Ted Parrott / L3G4200D_3

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Fork of L3G4200D by Michael Shimniok

L3G4200D.h@4:a0918b4cee19, 2017-11-16 (annotated)

Committer:
tedparrott6
Date:
Thu Nov 16 15:04:33 2017 +0000
Revision:
4:a0918b4cee19
Parent:
3:14914cd8fdf3 
NA

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 1:2e0278bddf66 1 /* Copyright (c) 2011 Pololu Corporation. For more information, see
shimniok 0:6d43e8289cc5 2 *
shimniok 0:6d43e8289cc5 3 * http://www.pololu.com/
shimniok 0:6d43e8289cc5 4 * http://forum.pololu.com/
shimniok 0:6d43e8289cc5 5 *
shimniok 0:6d43e8289cc5 6 * Permission is hereby granted, free of charge, to any person
shimniok 0:6d43e8289cc5 7 * obtaining a copy of this software and associated documentation
shimniok 0:6d43e8289cc5 8 * files (the "Software"), to deal in the Software without
shimniok 0:6d43e8289cc5 9 * restriction, including without limitation the rights to use,
shimniok 0:6d43e8289cc5 10 * copy, modify, merge, publish, distribute, sublicense, and/or sell
shimniok 0:6d43e8289cc5 11 * copies of the Software, and to permit persons to whom the
shimniok 0:6d43e8289cc5 12 * Software is furnished to do so, subject to the following
shimniok 0:6d43e8289cc5 13 * conditions:
shimniok 0:6d43e8289cc5 14 *
shimniok 0:6d43e8289cc5 15 * The above copyright notice and this permission notice shall be
shimniok 0:6d43e8289cc5 16 * included in all copies or substantial portions of the Software.
shimniok 0:6d43e8289cc5 17 *
shimniok 0:6d43e8289cc5 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
shimniok 0:6d43e8289cc5 19 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
shimniok 0:6d43e8289cc5 20 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
shimniok 0:6d43e8289cc5 21 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
shimniok 0:6d43e8289cc5 22 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
shimniok 0:6d43e8289cc5 23 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
shimniok 0:6d43e8289cc5 24 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
shimniok 0:6d43e8289cc5 25 * OTHER DEALINGS IN THE SOFTWARE.
shimniok 0:6d43e8289cc5 26 */
shimniok 0:6d43e8289cc5 27
shimniok 0:6d43e8289cc5 28 #ifndef __L3G4200D_H
shimniok 0:6d43e8289cc5 29 #define __L3G4200D_H
shimniok 0:6d43e8289cc5 30
shimniok 0:6d43e8289cc5 31 #include "mbed.h"
shimniok 0:6d43e8289cc5 32
shimniok 0:6d43e8289cc5 33 // register addresses
shimniok 0:6d43e8289cc5 34
shimniok 0:6d43e8289cc5 35 #define L3G4200D_WHO_AM_I 0x0F
shimniok 0:6d43e8289cc5 36
shimniok 0:6d43e8289cc5 37 #define L3G4200D_CTRL_REG1 0x20
shimniok 0:6d43e8289cc5 38 #define L3G4200D_CTRL_REG2 0x21
shimniok 0:6d43e8289cc5 39 #define L3G4200D_CTRL_REG3 0x22
shimniok 0:6d43e8289cc5 40 #define L3G4200D_CTRL_REG4 0x23
shimniok 0:6d43e8289cc5 41 #define L3G4200D_CTRL_REG5 0x24
shimniok 0:6d43e8289cc5 42 #define L3G4200D_REFERENCE 0x25
shimniok 0:6d43e8289cc5 43 #define L3G4200D_OUT_TEMP 0x26
shimniok 0:6d43e8289cc5 44 #define L3G4200D_STATUS_REG 0x27
shimniok 0:6d43e8289cc5 45
shimniok 0:6d43e8289cc5 46 #define L3G4200D_OUT_X_L 0x28
shimniok 0:6d43e8289cc5 47 #define L3G4200D_OUT_X_H 0x29
shimniok 0:6d43e8289cc5 48 #define L3G4200D_OUT_Y_L 0x2A
shimniok 0:6d43e8289cc5 49 #define L3G4200D_OUT_Y_H 0x2B
shimniok 0:6d43e8289cc5 50 #define L3G4200D_OUT_Z_L 0x2C
shimniok 0:6d43e8289cc5 51 #define L3G4200D_OUT_Z_H 0x2D
shimniok 0:6d43e8289cc5 52
shimniok 0:6d43e8289cc5 53 #define L3G4200D_FIFO_CTRL_REG 0x2E
shimniok 0:6d43e8289cc5 54 #define L3G4200D_FIFO_SRC_REG 0x2F
shimniok 0:6d43e8289cc5 55
shimniok 0:6d43e8289cc5 56 #define L3G4200D_INT1_CFG 0x30
shimniok 0:6d43e8289cc5 57 #define L3G4200D_INT1_SRC 0x31
shimniok 0:6d43e8289cc5 58 #define L3G4200D_INT1_THS_XH 0x32
shimniok 0:6d43e8289cc5 59 #define L3G4200D_INT1_THS_XL 0x33
shimniok 0:6d43e8289cc5 60 #define L3G4200D_INT1_THS_YH 0x34
shimniok 0:6d43e8289cc5 61 #define L3G4200D_INT1_THS_YL 0x35
shimniok 0:6d43e8289cc5 62 #define L3G4200D_INT1_THS_ZH 0x36
shimniok 0:6d43e8289cc5 63 #define L3G4200D_INT1_THS_ZL 0x37
shimniok 0:6d43e8289cc5 64 #define L3G4200D_INT1_DURATION 0x38
shimniok 0:6d43e8289cc5 65
shimniok 0:6d43e8289cc5 66 typedef char byte;
shimniok 0:6d43e8289cc5 67
shimniok 1:2e0278bddf66 68 /** Interface library for the ST L3G4200D 3-axis gyro
shimniok 1:2e0278bddf66 69 *
shimniok 1:2e0278bddf66 70 * Ported from Pololu L3G4200D library for Arduino by
shimniok 1:2e0278bddf66 71 * Michael Shimniok http://bot-thoughts.com
shimniok 1:2e0278bddf66 72 *
shimniok 3:14914cd8fdf3 73 * @code
shimniok 3:14914cd8fdf3 74 * #include "mbed.h"
shimniok 3:14914cd8fdf3 75 * #include "L3G4200D.h"
shimniok 3:14914cd8fdf3 76 * L3G4200D gyro(p28, p27);
shimniok 3:14914cd8fdf3 77 * ...
shimniok 3:14914cd8fdf3 78 * int g[3];
shimniok 3:14914cd8fdf3 79 * gyro.read(g);
shimniok 3:14914cd8fdf3 80 * @endcode
shimniok 1:2e0278bddf66 81 */
shimniok 0:6d43e8289cc5 82 class L3G4200D
shimniok 0:6d43e8289cc5 83 {
shimniok 0:6d43e8289cc5 84 public:
shimniok 0:6d43e8289cc5 85 /** Create a new L3G4200D I2C interface
shimniok 0:6d43e8289cc5 86 * @param sda is the pin for the I2C SDA line
shimniok 0:6d43e8289cc5 87 * @param scl is the pin for the I2C SCL line
shimniok 0:6d43e8289cc5 88 */
shimniok 0:6d43e8289cc5 89 L3G4200D(PinName sda, PinName scl);
shimniok 0:6d43e8289cc5 90
shimniok 0:6d43e8289cc5 91 /** Read gyro values
shimniok 0:6d43e8289cc5 92 * @param g Array containing x, y, and z gyro values
shimniok 2:f1da9da9c9b5 93 * @return g Array containing x, y, and z gyro values
shimniok 0:6d43e8289cc5 94 */
tedparrott6 4:a0918b4cee19 95 void read(float g[3]);
shimniok 0:6d43e8289cc5 96
shimniok 0:6d43e8289cc5 97 private:
shimniok 0:6d43e8289cc5 98 byte data[6];
shimniok 0:6d43e8289cc5 99 int _rates[3];
shimniok 0:6d43e8289cc5 100 I2C _device;
shimniok 0:6d43e8289cc5 101 void writeReg(byte reg, byte value);
shimniok 0:6d43e8289cc5 102 byte readReg(byte reg);
shimniok 0:6d43e8289cc5 103 void enableDefault(void);
shimniok 0:6d43e8289cc5 104 };
shimniok 0:6d43e8289cc5 105
shimniok 0:6d43e8289cc5 106 #endif