ITG3200.cpp

00001 /**
00002  * @author Aaron Berk
00003  *
00004  * @section LICENSE
00005  *
00006  * Copyright (c) 2010 ARM Limited
00007  *
00008  * Permission is hereby granted, free of charge, to any person obtaining a copy
00009  * of this software and associated documentation files (the "Software"), to deal
00010  * in the Software without restriction, including without limitation the rights
00011  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00012  * copies of the Software, and to permit persons to whom the Software is
00013  * furnished to do so, subject to the following conditions:
00014  *
00015  * The above copyright notice and this permission notice shall be included in
00016  * all copies or substantial portions of the Software.
00017  *
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00019  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00020  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00021  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00022  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00023  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00024  * THE SOFTWARE.
00025  *
00026  * @section DESCRIPTION
00027  *
00028  * ITG-3200 triple axis, digital interface, gyroscope.
00029  *
00030  * Datasheet:
00031  *
00032  * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
00033  */
00034 
00035 /**
00036  * Includes
00037  */
00038 
00039 
00040 #include "ITG3200.h"
00041  
00042 ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
00043  
00044 //400kHz, fast mode.
00045 i2c_.frequency(400000);
00046 //Set FS_SEL to 0x03 for proper operation.
00047 //See datasheet for details.
00048 char tx[2];
00049 tx[0] = DLPF_FS_REG;
00050 //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
00051 tx[1] = 0x03 << 3;
00052 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00053 }
00054 char ITG3200::getWhoAmI(void){
00055 //WhoAmI Register address.
00056 char tx = WHO_AM_I_REG;
00057 char rx;
00058 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00059 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00060 return rx;
00061 }
00062 void ITG3200::setWhoAmI(char address){
00063 char tx[2];
00064 tx[0] = WHO_AM_I_REG;
00065 tx[1] = address;
00066 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00067 }
00068 char ITG3200::getSampleRateDivider(void){
00069 char tx = SMPLRT_DIV_REG;
00070 char rx;
00071 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00072 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00073 return rx;
00074 }
00075 void ITG3200::setSampleRateDivider(char divider){
00076 char tx[2];
00077 tx[0] = SMPLRT_DIV_REG;
00078 tx[1] = divider;
00079 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00080 }
00081 int ITG3200::getInternalSampleRate(void){
00082 char tx = DLPF_FS_REG;
00083 char rx;
00084 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00085 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00086 //DLPF_CFG == 0 -> sample rate = 8kHz.
00087 if(rx == 0){
00088 return 8;
00089 } 
00090 //DLPF_CFG = 1..7 -> sample rate = 1kHz.
00091 else if(rx >= 1 && rx <= 7){
00092 return 1;
00093 }
00094 //DLPF_CFG = anything else -> something's wrong!
00095 else{
00096 return -1;
00097 }
00098 }
00099 void ITG3200::setLpBandwidth(char bandwidth){
00100 char tx[2];
00101 tx[0] = DLPF_FS_REG;
00102 //Bits 4,3 are required to be 0x03 for proper operation.
00103 tx[1] = bandwidth | (0x03 << 3);
00104 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00105 }
00106 char ITG3200::getInterruptConfiguration(void){
00107 char tx = INT_CFG_REG;
00108 char rx;
00109 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00110 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00111 return rx;
00112 }
00113 void ITG3200::setInterruptConfiguration(char config){
00114 char tx[2];
00115 tx[0] = INT_CFG_REG;
00116 tx[1] = config;
00117 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00118 }
00119 bool ITG3200::isPllReady(void){
00120 char tx = INT_STATUS;
00121 char rx;
00122 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00123 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00124 //ITG_RDY bit is bit 4 of INT_STATUS register.
00125 if(rx & 0x04){
00126 return true;
00127 }
00128 else{
00129 return false;
00130 }
00131 }
00132 bool ITG3200::isRawDataReady(void){
00133 char tx = INT_STATUS;
00134 char rx;
00135 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00136 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00137 //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
00138 if(rx & 0x01){
00139 return true;
00140 }
00141 else{
00142 return false;
00143 }
00144 }
00145 float ITG3200::getTemperature(void){
00146 char tx = TEMP_OUT_H_REG;
00147 char rx[2];
00148 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00149 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
00150 int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]);
00151 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
00152 return 35.0 + ((temperature + 13200)/280.0);
00153 }
00154 int ITG3200::getGyroX(void){
00155 char tx = GYRO_XOUT_H_REG;
00156 char rx[2];
00157 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00158 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
00159 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
00160 return output;
00161 }
00162 int ITG3200::getGyroY(void){
00163 char tx = GYRO_YOUT_H_REG;
00164 char rx[2];
00165 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00166 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
00167 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
00168 return output;
00169 }
00170 int ITG3200::getGyroZ(void){
00171 char tx = GYRO_ZOUT_H_REG;
00172 char rx[2];
00173 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00174 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
00175 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
00176 return output;
00177 }
00178 char ITG3200::getPowerManagement(void){
00179 char tx = PWR_MGM_REG;
00180 char rx;
00181 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00182 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00183 return rx;
00184 }
00185 void ITG3200::setPowerManagement(char config){
00186 char tx[2];
00187 tx[0] = PWR_MGM_REG;
00188 tx[1] = config;
00189 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00190 }
00191