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
Diff: Sensors/L3G4200D/L3G4200D.cpp
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sensors/L3G4200D/L3G4200D.cpp Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,103 @@ +/** + * 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 <L3G4200D.h> +#include <math.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 0xD2 + +// Public Methods ////////////////////////////////////////////////////////////// + +// Constructor +L3G4200D::L3G4200D(PinName sda, PinName scl): + _device(sda, scl) +{ + _device.frequency(400000); + // Turns on the L3G4200D's gyro and places it in normal mode. + // 0x0F = 0b00001111 + // Normal power mode, all axes enabled + writeReg(L3G4200D_CTRL_REG1, 0x0F); + writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale + +} + +// Writes a gyro register +void L3G4200D::writeReg(byte reg, byte value) +{ + data[0] = reg; + data[1] = value; + + _device.write(GYR_ADDRESS, data, 2); +} + +// Reads a gyro register +byte L3G4200D::readReg(byte reg) +{ + byte value = 0; + + _device.write(GYR_ADDRESS, ®, 1); + _device.read(GYR_ADDRESS, &value, 1); + + return value; +} + +// Reads the 3 gyro channels and stores them in vector g +void L3G4200D::read(int g[3]) +{ + // assert the MSB of the address to get the gyro + // to do slave-transmit subaddress updating. + data[0] = L3G4200D_OUT_X_L | (1 << 7); + _device.write(GYR_ADDRESS, data, 1); + +// Wire.requestFrom(GYR_ADDRESS, 6); +// while (Wire.available() < 6); + + _device.read(GYR_ADDRESS, data, 6); + + uint8_t xla = data[0]; + uint8_t xha = data[1]; + uint8_t yla = data[2]; + uint8_t yha = data[3]; + uint8_t zla = data[4]; + uint8_t zha = data[5]; + + g[0] = (short) (xha << 8 | xla); + g[1] = (short) (yha << 8 | yla); + g[2] = (short) (zha << 8 | zla); +} + +byte L3G4200D::readTemp(void) { + return readReg(L3G4200D_OUT_TEMP); +}