 269 | event->gyro.y *= GYRO_SENSITIVITY_250DPS; |
bmanga95 | 0:772bf4786416 | 270 | event->gyro.z *= GYRO_SENSITIVITY_250DPS; |
bmanga95 | 0:772bf4786416 | 271 | break; |
bmanga95 | 0:772bf4786416 | 272 | case GYRO_RANGE_500DPS: |
bmanga95 | 0:772bf4786416 | 273 | event->gyro.x *= GYRO_SENSITIVITY_500DPS; |
bmanga95 | 0:772bf4786416 | 274 | event->gyro.y *= GYRO_SENSITIVITY_500DPS; |
bmanga95 | 0:772bf4786416 | 275 | event->gyro.z *= GYRO_SENSITIVITY_500DPS; |
bmanga95 | 0:772bf4786416 | 276 | break; |
bmanga95 | 0:772bf4786416 | 277 | case GYRO_RANGE_2000DPS: |
bmanga95 | 0:772bf4786416 | 278 | event->gyro.x *= GYRO_SENSITIVITY_2000DPS; |
bmanga95 | 0:772bf4786416 | 279 | event->gyro.y *= GYRO_SENSITIVITY_2000DPS; |
bmanga95 | 0:772bf4786416 | 280 | event->gyro.z *= GYRO_SENSITIVITY_2000DPS; |
bmanga95 | 0:772bf4786416 | 281 | break; |
bmanga95 | 0:772bf4786416 | 282 | } |
bmanga95 | 0:772bf4786416 | 283 | |
bmanga95 | 0:772bf4786416 | 284 | /* Convert values to rad/s */ |
bmanga95 | 0:772bf4786416 | 285 | event->gyro.x *= SENSORS_DPS_TO_RADS; |
bmanga95 | 0:772bf4786416 | 286 | event->gyro.y *= SENSORS_DPS_TO_RADS; |
bmanga95 | 0:772bf4786416 | 287 | event->gyro.z *= SENSORS_DPS_TO_RADS; |
bmanga95 | 0:772bf4786416 | 288 | } |
bmanga95 | 0:772bf4786416 | 289 | |
bmanga95 | 0:772bf4786416 | 290 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 291 | /*! |
bmanga95 | 0:772bf4786416 | 292 | @brief Gets the sensor_t data |
bmanga95 | 0:772bf4786416 | 293 | */ |
bmanga95 | 0:772bf4786416 | 294 | /**************************************************************************/ |
bmanga95 | 0:772bf4786416 | 295 | void Adafruit_L3GD20_Unified::getSensor(sensor_t* sensor) |
bmanga95 | 0:772bf4786416 | 296 | { |
bmanga95 | 0:772bf4786416 | 297 | /* Clear the sensor_t object */ |
bmanga95 | 0:772bf4786416 | 298 | memset(sensor, 0, sizeof(sensor_t)); |
bmanga95 | 0:772bf4786416 | 299 | |
bmanga95 | 0:772bf4786416 | 300 | /* Insert the sensor name in the fixed length char array */ |
bmanga95 | 0:772bf4786416 | 301 | strncpy (sensor->name, "L3GD20", sizeof(sensor->name) - 1); |
bmanga95 | 0:772bf4786416 | 302 | sensor->name[sizeof(sensor->name)- 1] = 0; |
bmanga95 | 0:772bf4786416 | 303 | sensor->version = 1; |
bmanga95 | 0:772bf4786416 | 304 | sensor->sensor_id = _sensorID; |
bmanga95 | 0:772bf4786416 | 305 | sensor->type = SENSOR_TYPE_GYROSCOPE; |
bmanga95 | 0:772bf4786416 | 306 | sensor->min_delay = 0; |
bmanga95 | 0:772bf4786416 | 307 | sensor->max_value = (float)this->_range * SENSORS_DPS_TO_RADS; |
bmanga95 | 0:772bf4786416 | 308 | sensor->min_value = (this->_range * -1.0) * SENSORS_DPS_TO_RADS; |
bmanga95 | 0:772bf4786416 | 309 | sensor->resolution = 0.0F; // TBD |
bmanga95 | 0:772bf4786416 | 310 | } |