NA
Fork of L3G4200D by
Revision 0:6d43e8289cc5, committed 2012-01-20
- Comitter:
- shimniok
- Date:
- Fri Jan 20 23:11:40 2012 +0000
- Child:
- 1:2e0278bddf66
- Commit message:
- Initial revision
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 |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/L3G4200D.cpp Fri Jan 20 23:11:40 2012 +0000 @@ -0,0 +1,97 @@ +/** + * 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, ®, 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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/L3G4200D.h Fri Jan 20 23:11:40 2012 +0000 @@ -0,0 +1,96 @@ +/** Interface library for the ST L3G4200D 3-axis gyro + * + * Ported from Pololu L3G4200D library for Arduino by + * Michael Shimniok http://bot-thoughts.com + * + * 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. + */ + +#ifndef __L3G4200D_H +#define __L3G4200D_H + +#include "mbed.h" + +// register addresses + +#define L3G4200D_WHO_AM_I 0x0F + +#define L3G4200D_CTRL_REG1 0x20 +#define L3G4200D_CTRL_REG2 0x21 +#define L3G4200D_CTRL_REG3 0x22 +#define L3G4200D_CTRL_REG4 0x23 +#define L3G4200D_CTRL_REG5 0x24 +#define L3G4200D_REFERENCE 0x25 +#define L3G4200D_OUT_TEMP 0x26 +#define L3G4200D_STATUS_REG 0x27 + +#define L3G4200D_OUT_X_L 0x28 +#define L3G4200D_OUT_X_H 0x29 +#define L3G4200D_OUT_Y_L 0x2A +#define L3G4200D_OUT_Y_H 0x2B +#define L3G4200D_OUT_Z_L 0x2C +#define L3G4200D_OUT_Z_H 0x2D + +#define L3G4200D_FIFO_CTRL_REG 0x2E +#define L3G4200D_FIFO_SRC_REG 0x2F + +#define L3G4200D_INT1_CFG 0x30 +#define L3G4200D_INT1_SRC 0x31 +#define L3G4200D_INT1_THS_XH 0x32 +#define L3G4200D_INT1_THS_XL 0x33 +#define L3G4200D_INT1_THS_YH 0x34 +#define L3G4200D_INT1_THS_YL 0x35 +#define L3G4200D_INT1_THS_ZH 0x36 +#define L3G4200D_INT1_THS_ZL 0x37 +#define L3G4200D_INT1_DURATION 0x38 + +typedef char byte; + +class L3G4200D +{ + public: + /** Create a new L3G4200D I2C interface + * @param sda is the pin for the I2C SDA line + * @param scl is the pin for the I2C SCL line + */ + L3G4200D(PinName sda, PinName scl); + + /** Read gyro values + * @param g Array containing x, y, and z gyro values + */ + void read(int g[3]); + + private: + byte data[6]; + int _rates[3]; + I2C _device; + void writeReg(byte reg, byte value); + byte readReg(byte reg); + void enableDefault(void); +}; + +#endif \ No newline at end of file