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.
L3G4200D.cpp
00001 #include "L3G4200D.h" 00002 00003 L3G4200D::L3G4200D(PinName sda, PinName scl) : I2C_Sensor(sda, scl, L3G4200D_I2C_ADDRESS) 00004 { 00005 // Turns on the L3G4200D's gyro and places it in normal mode. 00006 // Normal power mode, all axes enabled (for detailed info see datasheet) 00007 00008 //writeRegister(L3G4200D_CTRL_REG2, 0x05); // control filter 00009 writeRegister(L3G4200D_CTRL_REG2, 0x00); // highpass filter disabled 00010 writeRegister(L3G4200D_CTRL_REG3, 0x00); 00011 writeRegister(L3G4200D_CTRL_REG4, 0x20); // sets acuracy to 2000 dps (degree per second) 00012 00013 writeRegister(L3G4200D_REFERENCE, 0x00); 00014 //writeRegister(L3G4200D_STATUS_REG, 0x0F); 00015 00016 writeRegister(L3G4200D_INT1_THS_XH, 0x2C); // TODO: WTF?? 00017 writeRegister(L3G4200D_INT1_THS_XL, 0xA4); 00018 writeRegister(L3G4200D_INT1_THS_YH, 0x2C); 00019 writeRegister(L3G4200D_INT1_THS_YL, 0xA4); 00020 writeRegister(L3G4200D_INT1_THS_ZH, 0x2C); 00021 writeRegister(L3G4200D_INT1_THS_ZL, 0xA4); 00022 //writeRegister(L3G4200D_INT1_DURATION, 0x00); 00023 00024 writeRegister(L3G4200D_CTRL_REG5, 0x00); // deactivates the filters (only use one of these options) 00025 //writeRegister(L3G4200D_CTRL_REG5, 0x12); // activates both high and low pass filters 00026 //writeRegister(L3G4200D_CTRL_REG5, 0x01); // activates high pass filter 00027 00028 writeRegister(L3G4200D_CTRL_REG1, 0x0F); // starts Gyro measurement 00029 00030 //calibrate(50, 0.01); 00031 } 00032 00033 void L3G4200D::read() 00034 { 00035 readraw(); // read raw measurement data 00036 00037 for (int i = 0; i < 3; i++) 00038 data[i] = (raw[i] - offset[i])*0.07; // subtract offset from calibration and multiply unit factor (datasheet s.10) 00039 } 00040 00041 int L3G4200D::readTemp() 00042 { 00043 return (short) readRegister(L3G4200D_OUT_TEMP); // read the sensors register for the temperature 00044 } 00045 00046 void L3G4200D::readraw() 00047 { 00048 char buffer[6]; // 8-Bit pieces of axis data 00049 00050 readMultiRegister(L3G4200D_OUT_X_L | (1 << 7), buffer, 6); // read axis registers using I2C // TODO: why?! | (1 << 7) 00051 00052 raw[0] = (short) (buffer[1] << 8 | buffer[0]); // join 8-Bit pieces to 16-bit short integers 00053 raw[1] = (short) (buffer[3] << 8 | buffer[2]); 00054 raw[2] = (short) (buffer[5] << 8 | buffer[4]); 00055 } 00056 00057 void L3G4200D::calibrate(int times, float separation_time) 00058 { 00059 // calibrate sensor with an average of count samples (result of calibration stored in offset[]) 00060 float calib[3] = {0,0,0}; // temporary array for the sum of calibration measurement 00061 00062 for (int i = 0; i < times; i++) { // read 'times' times the data in a very short time 00063 readraw(); 00064 for (int j = 0; j < 3; j++) 00065 calib[j] += raw[j]; 00066 wait(separation_time); 00067 } 00068 00069 for (int i = 0; i < 3; i++) 00070 offset[i] = calib[i]/times; // take the average of the calibration measurements 00071 }
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