Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

Sensors/L3G4200D/L3G4200D.cpp@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 /**
shimniok 0:a6a169de725f 2 * Copyright (c) 2011 Pololu Corporation. For more information, see
shimniok 0:a6a169de725f 3 *
shimniok 0:a6a169de725f 4 * http://www.pololu.com/
shimniok 0:a6a169de725f 5 * http://forum.pololu.com/
shimniok 0:a6a169de725f 6 *
shimniok 0:a6a169de725f 7 * Permission is hereby granted, free of charge, to any person
shimniok 0:a6a169de725f 8 * obtaining a copy of this software and associated documentation
shimniok 0:a6a169de725f 9 * files (the "Software"), to deal in the Software without
shimniok 0:a6a169de725f 10 * restriction, including without limitation the rights to use,
shimniok 0:a6a169de725f 11 * copy, modify, merge, publish, distribute, sublicense, and/or sell
shimniok 0:a6a169de725f 12 * copies of the Software, and to permit persons to whom the
shimniok 0:a6a169de725f 13 * Software is furnished to do so, subject to the following
shimniok 0:a6a169de725f 14 * conditions:
shimniok 0:a6a169de725f 15 *
shimniok 0:a6a169de725f 16 * The above copyright notice and this permission notice shall be
shimniok 0:a6a169de725f 17 * included in all copies or substantial portions of the Software.
shimniok 0:a6a169de725f 18 *
shimniok 0:a6a169de725f 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
shimniok 0:a6a169de725f 20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
shimniok 0:a6a169de725f 21 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
shimniok 0:a6a169de725f 22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
shimniok 0:a6a169de725f 23 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
shimniok 0:a6a169de725f 24 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
shimniok 0:a6a169de725f 25 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
shimniok 0:a6a169de725f 26 * OTHER DEALINGS IN THE SOFTWARE.
shimniok 0:a6a169de725f 27 */
shimniok 0:a6a169de725f 28
shimniok 0:a6a169de725f 29 #include "mbed.h"
shimniok 0:a6a169de725f 30 #include <L3G4200D.h>
shimniok 0:a6a169de725f 31 #include <math.h>
shimniok 0:a6a169de725f 32
shimniok 0:a6a169de725f 33 // Defines ////////////////////////////////////////////////////////////////
shimniok 0:a6a169de725f 34
shimniok 0:a6a169de725f 35 // The Arduino two-wire interface uses a 7-bit number for the address,
shimniok 0:a6a169de725f 36 // and sets the last bit correctly based on reads and writes
shimniok 0:a6a169de725f 37 // mbed I2C libraries take the 7-bit address shifted left 1 bit
shimniok 0:a6a169de725f 38 // #define GYR_ADDRESS (0xD2 >> 1)
shimniok 0:a6a169de725f 39 #define GYR_ADDRESS 0xD2
shimniok 0:a6a169de725f 40
shimniok 0:a6a169de725f 41 // Public Methods //////////////////////////////////////////////////////////////
shimniok 0:a6a169de725f 42
shimniok 0:a6a169de725f 43 // Constructor
shimniok 0:a6a169de725f 44 L3G4200D::L3G4200D(PinName sda, PinName scl):
shimniok 0:a6a169de725f 45 _device(sda, scl)
shimniok 0:a6a169de725f 46 {
shimniok 0:a6a169de725f 47 _device.frequency(400000);
shimniok 0:a6a169de725f 48 // Turns on the L3G4200D's gyro and places it in normal mode.
shimniok 0:a6a169de725f 49 // 0x0F = 0b00001111
shimniok 0:a6a169de725f 50 // Normal power mode, all axes enabled
shimniok 0:a6a169de725f 51 writeReg(L3G4200D_CTRL_REG1, 0x0F);
shimniok 0:a6a169de725f 52 writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale
shimniok 0:a6a169de725f 53
shimniok 0:a6a169de725f 54 }
shimniok 0:a6a169de725f 55
shimniok 0:a6a169de725f 56 // Writes a gyro register
shimniok 0:a6a169de725f 57 void L3G4200D::writeReg(byte reg, byte value)
shimniok 0:a6a169de725f 58 {
shimniok 0:a6a169de725f 59 data[0] = reg;
shimniok 0:a6a169de725f 60 data[1] = value;
shimniok 0:a6a169de725f 61
shimniok 0:a6a169de725f 62 _device.write(GYR_ADDRESS, data, 2);
shimniok 0:a6a169de725f 63 }
shimniok 0:a6a169de725f 64
shimniok 0:a6a169de725f 65 // Reads a gyro register
shimniok 0:a6a169de725f 66 byte L3G4200D::readReg(byte reg)
shimniok 0:a6a169de725f 67 {
shimniok 0:a6a169de725f 68 byte value = 0;
shimniok 0:a6a169de725f 69
shimniok 0:a6a169de725f 70 _device.write(GYR_ADDRESS, &reg, 1);
shimniok 0:a6a169de725f 71 _device.read(GYR_ADDRESS, &value, 1);
shimniok 0:a6a169de725f 72
shimniok 0:a6a169de725f 73 return value;
shimniok 0:a6a169de725f 74 }
shimniok 0:a6a169de725f 75
shimniok 0:a6a169de725f 76 // Reads the 3 gyro channels and stores them in vector g
shimniok 0:a6a169de725f 77 void L3G4200D::read(int g[3])
shimniok 0:a6a169de725f 78 {
shimniok 0:a6a169de725f 79 // assert the MSB of the address to get the gyro
shimniok 0:a6a169de725f 80 // to do slave-transmit subaddress updating.
shimniok 0:a6a169de725f 81 data[0] = L3G4200D_OUT_X_L | (1 << 7);
shimniok 0:a6a169de725f 82 _device.write(GYR_ADDRESS, data, 1);
shimniok 0:a6a169de725f 83
shimniok 0:a6a169de725f 84 // Wire.requestFrom(GYR_ADDRESS, 6);
shimniok 0:a6a169de725f 85 // while (Wire.available() < 6);
shimniok 0:a6a169de725f 86
shimniok 0:a6a169de725f 87 _device.read(GYR_ADDRESS, data, 6);
shimniok 0:a6a169de725f 88
shimniok 0:a6a169de725f 89 uint8_t xla = data[0];
shimniok 0:a6a169de725f 90 uint8_t xha = data[1];
shimniok 0:a6a169de725f 91 uint8_t yla = data[2];
shimniok 0:a6a169de725f 92 uint8_t yha = data[3];
shimniok 0:a6a169de725f 93 uint8_t zla = data[4];
shimniok 0:a6a169de725f 94 uint8_t zha = data[5];
shimniok 0:a6a169de725f 95
shimniok 0:a6a169de725f 96 g[0] = (short) (xha << 8 | xla);
shimniok 0:a6a169de725f 97 g[1] = (short) (yha << 8 | yla);
shimniok 0:a6a169de725f 98 g[2] = (short) (zha << 8 | zla);
shimniok 0:a6a169de725f 99 }
shimniok 0:a6a169de725f 100
shimniok 0:a6a169de725f 101 byte L3G4200D::readTemp(void) {
shimniok 0:a6a169de725f 102 return readReg(L3G4200D_OUT_TEMP);
shimniok 0:a6a169de725f 103 }