Matthias Grob / Mbed 2 deprecated FlyBed1

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

Sensors/Gyro/L3G4200D.h

Committer:
maetugr
Date:
2012-10-02
Revision:
2:93f703d2c4d7
Parent:
1:5a64632b1eb9
Child:
10:953afcbcebfc

File content as of revision 2:93f703d2c4d7:

// 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 L3G4200D
{
    public:            
        L3G4200D(PinName sda, PinName scl); // constructor, uses i2c
        void read(float g[3]); // read all axis to array
        int readTemp(); // read temperature from sensor
        
    private:
        float offset[3]; // offset that's subtracted from every measurement
        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