Diff: L3GD20_i2c/L3GD20_i2c.hpp

Revision:

0:3bd8aecadafc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L3GD20_i2c/L3GD20_i2c.hpp	Thu Sep 28 10:50:37 2017 +0000
@@ -0,0 +1,47 @@
+#ifndef __L3GD20_I2C__
+#define __L3GD20_I2C__
+
+#include "mbed.h"
+
+class l3gd20
+{
+    I2C *i;
+    Timer t;
+    long pre_time_ms;
+    char addr;
+    const char ADDR_WHO_AM_I;
+    const char ADDR_CTRL_REG1;
+    const char ADDR_CTRL_REG2;
+    const char ADDR_CTRL_REG3;
+    const char ADDR_CTRL_REG4;
+    const char ADDR_CTRL_REG5;
+    const char ADDR_OUT_TEMP;
+    const char ADDR_STATUS_REG;
+    const char ADDR_OUT_X_L;
+    const char ADDR_OUT_X_H;
+    const char ADDR_OUT_Y_L;
+    const char ADDR_OUT_Y_H;
+    const char ADDR_OUT_Z_L;
+    const char ADDR_OUT_Z_H;
+    double decom;
+    double angleDeg[3];
+    double omegaOffset[3];
+    bool stpFlg;
+public:
+    l3gd20(I2C *_i, bool SA0);
+    char read_reg(char reg);
+    void write_reg(char reg, char data);
+    bool who_am_i();
+    void set_range(int dps);
+    int16_t get_raw_omega(char se);
+    void apply_offset();
+    void start();
+    void reset();
+    void stop();
+    double trapezoid_integr(double data, double ex_data, double period);
+    void renew_angle();
+    void get_angle_deg(double *a);
+    void get_angle_rad(double *a);
+};
+
+#endif
\ No newline at end of file