source: rtos_arduino/trunk/arduino_lib/libraries/ZumoShield/L3G.h@ 232

Last change on this file since 232 was 232, checked in by ertl-honda, 8 years ago

Zumo用ライブラリの追加
File size: 3.4 KB
Line 
1#ifndef L3G_h
2#define L3G_h
3
4#include <Arduino.h> // for byte data type
5
6class L3G
7{
8 public:
9 template <typename T> struct vector
10 {
11 T x, y, z;
12 };
13
14 enum deviceType { device_4200D, device_D20, device_D20H, device_auto };
15 enum sa0State { sa0_low, sa0_high, sa0_auto };
16
17 // register addresses
18 enum regAddr
19 {
20 WHO_AM_I = 0x0F,
21
22 CTRL1 = 0x20, // D20H
23 CTRL_REG1 = 0x20, // D20, 4200D
24 CTRL2 = 0x21, // D20H
25 CTRL_REG2 = 0x21, // D20, 4200D
26 CTRL3 = 0x22, // D20H
27 CTRL_REG3 = 0x22, // D20, 4200D
28 CTRL4 = 0x23, // D20H
29 CTRL_REG4 = 0x23, // D20, 4200D
30 CTRL5 = 0x24, // D20H
31 CTRL_REG5 = 0x24, // D20, 4200D
32 REFERENCE = 0x25,
33 OUT_TEMP = 0x26,
34 STATUS = 0x27, // D20H
35 STATUS_REG = 0x27, // D20, 4200D
36
37 OUT_X_L = 0x28,
38 OUT_X_H = 0x29,
39 OUT_Y_L = 0x2A,
40 OUT_Y_H = 0x2B,
41 OUT_Z_L = 0x2C,
42 OUT_Z_H = 0x2D,
43
44 FIFO_CTRL = 0x2E, // D20H
45 FIFO_CTRL_REG = 0x2E, // D20, 4200D
46 FIFO_SRC = 0x2F, // D20H
47 FIFO_SRC_REG = 0x2F, // D20, 4200D
48
49 IG_CFG = 0x30, // D20H
50 INT1_CFG = 0x30, // D20, 4200D
51 IG_SRC = 0x31, // D20H
52 INT1_SRC = 0x31, // D20, 4200D
53 IG_THS_XH = 0x32, // D20H
54 INT1_THS_XH = 0x32, // D20, 4200D
55 IG_THS_XL = 0x33, // D20H
56 INT1_THS_XL = 0x33, // D20, 4200D
57 IG_THS_YH = 0x34, // D20H
58 INT1_THS_YH = 0x34, // D20, 4200D
59 IG_THS_YL = 0x35, // D20H
60 INT1_THS_YL = 0x35, // D20, 4200D
61 IG_THS_ZH = 0x36, // D20H
62 INT1_THS_ZH = 0x36, // D20, 4200D
63 IG_THS_ZL = 0x37, // D20H
64 INT1_THS_ZL = 0x37, // D20, 4200D
65 IG_DURATION = 0x38, // D20H
66 INT1_DURATION = 0x38, // D20, 4200D
67
68 LOW_ODR = 0x39 // D20H
69 };
70
71 vector<int16_t> g; // gyro angular velocity readings
72
73 byte last_status; // status of last I2C transmission
74
75 L3G(void);
76
77 bool init(deviceType device = device_auto, sa0State sa0 = sa0_auto);
78 deviceType getDeviceType(void) { return _device; }
79
80 void enableDefault(void);
81
82 void writeReg(byte reg, byte value);
83 byte readReg(byte reg);
84
85 void read(void);
86
87 void setTimeout(unsigned int timeout);
88 unsigned int getTimeout(void);
89 bool timeoutOccurred(void);
90
91 // vector functions
92 template <typename Ta, typename Tb, typename To> static void vector_cross(const vector<Ta> *a, const vector<Tb> *b, vector<To> *out);
93 template <typename Ta, typename Tb> static float vector_dot(const vector<Ta> *a, const vector<Tb> *b);
94 static void vector_normalize(vector<float> *a);
95
96 private:
97 deviceType _device; // chip type (D20H, D20, or 4200D)
98 byte address;
99
100 unsigned int io_timeout;
101 bool did_timeout;
102
103 int testReg(byte address, regAddr reg);
104};
105
106template <typename Ta, typename Tb, typename To> void L3G::vector_cross(const vector<Ta> *a, const vector<Tb> *b, vector<To> *out)
107{
108 out->x = (a->y * b->z) - (a->z * b->y);
109 out->y = (a->z * b->x) - (a->x * b->z);
110 out->z = (a->x * b->y) - (a->y * b->x);
111}
112
113template <typename Ta, typename Tb> float L3G::vector_dot(const vector<Ta> *a, const vector<Tb> *b)
114{
115 return (a->x * b->x) + (a->y * b->y) + (a->z * b->z);
116}
117
118#endif
119
120
121
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