functions for dealing with the L3GD20 gyro
Fork of L3GD20 by
Diff: L3GD20.cpp
- Revision:
- 0:62dfce144cf7
- Child:
- 1:37096bc2cc39
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/L3GD20.cpp Thu Feb 21 00:21:23 2013 +0000 @@ -0,0 +1,107 @@ +/** + * Copyright (c) 2011 Pololu Corporation. For more information, see + * + * http://www.pololu.com/ + * http://forum.pololu.com/ + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, + * copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following + * conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES + * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT + * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, + * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR + * OTHER DEALINGS IN THE SOFTWARE. + */ + + #include "mbed.h" + #include "L3GD20.h" + + +// Defines //////////////////////////////////////////////////////////////// + +// The Arduino two-wire interface uses a 7-bit number for the address, +// and sets the last bit correctly based on reads and writes +// mbed I2C libraries take the 7-bit address shifted left 1 bit +// #define GYR_ADDRESS (0xD2 >> 1) +#define GYR_ADDRESS 0xD6 + + +// Public Methods ////////////////////////////////////////////////////////////// + +// Constructor +L3GD20::L3GD20(PinName sda, PinName scl): + _L3GD20(sda, scl) +{ + char reg_v; + _L3GD20.frequency(100000); + + // 0x0F = 0b00001111 + // Normal power mode, all axes enabled + reg_v = 0; + reg_v |= 0x0F; + write_reg(GYR_ADDRESS,L3GD20_CTRL_REG1,reg_v); + + + +} + + + +bool L3GD20::read(float *gx, float *gy, float *gz) { + char gyr[6]; + + if (recv(GYR_ADDRESS, L3GD20_OUT_X_L, gyr, 6)) { + //scale is 8.75 mdps/digit + *gx = float(short(gyr[1] << 8 | gyr[0]))*0.00875; + *gy = float(short(gyr[3] << 8 | gyr[2]))*0.00875; + *gz = float(short(gyr[5] << 8 | gyr[4]))*0.00875; + + + return true; + } + + return false; +} + + + + +bool L3GD20::write_reg(int addr_i2c,int addr_reg, char v) +{ + char data[2] = {addr_reg, v}; + return L3GD20::_L3GD20.write(addr_i2c, data, 2) == 0; +} + +bool L3GD20::read_reg(int addr_i2c,int addr_reg, char *v) +{ + char data = addr_reg; + bool result = false; + + __disable_irq(); + if ((_L3GD20.write(addr_i2c, &data, 1) == 0) && (_L3GD20.read(addr_i2c, &data, 1) == 0)){ + *v = data; + result = true; + } + __enable_irq(); + return result; +} + + +bool L3GD20::recv(char sad, char sub, char *buf, int length) { + if (length > 1) sub |= 0x80; + + return _L3GD20.write(sad, &sub, 1, true) == 0 && _L3GD20.read(sad, buf, length) == 0; +} \ No newline at end of file