satoshi shimada / Mbed 2 deprecated mbed_L3GD20

3Axis gyro sensor sample. target sensor: L3GD20(ST)

Dependencies:   mbed

L3GD20.cpp@1:191e963655c2, 2018-12-18 (annotated)

Committer:
satoshi1204
Date:
Tue Dec 18 09:08:07 2018 +0000
Revision:
1:191e963655c2
Parent:
0:a1d1374eea97 
3Axis gyro sensor sample

Who changed what in which revision?

UserRevisionLine numberNew contents of line
satoshi1204 0:a1d1374eea97 1 #include "L3GD20.h"
satoshi1204 0:a1d1374eea97 2
satoshi1204 0:a1d1374eea97 3 L3GD20::L3GD20(PinName sda, PinName scl) : i2c(sda, scl), address(0xD6)
satoshi1204 0:a1d1374eea97 4 {
satoshi1204 1:191e963655c2 5 turnOn();
satoshi1204 0:a1d1374eea97 6 }
satoshi1204 0:a1d1374eea97 7
satoshi1204 0:a1d1374eea97 8 L3GD20::~L3GD20()
satoshi1204 0:a1d1374eea97 9 {
satoshi1204 0:a1d1374eea97 10 }
satoshi1204 0:a1d1374eea97 11
satoshi1204 1:191e963655c2 12 void L3GD20::turnOn(void)
satoshi1204 1:191e963655c2 13 {
satoshi1204 1:191e963655c2 14 writeByte(0x20, 0x0F); // turn on a sensor
satoshi1204 1:191e963655c2 15 }
satoshi1204 1:191e963655c2 16
satoshi1204 0:a1d1374eea97 17 void L3GD20::readData(double &x, double &y, double &z)
satoshi1204 0:a1d1374eea97 18 {
satoshi1204 0:a1d1374eea97 19 static const double rate = 0.00875;
satoshi1204 0:a1d1374eea97 20 char h, l;
satoshi1204 0:a1d1374eea97 21 l = readByte(0x28);
satoshi1204 0:a1d1374eea97 22 h = readByte(0x29);
satoshi1204 0:a1d1374eea97 23 x = (short)(h << 8 | l) * rate;
satoshi1204 0:a1d1374eea97 24 l = readByte(0x2A);
satoshi1204 0:a1d1374eea97 25 h = readByte(0x2B);
satoshi1204 0:a1d1374eea97 26 y = (short)(h << 8 | l) * rate;
satoshi1204 0:a1d1374eea97 27 l = readByte(0x2C);
satoshi1204 0:a1d1374eea97 28 h = readByte(0x2D);
satoshi1204 0:a1d1374eea97 29 z = (short)(h << 8 | l) * rate;
satoshi1204 0:a1d1374eea97 30 }
satoshi1204 0:a1d1374eea97 31
satoshi1204 0:a1d1374eea97 32 char L3GD20::readByte(char reg)
satoshi1204 0:a1d1374eea97 33 {
satoshi1204 1:191e963655c2 34 static const int data_len = 1;
satoshi1204 1:191e963655c2 35 i2c.write(address, &reg, data_len);
satoshi1204 0:a1d1374eea97 36 char data;
satoshi1204 1:191e963655c2 37 i2c.read(address, &data, data_len);
satoshi1204 0:a1d1374eea97 38 return data;
satoshi1204 0:a1d1374eea97 39 }
satoshi1204 0:a1d1374eea97 40
satoshi1204 0:a1d1374eea97 41 void L3GD20::writeByte(char reg, char data)
satoshi1204 0:a1d1374eea97 42 {
satoshi1204 1:191e963655c2 43 static const int data_len = 2;
satoshi1204 1:191e963655c2 44 char buf[data_len];
satoshi1204 0:a1d1374eea97 45 buf[0] = reg;
satoshi1204 0:a1d1374eea97 46 buf[1] = data;
satoshi1204 1:191e963655c2 47 i2c.write(address, buf, data_len);
satoshi1204 0:a1d1374eea97 48 }