Zhan Tu / Mbed 2 deprecated fish_control

fish

Dependencies:   mbed

L3G4200D/L3G4200D.cpp@0:561f7672eaad, 2017-06-14 (annotated)

Committer:
tzxl10000
Date:
Wed Jun 14 20:22:45 2017 +0000
Revision:
0:561f7672eaad
fish;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tzxl10000 0:561f7672eaad 1 /**
tzxl10000 0:561f7672eaad 2 * Copyright (c) 2011 Pololu Corporation. For more information, see
tzxl10000 0:561f7672eaad 3 *
tzxl10000 0:561f7672eaad 4 * http://www.pololu.com/
tzxl10000 0:561f7672eaad 5 * http://forum.pololu.com/
tzxl10000 0:561f7672eaad 6 *
tzxl10000 0:561f7672eaad 7 * Permission is hereby granted, free of charge, to any person
tzxl10000 0:561f7672eaad 8 * obtaining a copy of this software and associated documentation
tzxl10000 0:561f7672eaad 9 * files (the "Software"), to deal in the Software without
tzxl10000 0:561f7672eaad 10 * restriction, including without limitation the rights to use,
tzxl10000 0:561f7672eaad 11 * copy, modify, merge, publish, distribute, sublicense, and/or sell
tzxl10000 0:561f7672eaad 12 * copies of the Software, and to permit persons to whom the
tzxl10000 0:561f7672eaad 13 * Software is furnished to do so, subject to the following
tzxl10000 0:561f7672eaad 14 * conditions:
tzxl10000 0:561f7672eaad 15 *
tzxl10000 0:561f7672eaad 16 * The above copyright notice and this permission notice shall be
tzxl10000 0:561f7672eaad 17 * included in all copies or substantial portions of the Software.
tzxl10000 0:561f7672eaad 18 *
tzxl10000 0:561f7672eaad 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
tzxl10000 0:561f7672eaad 20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
tzxl10000 0:561f7672eaad 21 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
tzxl10000 0:561f7672eaad 22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
tzxl10000 0:561f7672eaad 23 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
tzxl10000 0:561f7672eaad 24 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
tzxl10000 0:561f7672eaad 25 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
tzxl10000 0:561f7672eaad 26 * OTHER DEALINGS IN THE SOFTWARE.
tzxl10000 0:561f7672eaad 27 */
tzxl10000 0:561f7672eaad 28
tzxl10000 0:561f7672eaad 29 #include "mbed.h"
tzxl10000 0:561f7672eaad 30 #include <L3G4200D.h>
tzxl10000 0:561f7672eaad 31 #include <math.h>
tzxl10000 0:561f7672eaad 32
tzxl10000 0:561f7672eaad 33 // Defines ////////////////////////////////////////////////////////////////
tzxl10000 0:561f7672eaad 34
tzxl10000 0:561f7672eaad 35 // The Arduino two-wire interface uses a 7-bit number for the address,
tzxl10000 0:561f7672eaad 36 // and sets the last bit correctly based on reads and writes
tzxl10000 0:561f7672eaad 37 // mbed I2C libraries take the 7-bit address shifted left 1 bit
tzxl10000 0:561f7672eaad 38 // #define GYR_ADDRESS (0xD2 >> 1)
tzxl10000 0:561f7672eaad 39 #define GYR_ADDRESS 0xD2
tzxl10000 0:561f7672eaad 40
tzxl10000 0:561f7672eaad 41 // Public Methods //////////////////////////////////////////////////////////////
tzxl10000 0:561f7672eaad 42
tzxl10000 0:561f7672eaad 43 // Constructor
tzxl10000 0:561f7672eaad 44 L3G4200D::L3G4200D(PinName sda, PinName scl):
tzxl10000 0:561f7672eaad 45 _device(sda, scl)
tzxl10000 0:561f7672eaad 46 {
tzxl10000 0:561f7672eaad 47 _device.frequency(400000);
tzxl10000 0:561f7672eaad 48 // Turns on the L3G4200D's gyro and places it in normal mode.
tzxl10000 0:561f7672eaad 49 // 0x0F = 0b00001111
tzxl10000 0:561f7672eaad 50 // Normal power mode, all axes enabled
tzxl10000 0:561f7672eaad 51 writeReg(L3G4200D_CTRL_REG1, 0x0F);
tzxl10000 0:561f7672eaad 52 writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale
tzxl10000 0:561f7672eaad 53
tzxl10000 0:561f7672eaad 54 }
tzxl10000 0:561f7672eaad 55
tzxl10000 0:561f7672eaad 56 // Writes a gyro register
tzxl10000 0:561f7672eaad 57 void L3G4200D::writeReg(byte reg, byte value)
tzxl10000 0:561f7672eaad 58 {
tzxl10000 0:561f7672eaad 59 data[0] = reg;
tzxl10000 0:561f7672eaad 60 data[1] = value;
tzxl10000 0:561f7672eaad 61
tzxl10000 0:561f7672eaad 62 _device.write(GYR_ADDRESS, data, 2);
tzxl10000 0:561f7672eaad 63 }
tzxl10000 0:561f7672eaad 64
tzxl10000 0:561f7672eaad 65 // Reads a gyro register
tzxl10000 0:561f7672eaad 66 byte L3G4200D::readReg(byte reg)
tzxl10000 0:561f7672eaad 67 {
tzxl10000 0:561f7672eaad 68 byte value = 0;
tzxl10000 0:561f7672eaad 69
tzxl10000 0:561f7672eaad 70 _device.write(GYR_ADDRESS, &reg, 1);
tzxl10000 0:561f7672eaad 71 _device.read(GYR_ADDRESS, &value, 1);
tzxl10000 0:561f7672eaad 72
tzxl10000 0:561f7672eaad 73 return value;
tzxl10000 0:561f7672eaad 74 }
tzxl10000 0:561f7672eaad 75
tzxl10000 0:561f7672eaad 76 // Reads the 3 gyro channels and stores them in vector g
tzxl10000 0:561f7672eaad 77 void L3G4200D::read(int g[3])
tzxl10000 0:561f7672eaad 78 {
tzxl10000 0:561f7672eaad 79 // assert the MSB of the address to get the gyro
tzxl10000 0:561f7672eaad 80 // to do slave-transmit subaddress updating.
tzxl10000 0:561f7672eaad 81 data[0] = L3G4200D_OUT_X_L | (1 << 7);
tzxl10000 0:561f7672eaad 82 _device.write(GYR_ADDRESS, data, 1);
tzxl10000 0:561f7672eaad 83
tzxl10000 0:561f7672eaad 84 // Wire.requestFrom(GYR_ADDRESS, 6);
tzxl10000 0:561f7672eaad 85 // while (Wire.available() < 6);
tzxl10000 0:561f7672eaad 86
tzxl10000 0:561f7672eaad 87 _device.read(GYR_ADDRESS, data, 6);
tzxl10000 0:561f7672eaad 88
tzxl10000 0:561f7672eaad 89 uint8_t xla = data[0];
tzxl10000 0:561f7672eaad 90 uint8_t xha = data[1];
tzxl10000 0:561f7672eaad 91 uint8_t yla = data[2];
tzxl10000 0:561f7672eaad 92 uint8_t yha = data[3];
tzxl10000 0:561f7672eaad 93 uint8_t zla = data[4];
tzxl10000 0:561f7672eaad 94 uint8_t zha = data[5];
tzxl10000 0:561f7672eaad 95
tzxl10000 0:561f7672eaad 96 g[0] = (short) (xha << 8 | xla);
tzxl10000 0:561f7672eaad 97 g[1] = (short) (yha << 8 | yla);
tzxl10000 0:561f7672eaad 98 g[2] = (short) (zha << 8 | zla);
tzxl10000 0:561f7672eaad 99 }