Revision 0:012badc736c0, committed 2019-12-17

Comitter:

brunostgr

Date:

Tue Dec 17 17:49:17 2019 +0000

Commit message:

Asdf

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.cpp	Tue Dec 17 17:49:17 2019 +0000
@@ -0,0 +1,114 @@
+
+/**
+ * Includes
+ */
+#include "ITG3200.h"
+
+ITG3200::ITG3200(PinName sda, PinName scl, int i2cAddressW, int i2cAddressR) {
+
+    i2c = new I2C(sda, scl);
+    // Gyro designed to work at 400KHz. See datasheet for details.
+    i2c->frequency(100000);
+    i2cAddW = i2cAddressW;
+    i2cAddR = i2cAddressR;   
+
+}
+
+void ITG3200::Init(void){
+    wait_ms(50);    // Temps necessaire pour le demarrage du gyro     
+    char registerNumber[2] = {0x16,0x18};
+    char test = 0x3E;
+    char registerContents[1] = {};
+    i2c->write(i2cAddW, registerNumber, 2);
+    
+    i2c->write(i2cAddW, &test, 1);
+    i2c->read(i2cAddR, registerContents, 1);
+    registerContents[0] = registerContents[0] | 0x02;
+    i2c->write(i2cAddW, &registerContents[0], 1);
+}
+
+int ITG3200::GetX(void){
+
+    char registerNumber = GYRO_XOUT_H;
+    char registerContents[2] = {0x00, 0x00};
+    
+    //First, send the number of register we wish to read,
+    //in this case, register numbers 2, 3, which hold the
+    //compass bearing as a 16-bit word.
+    i2c->write(i2cAddW, &registerNumber, 1);
+    
+    //Now read two bytes which will be the contents of
+    //these registers.
+    i2c->read(i2cAddR, registerContents, 2);
+    
+    //Register 2 [read first], was the high byte, followed by
+    //register 3 [read second], which was the low byte.
+
+    return (int16_t)((registerContents[0] << 8) | registerContents[1]);
+    
+}
+
+int ITG3200::GetY(void){
+    
+    char registerNumber = GYRO_YOUT_H;
+    char registerContents[2] = {0x00, 0x00};
+    
+    //First, send the number of register we wish to read,
+    //in this case, register numbers 2, 3, which hold the
+    //compass bearing as a 16-bit word.
+    i2c->write(i2cAddW, &registerNumber, 1);
+    
+    //Now read two bytes which will be the contents of
+    //these registers.
+    i2c->read(i2cAddR, registerContents, 2);
+    
+    //Register 2 [read first], was the high byte, followed by
+    //register 3 [read second], which was the low byte.
+
+    return (int16_t)((registerContents[0] << 8) | registerContents[1]);
+
+}
+    
+int ITG3200::GetZ(void){
+    
+    char registerNumber = GYRO_ZOUT_H;
+    char registerContents[2] = {0x00, 0x00};
+    
+    //First, send the number of register we wish to read,
+    //in this case, register numbers 2, 3, which hold the
+    //compass bearing as a 16-bit word.
+    i2c->write(i2cAddW, &registerNumber, 1);
+    
+    //Now read two bytes which will be the contents of
+    //these registers.
+    i2c->read(i2cAddR, registerContents, 2);
+    
+    //Register 2 [read first], was the high byte, followed by
+    //register 3 [read second], which was the low byte.
+    
+    return (int16_t)((registerContents[0] << 8) | registerContents[1]);
+
+}
+
+int ITG3200::GetTemp(void){
+    
+    char registerNumber = GYRO_TEMP_H;
+    char registerContents[2] = {0x00, 0x00};
+    uint16_t temp;
+    //First, send the number of register we wish to read,
+    //in this case, register numbers 2, 3, which hold the
+    //compass bearing as a 16-bit word.
+    i2c->write(i2cAddW, &registerNumber, 1);
+    
+    //Now read two bytes which will be the contents of
+    //these registers.
+    i2c->read(i2cAddR, registerContents, 2);
+    
+    //Register 2 [read first], was the high byte, followed by
+    //register 3 [read second], which was the low byte.
+
+    temp = (int16_t)((registerContents[0] << 8) | registerContents[1]);
+    temp = (temp / 280) - 150;      // 280LSB / °C - offset du capteur
+    return temp;
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.h	Tue Dec 17 17:49:17 2019 +0000
@@ -0,0 +1,80 @@
+
+
+#ifndef ITG3200_H
+#define ITG3200_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define ITG3200_DEFAULT_I2C_ADDRESS 0b11010000
+
+//-----------
+// Registers
+//-----------
+#define GYRO_XOUT_H 0x1D
+#define GYRO_YOUT_H 0x1F
+#define GYRO_ZOUT_H 0x21
+#define GYRO_TEMP_H 0x1B
+
+/**
+ * ITG3200 digital compass module.
+ */
+class ITG3200 {
+
+    I2C* i2c;
+    int  i2cAddW,i2cAddR;
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * @param sda mbed pin to use for I2C SDA
+     * @param scl mbed pin to use for I2C SCL
+     * @param address I2C address of this device.
+     */
+    ITG3200(PinName sda, PinName scl, int i2cAddressW, int i2cAddressR);
+
+    void Init(void);
+
+
+    /** 
+     * Reads the current X-axis rotational rate(roll) of the gyroscope.
+     *
+     * @return roll integer.
+     *         
+     */
+    int GetX(void);
+    
+    /**
+     * Reads the current Y-axis rotational rate(pitch) of the gyroscope.
+     *
+     * @return pitch integer.
+     *         
+     */
+    int GetY(void);
+    
+    /**
+     * Reads the current Z-axis rotational rate(yaw) of the gyroscope.
+     *
+     * @return yaw integer.
+     *         
+     */
+    int GetZ(void);
+    
+    /**
+     * Reads the current temperature of the gyroscope's die.
+     *
+     * @return temperature integer.
+     *         
+     */
+    int GetTemp(void);
+
+};
+
+#endif /* ITG3200_H */