104 lines
4.5 KiB
C++
104 lines
4.5 KiB
C++
/***************************************************
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This is a library for the L3GD20 GYROSCOPE
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Designed specifically to work with the Adafruit L3GD20 Breakout
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----> https://www.adafruit.com/products/1032
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These sensors use I2C or SPI to communicate, 2 pins (I2C)
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or 4 pins (SPI) are required to interface.
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Adafruit invests time and resources providing this open source code,
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please support Adafruit and open-source hardware by purchasing
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products from Adafruit!
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Written by Kevin "KTOWN" Townsend for Adafruit Industries.
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BSD license, all text above must be included in any redistribution
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****************************************************/
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#ifndef __L3GD20_H__
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#define __L3GD20_H__
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#if (ARDUINO >= 100)
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include "Adafruit_Sensor.h"
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#include <Wire.h>
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/*=========================================================================
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I2C ADDRESS/BITS AND SETTINGS
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-----------------------------------------------------------------------*/
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#define L3GD20_ADDRESS (0x6B) // 1101011
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#define L3GD20_POLL_TIMEOUT (100) // Maximum number of read attempts
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#define L3GD20_ID 0xD4
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#define L3GD20H_ID 0xD7
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#define GYRO_SENSITIVITY_250DPS (0.00875F) // Roughly 22/256 for fixed point match
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#define GYRO_SENSITIVITY_500DPS (0.0175F) // Roughly 45/256
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#define GYRO_SENSITIVITY_2000DPS (0.070F) // Roughly 18/256
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/*=========================================================================*/
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/*=========================================================================
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REGISTERS
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-----------------------------------------------------------------------*/
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typedef enum
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{ // DEFAULT TYPE
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GYRO_REGISTER_WHO_AM_I = 0x0F, // 11010100 r
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GYRO_REGISTER_CTRL_REG1 = 0x20, // 00000111 rw
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GYRO_REGISTER_CTRL_REG2 = 0x21, // 00000000 rw
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GYRO_REGISTER_CTRL_REG3 = 0x22, // 00000000 rw
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GYRO_REGISTER_CTRL_REG4 = 0x23, // 00000000 rw
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GYRO_REGISTER_CTRL_REG5 = 0x24, // 00000000 rw
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GYRO_REGISTER_REFERENCE = 0x25, // 00000000 rw
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GYRO_REGISTER_OUT_TEMP = 0x26, // r
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GYRO_REGISTER_STATUS_REG = 0x27, // r
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GYRO_REGISTER_OUT_X_L = 0x28, // r
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GYRO_REGISTER_OUT_X_H = 0x29, // r
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GYRO_REGISTER_OUT_Y_L = 0x2A, // r
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GYRO_REGISTER_OUT_Y_H = 0x2B, // r
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GYRO_REGISTER_OUT_Z_L = 0x2C, // r
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GYRO_REGISTER_OUT_Z_H = 0x2D, // r
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GYRO_REGISTER_FIFO_CTRL_REG = 0x2E, // 00000000 rw
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GYRO_REGISTER_FIFO_SRC_REG = 0x2F, // r
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GYRO_REGISTER_INT1_CFG = 0x30, // 00000000 rw
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GYRO_REGISTER_INT1_SRC = 0x31, // r
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GYRO_REGISTER_TSH_XH = 0x32, // 00000000 rw
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GYRO_REGISTER_TSH_XL = 0x33, // 00000000 rw
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GYRO_REGISTER_TSH_YH = 0x34, // 00000000 rw
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GYRO_REGISTER_TSH_YL = 0x35, // 00000000 rw
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GYRO_REGISTER_TSH_ZH = 0x36, // 00000000 rw
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GYRO_REGISTER_TSH_ZL = 0x37, // 00000000 rw
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GYRO_REGISTER_INT1_DURATION = 0x38 // 00000000 rw
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} gyroRegisters_t;
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/*=========================================================================*/
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/*=========================================================================
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OPTIONAL SPEED SETTINGS
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-----------------------------------------------------------------------*/
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typedef enum
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{
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GYRO_RANGE_250DPS = 250,
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GYRO_RANGE_500DPS = 500,
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GYRO_RANGE_2000DPS = 2000
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} gyroRange_t;
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/*=========================================================================*/
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class Adafruit_L3GD20_Unified : public Adafruit_Sensor
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{
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public:
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Adafruit_L3GD20_Unified(int32_t sensorID = -1);
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bool begin ( gyroRange_t rng = GYRO_RANGE_250DPS );
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void enableAutoRange ( bool enabled );
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bool getEvent ( sensors_event_t* );
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void getSensor ( sensor_t* );
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private:
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void write8 ( byte reg, byte value );
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byte read8 ( byte reg );
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gyroRange_t _range;
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int32_t _sensorID;
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bool _autoRangeEnabled;
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};
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#endif
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