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L3GD20/L3GD20.h@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
tzxl10000 | 0:561f7672eaad | 1 | /* Copyright (c) 2011 Pololu Corporation. For more information, see |
tzxl10000 | 0:561f7672eaad | 2 | * |
tzxl10000 | 0:561f7672eaad | 3 | * http://www.pololu.com/ |
tzxl10000 | 0:561f7672eaad | 4 | * http://forum.pololu.com/ |
tzxl10000 | 0:561f7672eaad | 5 | * |
tzxl10000 | 0:561f7672eaad | 6 | * Permission is hereby granted, free of charge, to any person |
tzxl10000 | 0:561f7672eaad | 7 | * obtaining a copy of this software and associated documentation |
tzxl10000 | 0:561f7672eaad | 8 | * files (the "Software"), to deal in the Software without |
tzxl10000 | 0:561f7672eaad | 9 | * restriction, including without limitation the rights to use, |
tzxl10000 | 0:561f7672eaad | 10 | * copy, modify, merge, publish, distribute, sublicense, and/or sell |
tzxl10000 | 0:561f7672eaad | 11 | * copies of the Software, and to permit persons to whom the |
tzxl10000 | 0:561f7672eaad | 12 | * Software is furnished to do so, subject to the following |
tzxl10000 | 0:561f7672eaad | 13 | * conditions: |
tzxl10000 | 0:561f7672eaad | 14 | * |
tzxl10000 | 0:561f7672eaad | 15 | * The above copyright notice and this permission notice shall be |
tzxl10000 | 0:561f7672eaad | 16 | * included in all copies or substantial portions of the Software. |
tzxl10000 | 0:561f7672eaad | 17 | * |
tzxl10000 | 0:561f7672eaad | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
tzxl10000 | 0:561f7672eaad | 19 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
tzxl10000 | 0:561f7672eaad | 20 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
tzxl10000 | 0:561f7672eaad | 21 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
tzxl10000 | 0:561f7672eaad | 22 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
tzxl10000 | 0:561f7672eaad | 23 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
tzxl10000 | 0:561f7672eaad | 24 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
tzxl10000 | 0:561f7672eaad | 25 | * OTHER DEALINGS IN THE SOFTWARE. |
tzxl10000 | 0:561f7672eaad | 26 | */ |
tzxl10000 | 0:561f7672eaad | 27 | |
tzxl10000 | 0:561f7672eaad | 28 | #ifndef __L3GD20_H |
tzxl10000 | 0:561f7672eaad | 29 | #define __L3GD20_H |
tzxl10000 | 0:561f7672eaad | 30 | |
tzxl10000 | 0:561f7672eaad | 31 | #include "mbed.h" |
tzxl10000 | 0:561f7672eaad | 32 | |
tzxl10000 | 0:561f7672eaad | 33 | // register addresses |
tzxl10000 | 0:561f7672eaad | 34 | |
tzxl10000 | 0:561f7672eaad | 35 | #define L3GD20_WHO_AM_I 0x0F |
tzxl10000 | 0:561f7672eaad | 36 | |
tzxl10000 | 0:561f7672eaad | 37 | #define L3GD20_CTRL_REG1 0x20 |
tzxl10000 | 0:561f7672eaad | 38 | #define L3GD20_CTRL_REG2 0x21 |
tzxl10000 | 0:561f7672eaad | 39 | #define L3GD20_CTRL_REG3 0x22 |
tzxl10000 | 0:561f7672eaad | 40 | #define L3GD20_CTRL_REG4 0x23 |
tzxl10000 | 0:561f7672eaad | 41 | #define L3GD20_CTRL_REG5 0x24 |
tzxl10000 | 0:561f7672eaad | 42 | #define L3GD20_REFERENCE 0x25 |
tzxl10000 | 0:561f7672eaad | 43 | #define L3GD20_OUT_TEMP 0x26 |
tzxl10000 | 0:561f7672eaad | 44 | #define L3GD20_STATUS_REG 0x27 |
tzxl10000 | 0:561f7672eaad | 45 | |
tzxl10000 | 0:561f7672eaad | 46 | #define L3GD20_OUT_X_L 0x28 |
tzxl10000 | 0:561f7672eaad | 47 | #define L3GD20_OUT_X_H 0x29 |
tzxl10000 | 0:561f7672eaad | 48 | #define L3GD20_OUT_Y_L 0x2A |
tzxl10000 | 0:561f7672eaad | 49 | #define L3GD20_OUT_Y_H 0x2B |
tzxl10000 | 0:561f7672eaad | 50 | #define L3GD20_OUT_Z_L 0x2C |
tzxl10000 | 0:561f7672eaad | 51 | #define L3GD20_OUT_Z_H 0x2D |
tzxl10000 | 0:561f7672eaad | 52 | |
tzxl10000 | 0:561f7672eaad | 53 | #define L3GD20_FIFO_CTRL_REG 0x2E |
tzxl10000 | 0:561f7672eaad | 54 | #define L3GD20_FIFO_SRC_REG 0x2F |
tzxl10000 | 0:561f7672eaad | 55 | |
tzxl10000 | 0:561f7672eaad | 56 | #define L3GD20_INT1_CFG 0x30 |
tzxl10000 | 0:561f7672eaad | 57 | #define L3GD20_INT1_SRC 0x31 |
tzxl10000 | 0:561f7672eaad | 58 | #define L3GD20_INT1_THS_XH 0x32 |
tzxl10000 | 0:561f7672eaad | 59 | #define L3GD20_INT1_THS_XL 0x33 |
tzxl10000 | 0:561f7672eaad | 60 | #define L3GD20_INT1_THS_YH 0x34 |
tzxl10000 | 0:561f7672eaad | 61 | #define L3GD20_INT1_THS_YL 0x35 |
tzxl10000 | 0:561f7672eaad | 62 | #define L3GD20_INT1_THS_ZH 0x36 |
tzxl10000 | 0:561f7672eaad | 63 | #define L3GD20_INT1_THS_ZL 0x37 |
tzxl10000 | 0:561f7672eaad | 64 | #define L3GD20_INT1_DURATION 0x38 |
tzxl10000 | 0:561f7672eaad | 65 | |
tzxl10000 | 0:561f7672eaad | 66 | /** Interface library for the ST L3GD20 3-axis gyro |
tzxl10000 | 0:561f7672eaad | 67 | * |
tzxl10000 | 0:561f7672eaad | 68 | * Ported from Pololu L3GD20 library for Arduino by |
tzxl10000 | 0:561f7672eaad | 69 | * |
tzxl10000 | 0:561f7672eaad | 70 | * @code |
tzxl10000 | 0:561f7672eaad | 71 | * #include "mbed.h" |
tzxl10000 | 0:561f7672eaad | 72 | * #include "L3GD20.h" |
tzxl10000 | 0:561f7672eaad | 73 | * L3GD20 gyro(p28, p27); |
tzxl10000 | 0:561f7672eaad | 74 | * ... |
tzxl10000 | 0:561f7672eaad | 75 | * int g[3]; |
tzxl10000 | 0:561f7672eaad | 76 | * gyro.read(g); |
tzxl10000 | 0:561f7672eaad | 77 | * @endcode |
tzxl10000 | 0:561f7672eaad | 78 | */ |
tzxl10000 | 0:561f7672eaad | 79 | class L3GD20 |
tzxl10000 | 0:561f7672eaad | 80 | { |
tzxl10000 | 0:561f7672eaad | 81 | public: |
tzxl10000 | 0:561f7672eaad | 82 | /** Create a new L3GD20 I2C interface |
tzxl10000 | 0:561f7672eaad | 83 | * @param sda is the pin for the I2C SDA line |
tzxl10000 | 0:561f7672eaad | 84 | * @param scl is the pin for the I2C SCL line |
tzxl10000 | 0:561f7672eaad | 85 | */ |
tzxl10000 | 0:561f7672eaad | 86 | L3GD20(PinName sda, PinName scl); |
tzxl10000 | 0:561f7672eaad | 87 | |
tzxl10000 | 0:561f7672eaad | 88 | /** Read gyro values |
tzxl10000 | 0:561f7672eaad | 89 | * @param g Array containing x, y, and z gyro values |
tzxl10000 | 0:561f7672eaad | 90 | * @return g Array containing x, y, and z gyro values |
tzxl10000 | 0:561f7672eaad | 91 | */ |
tzxl10000 | 0:561f7672eaad | 92 | bool read(float *gx, float *gy, float *gz); |
tzxl10000 | 0:561f7672eaad | 93 | |
tzxl10000 | 0:561f7672eaad | 94 | private: |
tzxl10000 | 0:561f7672eaad | 95 | I2C _L3GD20; |
tzxl10000 | 0:561f7672eaad | 96 | float gx, gy, gz; |
tzxl10000 | 0:561f7672eaad | 97 | |
tzxl10000 | 0:561f7672eaad | 98 | bool write_reg(int addr_i2c,int addr_reg, char v); |
tzxl10000 | 0:561f7672eaad | 99 | bool read_reg(int addr_i2c,int addr_reg, char *v); |
tzxl10000 | 0:561f7672eaad | 100 | bool recv(char sad, char sub, char *buf, int length); |
tzxl10000 | 0:561f7672eaad | 101 | }; |
tzxl10000 | 0:561f7672eaad | 102 | |
tzxl10000 | 0:561f7672eaad | 103 | #endif |