satoshi shimada / Mbed 2 deprecated mbed_L3GD20

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

Dependencies:   mbed

L3GD20.cpp@0:a1d1374eea97, 2018-12-17 (annotated)

Committer:
satoshi1204
Date:
Mon Dec 17 12:47:04 2018 +0000
Revision:
0:a1d1374eea97
Child:
1:191e963655c2
Implementation sample program for gyro sensor L3GD20

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 0:a1d1374eea97 5 writeByte(0x20, 0x0F);
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 0:a1d1374eea97 12 void L3GD20::readData(double &x, double &y, double &z)
satoshi1204 0:a1d1374eea97 13 {
satoshi1204 0:a1d1374eea97 14 static const double rate = 0.00875;
satoshi1204 0:a1d1374eea97 15 char h, l;
satoshi1204 0:a1d1374eea97 16 l = readByte(0x28);
satoshi1204 0:a1d1374eea97 17 h = readByte(0x29);
satoshi1204 0:a1d1374eea97 18 x = (short)(h << 8 | l) * rate;
satoshi1204 0:a1d1374eea97 19 l = readByte(0x2A);
satoshi1204 0:a1d1374eea97 20 h = readByte(0x2B);
satoshi1204 0:a1d1374eea97 21 y = (short)(h << 8 | l) * rate;
satoshi1204 0:a1d1374eea97 22 l = readByte(0x2C);
satoshi1204 0:a1d1374eea97 23 h = readByte(0x2D);
satoshi1204 0:a1d1374eea97 24 z = (short)(h << 8 | l) * rate;
satoshi1204 0:a1d1374eea97 25 }
satoshi1204 0:a1d1374eea97 26
satoshi1204 0:a1d1374eea97 27 char L3GD20::readByte(char reg)
satoshi1204 0:a1d1374eea97 28 {
satoshi1204 0:a1d1374eea97 29 i2c.write(address, &reg, 1);
satoshi1204 0:a1d1374eea97 30 char data;
satoshi1204 0:a1d1374eea97 31 i2c.read(address, &data, 1);
satoshi1204 0:a1d1374eea97 32 return data;
satoshi1204 0:a1d1374eea97 33 }
satoshi1204 0:a1d1374eea97 34
satoshi1204 0:a1d1374eea97 35 void L3GD20::writeByte(char reg, char data)
satoshi1204 0:a1d1374eea97 36 {
satoshi1204 0:a1d1374eea97 37 char buf[2];
satoshi1204 0:a1d1374eea97 38 buf[0] = reg;
satoshi1204 0:a1d1374eea97 39 buf[1] = data;
satoshi1204 0:a1d1374eea97 40 i2c.write(address, buf, 2);
satoshi1204 0:a1d1374eea97 41 }