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L3GD20/L3GD20.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 "L3GD20.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 0xD6 // Public Methods ////////////////////////////////////////////////////////////// // Constructor L3GD20::L3GD20(PinName sda, PinName scl): _L3GD20(sda, scl) { char reg_v; _L3GD20.frequency(100000); // 0x0F = 0b00001111 // Normal power mode, all axes enabled reg_v = 0; reg_v |= 0x0F; write_reg(GYR_ADDRESS,L3GD20_CTRL_REG1,reg_v); } bool L3GD20::read(float *gx, float *gy, float *gz) { char gyr[6]; if (recv(GYR_ADDRESS, L3GD20_OUT_X_L, gyr, 6)) { //scale is 8.75 mdps/digit *gx = float(short(gyr[1] << 8 | gyr[0]))*0.00875; *gy = float(short(gyr[3] << 8 | gyr[2]))*0.00875; *gz = float(short(gyr[5] << 8 | gyr[4]))*0.00875; return true; } return false; } bool L3GD20::write_reg(int addr_i2c,int addr_reg, char v) { char data[2] = {addr_reg, v}; return L3GD20::_L3GD20.write(addr_i2c, data, 2) == 0; } bool L3GD20::read_reg(int addr_i2c,int addr_reg, char *v) { char data = addr_reg; bool result = false; __disable_irq(); if ((_L3GD20.write(addr_i2c, &data, 1) == 0) && (_L3GD20.read(addr_i2c, &data, 1) == 0)){ *v = data; result = true; } __enable_irq(); return result; } bool L3GD20::recv(char sad, char sub, char *buf, int length) { if (length > 1) sub |= 0x80; return _L3GD20.write(sad, &sub, 1, true) == 0 && _L3GD20.read(sad, buf, length) == 0; }