NOT FINISHED YET!!!
My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Dependencies:
mbed
MODI2C
Diff: Sensors/Gyro/L3G4200D.h
- Revision:
- 0:0c4fafa398b4
- Child:
- 1:5a64632b1eb9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/Gyro/L3G4200D.h Wed Sep 26 12:15:00 2012 +0000
@@ -0,0 +1,56 @@
+// based on http://mbed.org/users/shimniok/code/L3G4200D/
+
+#ifndef __L3G4200D_H
+#define __L3G4200D_H
+
+#include "mbed.h"
+
+// register addresses
+#define L3G4200D_WHO_AM_I 0x0F
+
+#define L3G4200D_CTRL_REG1 0x20
+#define L3G4200D_CTRL_REG2 0x21
+#define L3G4200D_CTRL_REG3 0x22
+#define L3G4200D_CTRL_REG4 0x23
+#define L3G4200D_CTRL_REG5 0x24
+#define L3G4200D_REFERENCE 0x25
+#define L3G4200D_OUT_TEMP 0x26
+#define L3G4200D_STATUS_REG 0x27
+
+#define L3G4200D_OUT_X_L 0x28
+#define L3G4200D_OUT_X_H 0x29
+#define L3G4200D_OUT_Y_L 0x2A
+#define L3G4200D_OUT_Y_H 0x2B
+#define L3G4200D_OUT_Z_L 0x2C
+#define L3G4200D_OUT_Z_H 0x2D
+
+#define L3G4200D_FIFO_CTRL_REG 0x2E
+#define L3G4200D_FIFO_SRC_REG 0x2F
+
+#define L3G4200D_INT1_CFG 0x30
+#define L3G4200D_INT1_SRC 0x31
+#define L3G4200D_INT1_THS_XH 0x32
+#define L3G4200D_INT1_THS_XL 0x33
+#define L3G4200D_INT1_THS_YH 0x34
+#define L3G4200D_INT1_THS_YL 0x35
+#define L3G4200D_INT1_THS_ZH 0x36
+#define L3G4200D_INT1_THS_ZL 0x37
+#define L3G4200D_INT1_DURATION 0x38
+
+typedef char byte;
+
+class Gyro
+{
+ public:
+ Gyro(PinName sda, PinName scl); // constructor, uses i2c
+ void read(int g[3]); // read all axis to array
+ int readTemp(); // read temperature from sensor
+
+ private:
+ byte data[6]; // 8-Bit pieces of axis data
+ I2C i2c; // i2c object to communicate
+ void writeReg(byte reg, byte value); // write one single register to sensor
+ byte readReg(byte reg); // read one single register from sensor
+};
+
+#endif
\ No newline at end of file
Matthias Grob
