123 lines
4.3 KiB
C++
123 lines
4.3 KiB
C++
// I2C device class (I2Cdev) demonstration Arduino sketch for L3GD20H class
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// 3/05/2015 by Nate Costello <natecostello at gmail dot com>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Changelog:
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// 2015-03-05 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2011 Jonathan Arnett, Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
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// is used in I2Cdev.h
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#include <Wire.h>
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// I2Cdev and L3GD20H must be installed as libraries, or else the .cpp/.h files
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// for both classes must be in the include path of your project
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#include <I2Cdev.h>
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#include <L3GD20H.h>
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// specific I2C address may be passed here
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L3GD20H gyro;
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int16_t avx, avy, avz;
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#define LED_PIN 13 // (Arduino is 13, Teensy is 6)
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bool blinkState = false;
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void setup() {
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// join I2C bus (I2Cdev library doesn't do this automatically)
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Wire.begin();
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// initialize serial communication
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Serial.begin(9600);
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// initialize device
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Serial.println("Initializing I2C devices...");
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gyro.initialize();
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// verify connection
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Serial.println("Testing device connections...");
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Serial.println(gyro.testConnection() ? "L3GD20H connection successful" : "L3GD20H connection failed");
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//test endian functions
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gyro.setEndianMode(not gyro.getEndianMode());
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Serial.print("EndianMode: ");
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Serial.print(gyro.getEndianMode());
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gyro.setEndianMode(not gyro.getEndianMode());
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Serial.print(" EndianMode: ");
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Serial.println(gyro.getEndianMode());
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// configure LED for output
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pinMode(LED_PIN, OUTPUT);
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// set scale to 250
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gyro.setFullScale(250);
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}
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void loop() {
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// read raw angular velocity measurements from device
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gyro.getAngularVelocity(&avx, &avy, &avz);
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// int16_t x_single = gyro.getAngularVelocityX();
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// int16_t y_single = gyro.getAngularVelocityY();
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// //read X memory address directly
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// uint8_t xval_l, xval_h;
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// uint8_t devAddress = 0x6B;
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// uint8_t regAddXL = 0x28;
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// uint8_t regAddXH = 0x29;
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// I2Cdev::readByte(devAddress, regAddXL, &xval_l);
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// I2Cdev::readByte(devAddress, regAddXH, &xval_h);
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// //read X memory addresses in single sequential
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// uint8_t data[2];
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// I2Cdev::readBytes(devAddress, regAddXL| 0x80, 2, data);
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// Serial.print("Direct Mem Read: Xl: ");
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// Serial.print(xval_l); Serial.print("\tXh: ");
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// Serial.print(xval_h); Serial.print("\t");
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// Serial.print("Direct readBytes data[0] data[1]: ");
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// Serial.print(data[0]); Serial.print("\t");
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// Serial.print(data[1]); Serial.print("\t");
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// Serial.print("Bitshifted: "); Serial.print((((int16_t)data[1]) << 8) | data[0]);
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Serial.print("angular velocity (dps):\t");
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Serial.print(avx*0.00875F,DEC); Serial.print("\t");
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Serial.print(avy*0.00875F,DEC); Serial.print("\t");
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Serial.print(avz*0.00875F,DEC); Serial.print("\t");
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// Serial.print(" x read only: "); Serial.print(x_single);
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// Serial.print(" y read only: "); Serial.println(y_single);
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Serial.println();
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// blink LED to indicate activity
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blinkState = !blinkState;
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digitalWrite(LED_PIN, blinkState);
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}
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