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L3G4200D/L3G4200D.cpp
- Committer:
- tzxl10000
- Date:
- 2017-06-14
- Revision:
- 0:561f7672eaad
File content as of revision 0:561f7672eaad:
/** * 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); writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale } // 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, ®, 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); }