Diff: Adafruit_10DOF/Adafruit_L3GD20_U.h

Revision:

16:5d102be2566c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Adafruit_10DOF/Adafruit_L3GD20_U.h	Wed Oct 07 20:42:51 2015 +0000
@@ -0,0 +1,100 @@
+/***************************************************
+  This is a library for the L3GD20 GYROSCOPE
+
+  Designed specifically to work with the Adafruit L3GD20 Breakout 
+  ----> https://www.adafruit.com/products/1032
+
+  These sensors use I2C or SPI to communicate, 2 pins (I2C) 
+  or 4 pins (SPI) are required to interface.
+
+  Adafruit invests time and resources providing this open source code,
+  please support Adafruit and open-source hardware by purchasing
+  products from Adafruit!
+
+  Written by Kevin "KTOWN" Townsend for Adafruit Industries.
+  BSD license, all text above must be included in any redistribution
+ ****************************************************/
+#ifndef __L3GD20_H__
+#define __L3GD20_H__
+
+#include <Adafruit_Sensor.h>
+
+/*=========================================================================
+    I2C ADDRESS/BITS AND SETTINGS
+    -----------------------------------------------------------------------*/
+    #define L3GD20_ADDRESS           (0xD6)        // 1101011x x=R/w
+    #define L3GD20_WRITE             (0x00)        // Bit write
+    #define L3GD20_READ              (0x01)        // Bit read
+    #define L3GD20_POLL_TIMEOUT      (100)         // Maximum number of read attempts
+    #define L3GD20_ID                0xD4
+    #define L3GD20H_ID               0xD7
+    #define GYRO_SENSITIVITY_250DPS  (0.00875F)    // Roughly 22/256 for fixed point match
+    #define GYRO_SENSITIVITY_500DPS  (0.0175F)     // Roughly 45/256
+    #define GYRO_SENSITIVITY_2000DPS (0.070F)      // Roughly 18/256
+/*=========================================================================*/
+
+/*=========================================================================
+    REGISTERS
+    -----------------------------------------------------------------------*/
+    typedef enum
+    {                                             // DEFAULT    TYPE
+      GYRO_REGISTER_WHO_AM_I            = 0x0F,   // 11010100   r
+      GYRO_REGISTER_CTRL_REG1           = 0x20,   // 00000111   rw
+      GYRO_REGISTER_CTRL_REG2           = 0x21,   // 00000000   rw
+      GYRO_REGISTER_CTRL_REG3           = 0x22,   // 00000000   rw
+      GYRO_REGISTER_CTRL_REG4           = 0x23,   // 00000000   rw
+      GYRO_REGISTER_CTRL_REG5           = 0x24,   // 00000000   rw
+      GYRO_REGISTER_REFERENCE           = 0x25,   // 00000000   rw
+      GYRO_REGISTER_OUT_TEMP            = 0x26,   //            r
+      GYRO_REGISTER_STATUS_REG          = 0x27,   //            r
+      GYRO_REGISTER_OUT_X_L             = 0x28,   //            r
+      GYRO_REGISTER_OUT_X_H             = 0x29,   //            r
+      GYRO_REGISTER_OUT_Y_L             = 0x2A,   //            r
+      GYRO_REGISTER_OUT_Y_H             = 0x2B,   //            r
+      GYRO_REGISTER_OUT_Z_L             = 0x2C,   //            r
+      GYRO_REGISTER_OUT_Z_H             = 0x2D,   //            r
+      GYRO_REGISTER_FIFO_CTRL_REG       = 0x2E,   // 00000000   rw
+      GYRO_REGISTER_FIFO_SRC_REG        = 0x2F,   //            r
+      GYRO_REGISTER_INT1_CFG            = 0x30,   // 00000000   rw
+      GYRO_REGISTER_INT1_SRC            = 0x31,   //            r
+      GYRO_REGISTER_TSH_XH              = 0x32,   // 00000000   rw
+      GYRO_REGISTER_TSH_XL              = 0x33,   // 00000000   rw
+      GYRO_REGISTER_TSH_YH              = 0x34,   // 00000000   rw
+      GYRO_REGISTER_TSH_YL              = 0x35,   // 00000000   rw
+      GYRO_REGISTER_TSH_ZH              = 0x36,   // 00000000   rw
+      GYRO_REGISTER_TSH_ZL              = 0x37,   // 00000000   rw
+      GYRO_REGISTER_INT1_DURATION       = 0x38    // 00000000   rw
+    } gyroRegisters_t;    
+/*=========================================================================*/
+
+/*=========================================================================
+    OPTIONAL SPEED SETTINGS
+    -----------------------------------------------------------------------*/
+    typedef enum
+    {
+      GYRO_RANGE_250DPS  = 250,
+      GYRO_RANGE_500DPS  = 500,
+      GYRO_RANGE_2000DPS = 2000
+    } gyroRange_t;
+/*=========================================================================*/
+
+class Adafruit_L3GD20_Unified //: public Adafruit_Sensor
+{
+  public:
+    Adafruit_L3GD20_Unified(int32_t sensorID = -1);
+
+    bool begin           ( gyroRange_t rng = GYRO_RANGE_250DPS );
+    void enableAutoRange ( bool enabled );
+    bool getEvent        ( sensors_event_t* );
+    void getSensor       ( sensor_t* );
+
+  private:
+    void        write8  ( byte reg, byte value );
+    uint8_t        read8   ( byte reg );
+    gyroRange_t _range;
+    int32_t     _sensorID;
+    bool        _autoRangeEnabled;
+};
+
+#endif
+