functions for dealing with the L3GD20 gyro
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Diff: L3GD20.h
- Revision:
- 0:62dfce144cf7
- Child:
- 2:b45dbca259f8
diff -r 000000000000 -r 62dfce144cf7 L3GD20.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/L3GD20.h Thu Feb 21 00:21:23 2013 +0000 @@ -0,0 +1,103 @@ +/* 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. + */ + +#ifndef __L3GD20_H +#define __L3GD20_H + +#include "mbed.h" + +// register addresses + +#define L3GD20_WHO_AM_I 0x0F + +#define L3GD20_CTRL_REG1 0x20 +#define L3GD20_CTRL_REG2 0x21 +#define L3GD20_CTRL_REG3 0x22 +#define L3GD20_CTRL_REG4 0x23 +#define L3GD20_CTRL_REG5 0x24 +#define L3GD20_REFERENCE 0x25 +#define L3GD20_OUT_TEMP 0x26 +#define L3GD20_STATUS_REG 0x27 + +#define L3GD20_OUT_X_L 0x28 +#define L3GD20_OUT_X_H 0x29 +#define L3GD20_OUT_Y_L 0x2A +#define L3GD20_OUT_Y_H 0x2B +#define L3GD20_OUT_Z_L 0x2C +#define L3GD20_OUT_Z_H 0x2D + +#define L3GD20_FIFO_CTRL_REG 0x2E +#define L3GD20_FIFO_SRC_REG 0x2F + +#define L3GD20_INT1_CFG 0x30 +#define L3GD20_INT1_SRC 0x31 +#define L3GD20_INT1_THS_XH 0x32 +#define L3GD20_INT1_THS_XL 0x33 +#define L3GD20_INT1_THS_YH 0x34 +#define L3GD20_INT1_THS_YL 0x35 +#define L3GD20_INT1_THS_ZH 0x36 +#define L3GD20_INT1_THS_ZL 0x37 +#define L3GD20_INT1_DURATION 0x38 + +/** Interface library for the ST L3GD20 3-axis gyro + * + * Ported from Pololu L3GD20 library for Arduino by + * + * @code + * #include "mbed.h" + * #include "L3GD20.h" + * L3GD20 gyro(p28, p27); + * ... + * int g[3]; + * gyro.read(g); + * @endcode + */ +class L3GD20 +{ + public: + /** Create a new L3GD20 I2C interface + * @param sda is the pin for the I2C SDA line + * @param scl is the pin for the I2C SCL line + */ + L3GD20(PinName sda, PinName scl); + + /** Read gyro values + * @param g Array containing x, y, and z gyro values + * @return g Array containing x, y, and z gyro values + */ + bool read(float *gx, float *gy, float *gz); + + private: + I2C _L3GD20; + float gx, gy, gz; + + bool write_reg(int addr_i2c,int addr_reg, char v); + bool read_reg(int addr_i2c,int addr_reg, char *v); + bool recv(char sad, char sub, char *buf, int length); +}; + +#endif \ No newline at end of file