Ted Parrott / L3G4200D_1

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Fork of L3G4200D by Michael Shimniok

L3G4200D.cpp@0:6d43e8289cc5, 2012-01-20 (annotated)

Committer:
shimniok
Date:
Fri Jan 20 23:11:40 2012 +0000
Revision:
0:6d43e8289cc5
Child:
3:14914cd8fdf3
Initial revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:6d43e8289cc5 1 /**
shimniok 0:6d43e8289cc5 2 * Copyright (c) 2011 Pololu Corporation. For more information, see
shimniok 0:6d43e8289cc5 3 *
shimniok 0:6d43e8289cc5 4 * http://www.pololu.com/
shimniok 0:6d43e8289cc5 5 * http://forum.pololu.com/
shimniok 0:6d43e8289cc5 6 *
shimniok 0:6d43e8289cc5 7 * Permission is hereby granted, free of charge, to any person
shimniok 0:6d43e8289cc5 8 * obtaining a copy of this software and associated documentation
shimniok 0:6d43e8289cc5 9 * files (the "Software"), to deal in the Software without
shimniok 0:6d43e8289cc5 10 * restriction, including without limitation the rights to use,
shimniok 0:6d43e8289cc5 11 * copy, modify, merge, publish, distribute, sublicense, and/or sell
shimniok 0:6d43e8289cc5 12 * copies of the Software, and to permit persons to whom the
shimniok 0:6d43e8289cc5 13 * Software is furnished to do so, subject to the following
shimniok 0:6d43e8289cc5 14 * conditions:
shimniok 0:6d43e8289cc5 15 *
shimniok 0:6d43e8289cc5 16 * The above copyright notice and this permission notice shall be
shimniok 0:6d43e8289cc5 17 * included in all copies or substantial portions of the Software.
shimniok 0:6d43e8289cc5 18 *
shimniok 0:6d43e8289cc5 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
shimniok 0:6d43e8289cc5 20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
shimniok 0:6d43e8289cc5 21 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
shimniok 0:6d43e8289cc5 22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
shimniok 0:6d43e8289cc5 23 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
shimniok 0:6d43e8289cc5 24 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
shimniok 0:6d43e8289cc5 25 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
shimniok 0:6d43e8289cc5 26 * OTHER DEALINGS IN THE SOFTWARE.
shimniok 0:6d43e8289cc5 27 */
shimniok 0:6d43e8289cc5 28
shimniok 0:6d43e8289cc5 29 #include "mbed.h"
shimniok 0:6d43e8289cc5 30 #include <L3G4200D.h>
shimniok 0:6d43e8289cc5 31 #include <math.h>
shimniok 0:6d43e8289cc5 32
shimniok 0:6d43e8289cc5 33 // Defines ////////////////////////////////////////////////////////////////
shimniok 0:6d43e8289cc5 34
shimniok 0:6d43e8289cc5 35 // The Arduino two-wire interface uses a 7-bit number for the address,
shimniok 0:6d43e8289cc5 36 // and sets the last bit correctly based on reads and writes
shimniok 0:6d43e8289cc5 37 // mbed I2C libraries take the 7-bit address shifted left 1 bit
shimniok 0:6d43e8289cc5 38 // #define GYR_ADDRESS (0xD2 >> 1)
shimniok 0:6d43e8289cc5 39 #define GYR_ADDRESS 0xD2
shimniok 0:6d43e8289cc5 40
shimniok 0:6d43e8289cc5 41 // Public Methods //////////////////////////////////////////////////////////////
shimniok 0:6d43e8289cc5 42
shimniok 0:6d43e8289cc5 43 // Constructor
shimniok 0:6d43e8289cc5 44 L3G4200D::L3G4200D(PinName sda, PinName scl):
shimniok 0:6d43e8289cc5 45 _device(sda, scl)
shimniok 0:6d43e8289cc5 46 {
shimniok 0:6d43e8289cc5 47 _device.frequency(400000);
shimniok 0:6d43e8289cc5 48 // Turns on the L3G4200D's gyro and places it in normal mode.
shimniok 0:6d43e8289cc5 49 // 0x0F = 0b00001111
shimniok 0:6d43e8289cc5 50 // Normal power mode, all axes enabled
shimniok 0:6d43e8289cc5 51 writeReg(L3G4200D_CTRL_REG1, 0x0F);
shimniok 0:6d43e8289cc5 52 }
shimniok 0:6d43e8289cc5 53
shimniok 0:6d43e8289cc5 54 // Writes a gyro register
shimniok 0:6d43e8289cc5 55 void L3G4200D::writeReg(byte reg, byte value)
shimniok 0:6d43e8289cc5 56 {
shimniok 0:6d43e8289cc5 57 data[0] = reg;
shimniok 0:6d43e8289cc5 58 data[1] = value;
shimniok 0:6d43e8289cc5 59
shimniok 0:6d43e8289cc5 60 _device.write(GYR_ADDRESS, data, 2);
shimniok 0:6d43e8289cc5 61 }
shimniok 0:6d43e8289cc5 62
shimniok 0:6d43e8289cc5 63 // Reads a gyro register
shimniok 0:6d43e8289cc5 64 byte L3G4200D::readReg(byte reg)
shimniok 0:6d43e8289cc5 65 {
shimniok 0:6d43e8289cc5 66 byte value = 0;
shimniok 0:6d43e8289cc5 67
shimniok 0:6d43e8289cc5 68 _device.write(GYR_ADDRESS, &reg, 1);
shimniok 0:6d43e8289cc5 69 _device.read(GYR_ADDRESS, &value, 1);
shimniok 0:6d43e8289cc5 70
shimniok 0:6d43e8289cc5 71 return value;
shimniok 0:6d43e8289cc5 72 }
shimniok 0:6d43e8289cc5 73
shimniok 0:6d43e8289cc5 74 // Reads the 3 gyro channels and stores them in vector g
shimniok 0:6d43e8289cc5 75 void L3G4200D::read(int g[3])
shimniok 0:6d43e8289cc5 76 {
shimniok 0:6d43e8289cc5 77 // assert the MSB of the address to get the gyro
shimniok 0:6d43e8289cc5 78 // to do slave-transmit subaddress updating.
shimniok 0:6d43e8289cc5 79 data[0] = L3G4200D_OUT_X_L | (1 << 7);
shimniok 0:6d43e8289cc5 80 _device.write(GYR_ADDRESS, data, 1);
shimniok 0:6d43e8289cc5 81
shimniok 0:6d43e8289cc5 82 // Wire.requestFrom(GYR_ADDRESS, 6);
shimniok 0:6d43e8289cc5 83 // while (Wire.available() < 6);
shimniok 0:6d43e8289cc5 84
shimniok 0:6d43e8289cc5 85 _device.read(GYR_ADDRESS, data, 6);
shimniok 0:6d43e8289cc5 86
shimniok 0:6d43e8289cc5 87 uint8_t xla = data[0];
shimniok 0:6d43e8289cc5 88 uint8_t xha = data[1];
shimniok 0:6d43e8289cc5 89 uint8_t yla = data[2];
shimniok 0:6d43e8289cc5 90 uint8_t yha = data[3];
shimniok 0:6d43e8289cc5 91 uint8_t zla = data[4];
shimniok 0:6d43e8289cc5 92 uint8_t zha = data[5];
shimniok 0:6d43e8289cc5 93
shimniok 0:6d43e8289cc5 94 g[0] = (short) (xha << 8 | xla);
shimniok 0:6d43e8289cc5 95 g[1] = (short) (yha << 8 | yla);
shimniok 0:6d43e8289cc5 96 g[2] = (short) (zha << 8 | zla);
shimniok 0:6d43e8289cc5 97 }