Interface library for ST L3G4200D gyro ported from Pololu.com L3G4200D Arduino library

Dependents:   Fish_2014Fall Fish_2014Fall DataBus2018

Files at this revision

API Documentation at this revision

Comitter:
shimniok
Date:
Tue Jan 24 16:58:52 2012 +0000
Parent:
2:f1da9da9c9b5
Commit message:
Minor fixes, early version. May be some additional functionality added later.

Changed in this revision

L3G4200D.cpp Show annotated file Show diff for this revision Revisions of this file
L3G4200D.h Show annotated file Show diff for this revision Revisions of this file
diff -r f1da9da9c9b5 -r 14914cd8fdf3 L3G4200D.cpp
--- a/L3G4200D.cpp	Fri Jan 20 23:19:47 2012 +0000
+++ b/L3G4200D.cpp	Tue Jan 24 16:58:52 2012 +0000
@@ -1,97 +1,99 @@
-/**
- * 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);
-}
-
-// 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, &reg, 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);
+/**
+ * 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, &reg, 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);
 }
\ No newline at end of file
diff -r f1da9da9c9b5 -r 14914cd8fdf3 L3G4200D.h
--- a/L3G4200D.h	Fri Jan 20 23:19:47 2012 +0000
+++ b/L3G4200D.h	Tue Jan 24 16:58:52 2012 +0000
@@ -70,6 +70,14 @@
  * Ported from Pololu L3G4200D library for Arduino by
  * Michael Shimniok http://bot-thoughts.com
  *
+ * @code
+ * #include "mbed.h"
+ * #include "L3G4200D.h"
+ * L3G4200D gyro(p28, p27);
+ * ...
+ * int g[3];
+ * gyro.read(g);
+ * @endcode
  */
 class L3G4200D
 {