Diff: L3G4200D.cpp

Revision:

0:6d43e8289cc5

Child:

3:14914cd8fdf3

--- /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, &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);
+}
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