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Fork of L3G4200D by
L3G4200D.h
- Committer:
- shimniok
- Date:
- 2012-01-20
- Revision:
- 1:2e0278bddf66
- Parent:
- 0:6d43e8289cc5
- Child:
- 2:f1da9da9c9b5
File content as of revision 1:2e0278bddf66:
/* 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; /** Interface library for the ST L3G4200D 3-axis gyro * * Ported from Pololu L3G4200D library for Arduino by * Michael Shimniok http://bot-thoughts.com * */ 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