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Diff: L3G4200D.h
- Revision:
- 0:6d43e8289cc5
- Child:
- 1:2e0278bddf66
--- /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