Diff: L3G4200D.cpp

Revision:

4:c4db4e2ffdd7

Parent:

3:450acaa4f52d

--- a/L3G4200D.cpp	Tue Nov 18 06:25:57 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,165 +0,0 @@
-/**
- * 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 "L3G4200D.h"
-#include <math.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 0xD2
-
-// Public Methods //////////////////////////////////////////////////////////////
-
-// Constructor
-L3G4200D::L3G4200D(PinName sda, PinName scl):
-    _device(sda, scl)
-{
-    _device.frequency(400000);
-    // Turns on the L3G4200D's gyro and places it in normal mode.
-    // 0x0F = 0b00001111
-    // Normal power mode, all axes enabled
-    writeReg(L3G4200D_CTRL_REG1, 0x0F);
-    writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale
-    
-    setGains(1.0,1.0,1.0);
-    setOffsets(0.0,0.0,0.0);
-
-}
-
-// Writes a gyro register
-void L3G4200D::writeReg(byte reg, byte value)
-{
-    data[0] = reg;
-    data[1] = value;
-    
-    _device.write(GYR_ADDRESS, data, 2);
-}
-
-// Reads a gyro register
-byte L3G4200D::readReg(byte reg)
-{
-    byte value = 0;
-    
-    _device.write(GYR_ADDRESS, &reg, 1);
-    _device.read(GYR_ADDRESS, &value, 1);
-
-    return value;
-}
-
-void L3G4200D::setGains(float _Xgain, float _Ygain, float _Zgain) {
-  gains[0] = _Xgain;
-  gains[1] = _Ygain;
-  gains[2] = _Zgain;
-}
-
-void L3G4200D::setOffsets(int _Xoffset, int _Yoffset, int _Zoffset) {
-  offsets[0] = _Xoffset;
-  offsets[1] = _Yoffset;
-  offsets[2] = _Zoffset;
-}
-
-void L3G4200D::setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol) {
-  polarities[0] = _Xpol ? -1 : 1;
-  polarities[1] = _Ypol ? -1 : 1;
-  polarities[2] = _Zpol ? -1 : 1;
-}
-
-
-void L3G4200D::zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS) {
-  int xyz[3]; 
-  float tmpOffsets[] = {0,0,0};
-
-  for (int i = 0;i < totSamples;i++){
-    wait_ms(sampleDelayMS);
-    read(xyz);
-    tmpOffsets[0] += xyz[0];
-    tmpOffsets[1] += xyz[1];
-    tmpOffsets[2] += xyz[2];  
-  }
-  setOffsets(-tmpOffsets[0] / totSamples, -tmpOffsets[1] / totSamples, -tmpOffsets[2] / totSamples);
-}
-
-
-// Reads the 3 gyro channels and stores them in vector g
-void L3G4200D::read(int *g)
-{
-    // assert the MSB of the address to get the gyro 
-    // to do slave-transmit subaddress updating.
-    data[0] = L3G4200D_OUT_X_L | (1 << 7);
-    _device.write(GYR_ADDRESS, data, 1); 
-
-//    Wire.requestFrom(GYR_ADDRESS, 6);
-//    while (Wire.available() < 6);
-    
-    _device.read(GYR_ADDRESS, data, 6); 
-
-    uint8_t xla = data[0];
-    uint8_t xha = data[1];
-    uint8_t yla = data[2];
-    uint8_t yha = data[3];
-    uint8_t zla = data[4];
-    uint8_t zha = data[5];
-
-    g[0] = (short) (yha << 8 | yla);
-    g[1] = (short) (xha << 8 | xla);
-    g[2] = (short) (zha << 8 | zla);
-}
-
-void L3G4200D::readRawCal(int *_GyroXYZ) {
-  read(_GyroXYZ);
-  _GyroXYZ[0] += offsets[0];
-  _GyroXYZ[1] += offsets[1];
-  _GyroXYZ[2] += offsets[2];
-}
-
-
-
-void L3G4200D::read3(int x, int y, int z) {
-  int* readings;
-  read(readings);
-
-  // each axis reading comes in 10 bit resolution, ie 2 bytes.  Least Significat Byte first!!
-  // thus we are converting both bytes in to one int
-  x = readings[0];  
-  y = readings[1]; 
-  z = readings[2]; 
-}
-
-void L3G4200D::readFin(float *_GyroXYZ){
-  int xyz[3];
-  
-  readRawCal(xyz); // x,y,z will contain calibrated integer values from the sensor
-  _GyroXYZ[0] =  xyz[0] / 14.375 * polarities[0] * gains[0];
-  _GyroXYZ[1] =  xyz[1]/ 14.375 * polarities[1] * gains[1];
-  _GyroXYZ[2] =  xyz[2] / 14.375 * polarities[2] * gains[2];
-}