L3GD20 & L3G4200D / STMicroelectronics / MEMS motion sensor, three-axis gyroscope library
Dependents: GR-PEACH_test_wo_rtos GR-PEACH_test_on_rtos_works_well
L3GD20.h@7:f5c0fe6ed71a, 2017-08-23 (annotated)
- Committer:
- kenjiArai
- Date:
- Wed Aug 23 09:25:40 2017 +0000
- Revision:
- 7:f5c0fe6ed71a
- Parent:
- 6:451811697299
countermeasure for NonCopyable
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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kenjiArai | 0:de66621e5370 | 1 | /* |
kenjiArai | 6:451811697299 | 2 | * mbed library program |
kenjiArai | 0:de66621e5370 | 3 | * L3GD20 MEMS motion sensor: 3-axis digital gyroscope, made by STMicroelectronics |
kenjiArai | 0:de66621e5370 | 4 | * http://www.st.com/web/catalog/sense_power/FM89/SC1288 |
kenjiArai | 0:de66621e5370 | 5 | * /PF252443?sc=internet/analog/product/252443.jsp |
kenjiArai | 0:de66621e5370 | 6 | * L3G4200D MEMS motion sensor: three-axis digital output gyroscope, made by STMicroelectronics |
kenjiArai | 0:de66621e5370 | 7 | * http://www.st.com/web/catalog/sense_power/FM89/SC1288 |
kenjiArai | 0:de66621e5370 | 8 | * /PF250373?sc=internet/analog/product/250373.jsp |
kenjiArai | 0:de66621e5370 | 9 | * |
kenjiArai | 7:f5c0fe6ed71a | 10 | * Copyright (c) 2014,'15,'17 Kenji Arai / JH1PJL |
kenjiArai | 0:de66621e5370 | 11 | * http://www.page.sannet.ne.jp/kenjia/index.html |
kenjiArai | 0:de66621e5370 | 12 | * http://mbed.org/users/kenjiArai/ |
kenjiArai | 7:f5c0fe6ed71a | 13 | * Created: July 13th, 2014 |
kenjiArai | 7:f5c0fe6ed71a | 14 | * Revised: August 23rd, 2017 |
kenjiArai | 0:de66621e5370 | 15 | */ |
kenjiArai | 0:de66621e5370 | 16 | |
kenjiArai | 0:de66621e5370 | 17 | #ifndef L3GD20_GYRO_H |
kenjiArai | 0:de66621e5370 | 18 | #define L3GD20_GYRO_H |
kenjiArai | 0:de66621e5370 | 19 | |
kenjiArai | 0:de66621e5370 | 20 | #include "mbed.h" |
kenjiArai | 0:de66621e5370 | 21 | |
kenjiArai | 0:de66621e5370 | 22 | // L3G4200DMEMS Address |
kenjiArai | 0:de66621e5370 | 23 | // 7bit address = 0b110100x(0x68 or 0x69 depends on SA0/SDO) |
kenjiArai | 5:81fc00bd76fe | 24 | #define L3G4200D_G_CHIP_ADDR (0x68 << 1) // SA0(=SDO pin) = Ground |
kenjiArai | 5:81fc00bd76fe | 25 | #define L3G4200D_V_CHIP_ADDR (0x69 << 1) // SA0(=SDO pin) = Vdd |
kenjiArai | 0:de66621e5370 | 26 | // L3GD20MEMS Address |
kenjiArai | 0:de66621e5370 | 27 | // 7bit address = 0b110101x(0x6a or 0x6b depends on SA0/SDO) |
kenjiArai | 5:81fc00bd76fe | 28 | #define L3GD20_G_CHIP_ADDR (0x6a << 1) // SA0(=SDO pin) = Ground |
kenjiArai | 5:81fc00bd76fe | 29 | #define L3GD20_V_CHIP_ADDR (0x6b << 1) // SA0(=SDO pin) = Vdd |
kenjiArai | 0:de66621e5370 | 30 | |
kenjiArai | 0:de66621e5370 | 31 | // L3G4200DMEMS ID |
kenjiArai | 5:81fc00bd76fe | 32 | #define I_AM_L3G4200D 0xd3 |
kenjiArai | 0:de66621e5370 | 33 | // L3GD20MEMS ID |
kenjiArai | 5:81fc00bd76fe | 34 | #define I_AM_L3GD20 0xd4 |
kenjiArai | 0:de66621e5370 | 35 | |
kenjiArai | 0:de66621e5370 | 36 | // Register's definition |
kenjiArai | 0:de66621e5370 | 37 | #define L3GX_WHO_AM_I 0x0f |
kenjiArai | 0:de66621e5370 | 38 | #define L3GX_CTRL_REG1 0x20 |
kenjiArai | 0:de66621e5370 | 39 | #define L3GX_CTRL_REG2 0x21 |
kenjiArai | 0:de66621e5370 | 40 | #define L3GX_CTRL_REG3 0x22 |
kenjiArai | 0:de66621e5370 | 41 | #define L3GX_CTRL_REG4 0x23 |
kenjiArai | 0:de66621e5370 | 42 | #define L3GX_CTRL_REG5 0x24 |
kenjiArai | 0:de66621e5370 | 43 | #define L3GX_REFERENCE 0x25 |
kenjiArai | 0:de66621e5370 | 44 | #define L3GX_OUT_TEMP 0x26 |
kenjiArai | 0:de66621e5370 | 45 | #define L3GX_STATUS_REG 0x27 |
kenjiArai | 0:de66621e5370 | 46 | #define L3GX_OUT_X_L 0x28 |
kenjiArai | 0:de66621e5370 | 47 | #define L3GX_OUT_X_H 0x29 |
kenjiArai | 0:de66621e5370 | 48 | #define L3GX_OUT_Y_L 0x2a |
kenjiArai | 0:de66621e5370 | 49 | #define L3GX_OUT_Y_H 0x2b |
kenjiArai | 0:de66621e5370 | 50 | #define L3GX_OUT_Z_L 0x2c |
kenjiArai | 0:de66621e5370 | 51 | #define L3GX_OUT_Z_H 0x2d |
kenjiArai | 0:de66621e5370 | 52 | #define L3GX_FIFO_CTRL_REG 0x2e |
kenjiArai | 0:de66621e5370 | 53 | #define L3GX_FIFO_SRC_REG 0x2f |
kenjiArai | 0:de66621e5370 | 54 | #define L3GX_INT1_CFG 0x30 |
kenjiArai | 0:de66621e5370 | 55 | #define L3GX_INT1_SRC 0x31 |
kenjiArai | 0:de66621e5370 | 56 | #define L3GX_INT1_TSH_XH 0x32 |
kenjiArai | 0:de66621e5370 | 57 | #define L3GX_INT1_TSH_XL 0x33 |
kenjiArai | 0:de66621e5370 | 58 | #define L3GX_INT1_TSH_YH 0x34 |
kenjiArai | 0:de66621e5370 | 59 | #define L3GX_INT1_TSH_YL 0x35 |
kenjiArai | 0:de66621e5370 | 60 | #define L3GX_INT1_TSH_ZH 0x36 |
kenjiArai | 0:de66621e5370 | 61 | #define L3GX_INT1_TSH_ZL 0x37 |
kenjiArai | 0:de66621e5370 | 62 | #define L3GX_INT1_DURATION 0x38 |
kenjiArai | 0:de66621e5370 | 63 | |
kenjiArai | 0:de66621e5370 | 64 | // Output Data Rate (ODR) |
kenjiArai | 0:de66621e5370 | 65 | // L3G4200DMEMS |
kenjiArai | 0:de66621e5370 | 66 | #define L3GX_DR_100HZ 0 |
kenjiArai | 0:de66621e5370 | 67 | #define L3GX_DR_200HZ 1 |
kenjiArai | 0:de66621e5370 | 68 | #define L3GX_DR_400HZ 2 |
kenjiArai | 0:de66621e5370 | 69 | #define L3GX_DR_800HZ 3 |
kenjiArai | 0:de66621e5370 | 70 | // L3GD20MEMS |
kenjiArai | 0:de66621e5370 | 71 | #define L3GX_DR_95HZ 0 |
kenjiArai | 0:de66621e5370 | 72 | #define L3GX_DR_190HZ 1 |
kenjiArai | 0:de66621e5370 | 73 | #define L3GX_DR_380HZ 2 |
kenjiArai | 0:de66621e5370 | 74 | #define L3GX_DR_760HZ 3 |
kenjiArai | 0:de66621e5370 | 75 | |
kenjiArai | 0:de66621e5370 | 76 | // Bandwidth (Low pass) |
kenjiArai | 0:de66621e5370 | 77 | #define L3GX_BW_LOW 0 |
kenjiArai | 0:de66621e5370 | 78 | #define L3GX_BW_M_LOW 1 |
kenjiArai | 0:de66621e5370 | 79 | #define L3GX_BW_M_HI 2 |
kenjiArai | 0:de66621e5370 | 80 | #define L3GX_BW_HI 3 |
kenjiArai | 0:de66621e5370 | 81 | |
kenjiArai | 0:de66621e5370 | 82 | // Power-down mode enable/disable |
kenjiArai | 0:de66621e5370 | 83 | #define L3GX_PD_EN 0 |
kenjiArai | 0:de66621e5370 | 84 | #define L3GX_PD_DIS 1 |
kenjiArai | 0:de66621e5370 | 85 | |
kenjiArai | 0:de66621e5370 | 86 | // Axis control |
kenjiArai | 0:de66621e5370 | 87 | #define L3GX_X_EN 1 |
kenjiArai | 0:de66621e5370 | 88 | #define L3GX_X_DIS 0 |
kenjiArai | 0:de66621e5370 | 89 | #define L3GX_Y_EN 1 |
kenjiArai | 0:de66621e5370 | 90 | #define L3GX_Y_DIS 0 |
kenjiArai | 0:de66621e5370 | 91 | #define L3GX_Z_EN 1 |
kenjiArai | 0:de66621e5370 | 92 | #define L3GX_Z_DIS 0 |
kenjiArai | 0:de66621e5370 | 93 | |
kenjiArai | 0:de66621e5370 | 94 | // Full Scale |
kenjiArai | 0:de66621e5370 | 95 | #define L3GX_FS_250DPS 0 |
kenjiArai | 0:de66621e5370 | 96 | #define L3GX_FS_500DPS 1 |
kenjiArai | 0:de66621e5370 | 97 | #define L3GX_FS_2000DPS 2 |
kenjiArai | 0:de66621e5370 | 98 | |
kenjiArai | 0:de66621e5370 | 99 | //Convert from degrees to radians. |
kenjiArai | 0:de66621e5370 | 100 | #define toRadians(x) (x * 0.01745329252) |
kenjiArai | 0:de66621e5370 | 101 | //Convert from radians to degrees. |
kenjiArai | 0:de66621e5370 | 102 | #define toDegrees(x) (x * 57.2957795) |
kenjiArai | 0:de66621e5370 | 103 | |
kenjiArai | 0:de66621e5370 | 104 | /** Interface for STMicronics MEMS motion sensor: 3-axis digital gyroscope |
kenjiArai | 0:de66621e5370 | 105 | * Chip: L3GD20 (new one) and L3G4200 (old one) |
kenjiArai | 0:de66621e5370 | 106 | * |
kenjiArai | 0:de66621e5370 | 107 | * @code |
kenjiArai | 0:de66621e5370 | 108 | * #include "mbed.h" |
kenjiArai | 0:de66621e5370 | 109 | * |
kenjiArai | 0:de66621e5370 | 110 | * // I2C Communication |
kenjiArai | 0:de66621e5370 | 111 | * L3GX_GYRO gyro(p_sda, p_scl, chip_addr, datarate, bandwidth, fullscale); |
kenjiArai | 0:de66621e5370 | 112 | * // If you connected I2C line not only this device but also other devices, |
kenjiArai | 0:de66621e5370 | 113 | * // you need to declare following method. |
kenjiArai | 0:de66621e5370 | 114 | * I2C i2c(dp5,dp27); // SDA, SCL |
kenjiArai | 0:de66621e5370 | 115 | * L3GX_GYRO gyro(i2c, chip_addr, datarate, bandwidth, fullscale); |
kenjiArai | 0:de66621e5370 | 116 | * |
kenjiArai | 0:de66621e5370 | 117 | * int main() { |
kenjiArai | 0:de66621e5370 | 118 | * float f[3]; |
kenjiArai | 0:de66621e5370 | 119 | * int8_t t; |
kenjiArai | 0:de66621e5370 | 120 | * |
kenjiArai | 0:de66621e5370 | 121 | * if (gyro.read_id() == I_AM_L3G4200D){ |
kenjiArai | 0:de66621e5370 | 122 | * t = gyro.read_temp(); |
kenjiArai | 0:de66621e5370 | 123 | * gyro.read_data(f); |
kenjiArai | 0:de66621e5370 | 124 | * } |
kenjiArai | 0:de66621e5370 | 125 | * } |
kenjiArai | 0:de66621e5370 | 126 | * @endcode |
kenjiArai | 0:de66621e5370 | 127 | */ |
kenjiArai | 0:de66621e5370 | 128 | |
kenjiArai | 6:451811697299 | 129 | class L3GX_GYRO |
kenjiArai | 6:451811697299 | 130 | { |
kenjiArai | 0:de66621e5370 | 131 | public: |
kenjiArai | 0:de66621e5370 | 132 | /** Configure data pin |
kenjiArai | 0:de66621e5370 | 133 | * @param data SDA and SCL pins |
kenjiArai | 0:de66621e5370 | 134 | * @param device address L3G4200D(SA0=0 or 1) or L3GD20(SA0=0 or 1) |
kenjiArai | 0:de66621e5370 | 135 | * @param ->L3G4200D_G_CHIP_ADDR to L3GD20_V_CHIP_ADDR |
kenjiArai | 0:de66621e5370 | 136 | * @param output data rate selection, DR_100HZ/DR_95HZ to DR_800HZ/DR_760HZ |
kenjiArai | 0:de66621e5370 | 137 | * @param bandwidth selection, BW_LOW to BW_HI |
kenjiArai | 0:de66621e5370 | 138 | * @param full scale selection, FS_250DPS, FS_500DPS, FS_2000DPS |
kenjiArai | 0:de66621e5370 | 139 | */ |
kenjiArai | 0:de66621e5370 | 140 | L3GX_GYRO(PinName p_sda, PinName p_scl, |
kenjiArai | 6:451811697299 | 141 | uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale); |
kenjiArai | 5:81fc00bd76fe | 142 | |
kenjiArai | 5:81fc00bd76fe | 143 | /** Configure data pin |
kenjiArai | 5:81fc00bd76fe | 144 | * @param data SDA and SCL pins |
kenjiArai | 5:81fc00bd76fe | 145 | * @param device address L3G4200D(SA0=0 or 1) or L3GD20(SA0=0 or 1) |
kenjiArai | 5:81fc00bd76fe | 146 | * @param ->L3G4200D_G_CHIP_ADDR to L3GD20_V_CHIP_ADDR |
kenjiArai | 5:81fc00bd76fe | 147 | * @default output data rate selection = DR_100HZ/DR_95HZ |
kenjiArai | 5:81fc00bd76fe | 148 | * @default bandwidth selection = BW_HI |
kenjiArai | 5:81fc00bd76fe | 149 | * @default full scale selection = FS_250DPS |
kenjiArai | 5:81fc00bd76fe | 150 | */ |
kenjiArai | 5:81fc00bd76fe | 151 | L3GX_GYRO(PinName p_sda, PinName p_scl, uint8_t addr); |
kenjiArai | 6:451811697299 | 152 | |
kenjiArai | 0:de66621e5370 | 153 | /** Configure data pin (with other devices on I2C line) |
kenjiArai | 0:de66621e5370 | 154 | * @param I2C previous definition |
kenjiArai | 0:de66621e5370 | 155 | * @param other parameters -> please see L3GX_GYRO(PinName p_sda, PinName p_scl,...) |
kenjiArai | 0:de66621e5370 | 156 | */ |
kenjiArai | 0:de66621e5370 | 157 | L3GX_GYRO(I2C& p_i2c, |
kenjiArai | 6:451811697299 | 158 | uint8_t addr, uint8_t data_rate, uint8_t bandwidth, uint8_t fullscale); |
kenjiArai | 0:de66621e5370 | 159 | |
kenjiArai | 5:81fc00bd76fe | 160 | /** Configure data pin (with other devices on I2C line) |
kenjiArai | 5:81fc00bd76fe | 161 | * @param I2C previous definition |
kenjiArai | 5:81fc00bd76fe | 162 | * @param other parameters -> please see L3GX_GYRO(PinName p_sda, PinName p_scl,...) |
kenjiArai | 5:81fc00bd76fe | 163 | * @default output data rate selection = DR_100HZ/DR_95HZ |
kenjiArai | 5:81fc00bd76fe | 164 | * @default bandwidth selection = BW_HI |
kenjiArai | 5:81fc00bd76fe | 165 | * @default full scale selection = FS_250DPS |
kenjiArai | 5:81fc00bd76fe | 166 | */ |
kenjiArai | 5:81fc00bd76fe | 167 | L3GX_GYRO(I2C& p_i2c, uint8_t addr); |
kenjiArai | 5:81fc00bd76fe | 168 | |
kenjiArai | 0:de66621e5370 | 169 | /** Read a tow's complemet type data from Gyro |
kenjiArai | 0:de66621e5370 | 170 | * @param none |
kenjiArai | 0:de66621e5370 | 171 | * @return temperature unit:degreeC(Celsius) |
kenjiArai | 0:de66621e5370 | 172 | */ |
kenjiArai | 0:de66621e5370 | 173 | int8_t read_temp(); |
kenjiArai | 6:451811697299 | 174 | |
kenjiArai | 0:de66621e5370 | 175 | /** Read a float type data from Gyro |
kenjiArai | 5:81fc00bd76fe | 176 | * @param float type of three arry's address, e.g. float dt_usr[3]; |
kenjiArai | 0:de66621e5370 | 177 | * @return Gyro motion data unit in param array:dps(degree per second) |
kenjiArai | 6:451811697299 | 178 | * @return dt_usr[0]->x, dt_usr[1]->y, dt_usr[2]->z |
kenjiArai | 0:de66621e5370 | 179 | */ |
kenjiArai | 5:81fc00bd76fe | 180 | void read_data(float *dt_usr); |
kenjiArai | 6:451811697299 | 181 | |
kenjiArai | 0:de66621e5370 | 182 | /** Read a Gyro ID number |
kenjiArai | 0:de66621e5370 | 183 | * @param none |
kenjiArai | 0:de66621e5370 | 184 | * @return if STM MEMS Gyro, it should be I_AM_L3G4200D(0xd3) or I_AM_L3GD20(0xd4) |
kenjiArai | 0:de66621e5370 | 185 | */ |
kenjiArai | 0:de66621e5370 | 186 | uint8_t read_id(); |
kenjiArai | 0:de66621e5370 | 187 | |
kenjiArai | 0:de66621e5370 | 188 | /** Read Data Ready flag |
kenjiArai | 0:de66621e5370 | 189 | * @param none |
kenjiArai | 0:de66621e5370 | 190 | * @return 1 = Ready |
kenjiArai | 0:de66621e5370 | 191 | */ |
kenjiArai | 0:de66621e5370 | 192 | uint8_t data_ready(); |
kenjiArai | 0:de66621e5370 | 193 | |
kenjiArai | 1:9475fd0e35ff | 194 | /** Set I2C clock frequency |
kenjiArai | 1:9475fd0e35ff | 195 | * @param freq. |
kenjiArai | 1:9475fd0e35ff | 196 | * @return none |
kenjiArai | 1:9475fd0e35ff | 197 | */ |
kenjiArai | 1:9475fd0e35ff | 198 | void frequency(int hz); |
kenjiArai | 1:9475fd0e35ff | 199 | |
kenjiArai | 0:de66621e5370 | 200 | /** Read register (general purpose) |
kenjiArai | 0:de66621e5370 | 201 | * @param register's address |
kenjiArai | 0:de66621e5370 | 202 | * @return register data |
kenjiArai | 0:de66621e5370 | 203 | */ |
kenjiArai | 0:de66621e5370 | 204 | uint8_t read_reg(uint8_t addr); |
kenjiArai | 0:de66621e5370 | 205 | |
kenjiArai | 0:de66621e5370 | 206 | /** Write register (general purpose) |
kenjiArai | 0:de66621e5370 | 207 | * @param register's address |
kenjiArai | 0:de66621e5370 | 208 | * @param data |
kenjiArai | 0:de66621e5370 | 209 | * @return none |
kenjiArai | 0:de66621e5370 | 210 | */ |
kenjiArai | 0:de66621e5370 | 211 | void write_reg(uint8_t addr, uint8_t data); |
kenjiArai | 0:de66621e5370 | 212 | |
kenjiArai | 0:de66621e5370 | 213 | protected: |
kenjiArai | 0:de66621e5370 | 214 | void initialize(uint8_t, uint8_t, uint8_t, uint8_t); |
kenjiArai | 0:de66621e5370 | 215 | |
kenjiArai | 7:f5c0fe6ed71a | 216 | I2C *_i2c_p; |
kenjiArai | 7:f5c0fe6ed71a | 217 | I2C &_i2c; |
kenjiArai | 6:451811697299 | 218 | |
kenjiArai | 0:de66621e5370 | 219 | private: |
kenjiArai | 5:81fc00bd76fe | 220 | float fs_factor; // full scale factor |
kenjiArai | 5:81fc00bd76fe | 221 | char dt[2]; // working buffer |
kenjiArai | 0:de66621e5370 | 222 | uint8_t gyro_addr; // gyro sensor address |
kenjiArai | 0:de66621e5370 | 223 | uint8_t gyro_id; // gyro ID |
kenjiArai | 6:451811697299 | 224 | uint8_t gyro_ready; // gyro is on I2C line = 1, not = 0 |
kenjiArai | 0:de66621e5370 | 225 | }; |
kenjiArai | 0:de66621e5370 | 226 | |
kenjiArai | 0:de66621e5370 | 227 | #endif // L3GD20_GYRO_H |
kenjiArai | 7:f5c0fe6ed71a | 228 |