Diff: ITG3200.cpp

Revision:

0:8967cbe04d96

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.cpp	Fri Oct 07 21:08:25 2011 +0000
@@ -0,0 +1,280 @@
+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * ITG-3200 triple axis, digital interface, gyroscope.
+ *
+ * Datasheet:
+ *
+ * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
+ */
+
+/**
+ * Includes
+ */
+#include "ITG3200.h"
+
+ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
+
+    //100kHz, mode.
+    i2c_.frequency(100000);
+    
+    //Set FS_SEL to 0x03 for proper operation.
+    //See datasheet for details.
+    char tx[2];
+    tx[0] = DLPF_FS_REG;
+    //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
+    tx[1] = 0x03 << 3;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+char ITG3200::getWhoAmI(void){
+
+    //WhoAmI Register address.
+    char tx = WHO_AM_I_REG;
+    char rx;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    return rx;
+
+}
+
+void ITG3200::setWhoAmI(char address){
+
+    char tx[2];
+    tx[0] = WHO_AM_I_REG;
+    tx[1] = address;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+char ITG3200::getSampleRateDivider(void){
+
+    char tx = SMPLRT_DIV_REG;
+    char rx;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+
+    return rx;
+
+}
+
+void ITG3200::setSampleRateDivider(char divider){
+
+    char tx[2];
+    tx[0] = SMPLRT_DIV_REG;
+    tx[1] = divider;
+
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+int ITG3200::getInternalSampleRate(void){
+
+    char tx = DLPF_FS_REG;
+    char rx;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    //DLPF_CFG == 0 -> sample rate = 8kHz.
+    if(rx == 0){
+        return 8;
+    } 
+    //DLPF_CFG = 1..7 -> sample rate = 1kHz.
+    else if(rx >= 1 && rx <= 7){
+        return 1;
+    }
+    //DLPF_CFG = anything else -> something's wrong!
+    else{
+        return -1;
+    }
+    
+}
+
+void ITG3200::setLpBandwidth(char bandwidth){
+
+    char tx[2];
+    tx[0] = DLPF_FS_REG;
+    //Bits 4,3 are required to be 0x03 for proper operation.
+    tx[1] = bandwidth | (0x03 << 3);
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+char ITG3200::getInterruptConfiguration(void){
+
+    char tx = INT_CFG_REG;
+    char rx;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    return rx;
+
+}
+
+void ITG3200::setInterruptConfiguration(char config){
+
+    char tx[2];
+    tx[0] = INT_CFG_REG;
+    tx[1] = config;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}
+
+bool ITG3200::isPllReady(void){
+
+    char tx = INT_STATUS;
+    char rx;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    //ITG_RDY bit is bit 4 of INT_STATUS register.
+    if(rx & 0x04){
+        return true;
+    }
+    else{
+        return false;
+    }
+    
+}
+
+bool ITG3200::isRawDataReady(void){
+
+    char tx = INT_STATUS;
+    char rx;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
+    if(rx & 0x01){
+        return true;
+    }
+    else{
+        return false;
+    }
+    
+}
+
+float ITG3200::getTemperature(void){
+
+    char tx = TEMP_OUT_H_REG;
+    char rx[2];
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
+    
+    int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]);
+    //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
+    return 35.0 + ((temperature + 13200)/280.0);
+    
+}
+
+int ITG3200::getGyroX(void){
+
+    char tx = GYRO_XOUT_H_REG;
+    char rx[2];
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
+    
+    int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+    return output;
+
+}
+
+int ITG3200::getGyroY(void){
+
+    char tx = GYRO_YOUT_H_REG;
+    char rx[2];
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
+    
+    int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+    return output;
+
+}
+
+int ITG3200::getGyroZ(void){
+
+    char tx = GYRO_ZOUT_H_REG;
+    char rx[2];
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
+    
+    int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
+
+    return output;
+    
+}
+
+char ITG3200::getPowerManagement(void){
+
+    char tx = PWR_MGM_REG;
+    char rx;
+    
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
+    
+    i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
+    
+    return rx;
+
+}
+
+void ITG3200::setPowerManagement(char config){
+
+    char tx[2];
+    tx[0] = PWR_MGM_REG;
+    tx[1] = config;
+
+    i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+
+}