File content as of revision 3:17c3c3f59c4d:

/**
 * 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)
{
    
    m_ptr_I2C = new I2C(sda, scl);
    
    init();


}

L3GD20::L3GD20(I2C* pI2C)
{
    m_ptr_I2C = pI2C;
    init();
}

L3GD20::~L3GD20()
{
    delete m_ptr_I2C;
}

void L3GD20::init(void)
{
    char reg_v;
    
    m_ptr_I2C->frequency(200000);
    
    reg_v = 0;
    if(write_reg(GYR_ADDRESS,L3GD20_LOW_ODR,reg_v) == false)
    {
        debug("Unable to write in regiter \n");
    }
    
  // 0x6F
  // DR = 01 (200 Hz ODR); BW = 10 (50 Hz bandwidth); PD = 1 (normal mode); Zen = Yen = Xen = 1 (all axes enabled)
    reg_v = 0;    
    reg_v |= 0x6F;       
    
    if(write_reg(GYR_ADDRESS,L3GD20_CTRL_REG1,reg_v) == false)
    {
        debug("Unable to write in regiter \n");
    }
}
    
    


bool L3GD20::read(float *gx, float *gy, float *gz) {
    char gyr[6];
    bool result = false;
    
    if(m_ptr_I2C != NULL)
    {
        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;
    
     
            result = true;
        }
        else
        {
            debug("Unable to receive \n");
        }
    }
    else
    {
        debug("Pointer null \n");
    }
    return result;
}




bool L3GD20::write_reg(int addr_i2c,int addr_reg, char v)
{
    bool result = false;
    char data[2] = {addr_reg, v}; 
    //__disable_irq();
    result = m_ptr_I2C->write(addr_i2c, data, 2) == 0;
    //__enable_irq();
    return result;
}

bool L3GD20::read_reg(int addr_i2c,int addr_reg, char *v)
{
    char data = addr_reg; 
    bool result = false;
    
    //__disable_irq();
    if ((m_ptr_I2C->write(addr_i2c, &data, 1) == 0) && (m_ptr_I2C->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) {
    bool result = false;
    
    if (length > 1) sub |= 0x80;
    //__disable_irq();
    result = (m_ptr_I2C->write(sad, &sub, 1, true) == 0);
    if(result == false) debug("Unable to Write \n");
    result = result && (m_ptr_I2C->read(sad, buf, length) == 0); 
    if(result == false) debug("Unable to Read \n");
    //__enable_irq();
    return result;
}

bool L3GD20::Convert_to_RadPerSec(float *gx, float *gy, float *gz)
{
    bool result = false;
    if((gx != NULL) && (gy != NULL) && (gz != NULL) )
    {
         *gx /= DPS_TO_RPS;
         *gy /= DPS_TO_RPS;
         *gz /= DPS_TO_RPS;
        result = true;
    }
    return result;
}