ITG3200 Library as part of the 9DOF stick from Sparkfun.com
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ITG3200.cpp@0:8967cbe04d96, 2011-10-07 (annotated)
- Committer:
- Digixx
- Date:
- Fri Oct 07 21:08:25 2011 +0000
- Revision:
- 0:8967cbe04d96
Had to modify I2C address from 0x69 to 0x68 to use this Lib
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Digixx | 0:8967cbe04d96 | 1 | /** |
Digixx | 0:8967cbe04d96 | 2 | * @author Aaron Berk |
Digixx | 0:8967cbe04d96 | 3 | * |
Digixx | 0:8967cbe04d96 | 4 | * @section LICENSE |
Digixx | 0:8967cbe04d96 | 5 | * |
Digixx | 0:8967cbe04d96 | 6 | * Copyright (c) 2010 ARM Limited |
Digixx | 0:8967cbe04d96 | 7 | * |
Digixx | 0:8967cbe04d96 | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
Digixx | 0:8967cbe04d96 | 9 | * of this software and associated documentation files (the "Software"), to deal |
Digixx | 0:8967cbe04d96 | 10 | * in the Software without restriction, including without limitation the rights |
Digixx | 0:8967cbe04d96 | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
Digixx | 0:8967cbe04d96 | 12 | * copies of the Software, and to permit persons to whom the Software is |
Digixx | 0:8967cbe04d96 | 13 | * furnished to do so, subject to the following conditions: |
Digixx | 0:8967cbe04d96 | 14 | * |
Digixx | 0:8967cbe04d96 | 15 | * The above copyright notice and this permission notice shall be included in |
Digixx | 0:8967cbe04d96 | 16 | * all copies or substantial portions of the Software. |
Digixx | 0:8967cbe04d96 | 17 | * |
Digixx | 0:8967cbe04d96 | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
Digixx | 0:8967cbe04d96 | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
Digixx | 0:8967cbe04d96 | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
Digixx | 0:8967cbe04d96 | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
Digixx | 0:8967cbe04d96 | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
Digixx | 0:8967cbe04d96 | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
Digixx | 0:8967cbe04d96 | 24 | * THE SOFTWARE. |
Digixx | 0:8967cbe04d96 | 25 | * |
Digixx | 0:8967cbe04d96 | 26 | * @section DESCRIPTION |
Digixx | 0:8967cbe04d96 | 27 | * |
Digixx | 0:8967cbe04d96 | 28 | * ITG-3200 triple axis, digital interface, gyroscope. |
Digixx | 0:8967cbe04d96 | 29 | * |
Digixx | 0:8967cbe04d96 | 30 | * Datasheet: |
Digixx | 0:8967cbe04d96 | 31 | * |
Digixx | 0:8967cbe04d96 | 32 | * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf |
Digixx | 0:8967cbe04d96 | 33 | */ |
Digixx | 0:8967cbe04d96 | 34 | |
Digixx | 0:8967cbe04d96 | 35 | /** |
Digixx | 0:8967cbe04d96 | 36 | * Includes |
Digixx | 0:8967cbe04d96 | 37 | */ |
Digixx | 0:8967cbe04d96 | 38 | #include "ITG3200.h" |
Digixx | 0:8967cbe04d96 | 39 | |
Digixx | 0:8967cbe04d96 | 40 | ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) { |
Digixx | 0:8967cbe04d96 | 41 | |
Digixx | 0:8967cbe04d96 | 42 | //100kHz, mode. |
Digixx | 0:8967cbe04d96 | 43 | i2c_.frequency(100000); |
Digixx | 0:8967cbe04d96 | 44 | |
Digixx | 0:8967cbe04d96 | 45 | //Set FS_SEL to 0x03 for proper operation. |
Digixx | 0:8967cbe04d96 | 46 | //See datasheet for details. |
Digixx | 0:8967cbe04d96 | 47 | char tx[2]; |
Digixx | 0:8967cbe04d96 | 48 | tx[0] = DLPF_FS_REG; |
Digixx | 0:8967cbe04d96 | 49 | //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register. |
Digixx | 0:8967cbe04d96 | 50 | tx[1] = 0x03 << 3; |
Digixx | 0:8967cbe04d96 | 51 | |
Digixx | 0:8967cbe04d96 | 52 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
Digixx | 0:8967cbe04d96 | 53 | |
Digixx | 0:8967cbe04d96 | 54 | } |
Digixx | 0:8967cbe04d96 | 55 | |
Digixx | 0:8967cbe04d96 | 56 | char ITG3200::getWhoAmI(void){ |
Digixx | 0:8967cbe04d96 | 57 | |
Digixx | 0:8967cbe04d96 | 58 | //WhoAmI Register address. |
Digixx | 0:8967cbe04d96 | 59 | char tx = WHO_AM_I_REG; |
Digixx | 0:8967cbe04d96 | 60 | char rx; |
Digixx | 0:8967cbe04d96 | 61 | |
Digixx | 0:8967cbe04d96 | 62 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 63 | |
Digixx | 0:8967cbe04d96 | 64 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
Digixx | 0:8967cbe04d96 | 65 | |
Digixx | 0:8967cbe04d96 | 66 | return rx; |
Digixx | 0:8967cbe04d96 | 67 | |
Digixx | 0:8967cbe04d96 | 68 | } |
Digixx | 0:8967cbe04d96 | 69 | |
Digixx | 0:8967cbe04d96 | 70 | void ITG3200::setWhoAmI(char address){ |
Digixx | 0:8967cbe04d96 | 71 | |
Digixx | 0:8967cbe04d96 | 72 | char tx[2]; |
Digixx | 0:8967cbe04d96 | 73 | tx[0] = WHO_AM_I_REG; |
Digixx | 0:8967cbe04d96 | 74 | tx[1] = address; |
Digixx | 0:8967cbe04d96 | 75 | |
Digixx | 0:8967cbe04d96 | 76 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
Digixx | 0:8967cbe04d96 | 77 | |
Digixx | 0:8967cbe04d96 | 78 | } |
Digixx | 0:8967cbe04d96 | 79 | |
Digixx | 0:8967cbe04d96 | 80 | char ITG3200::getSampleRateDivider(void){ |
Digixx | 0:8967cbe04d96 | 81 | |
Digixx | 0:8967cbe04d96 | 82 | char tx = SMPLRT_DIV_REG; |
Digixx | 0:8967cbe04d96 | 83 | char rx; |
Digixx | 0:8967cbe04d96 | 84 | |
Digixx | 0:8967cbe04d96 | 85 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 86 | |
Digixx | 0:8967cbe04d96 | 87 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
Digixx | 0:8967cbe04d96 | 88 | |
Digixx | 0:8967cbe04d96 | 89 | return rx; |
Digixx | 0:8967cbe04d96 | 90 | |
Digixx | 0:8967cbe04d96 | 91 | } |
Digixx | 0:8967cbe04d96 | 92 | |
Digixx | 0:8967cbe04d96 | 93 | void ITG3200::setSampleRateDivider(char divider){ |
Digixx | 0:8967cbe04d96 | 94 | |
Digixx | 0:8967cbe04d96 | 95 | char tx[2]; |
Digixx | 0:8967cbe04d96 | 96 | tx[0] = SMPLRT_DIV_REG; |
Digixx | 0:8967cbe04d96 | 97 | tx[1] = divider; |
Digixx | 0:8967cbe04d96 | 98 | |
Digixx | 0:8967cbe04d96 | 99 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
Digixx | 0:8967cbe04d96 | 100 | |
Digixx | 0:8967cbe04d96 | 101 | } |
Digixx | 0:8967cbe04d96 | 102 | |
Digixx | 0:8967cbe04d96 | 103 | int ITG3200::getInternalSampleRate(void){ |
Digixx | 0:8967cbe04d96 | 104 | |
Digixx | 0:8967cbe04d96 | 105 | char tx = DLPF_FS_REG; |
Digixx | 0:8967cbe04d96 | 106 | char rx; |
Digixx | 0:8967cbe04d96 | 107 | |
Digixx | 0:8967cbe04d96 | 108 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 109 | |
Digixx | 0:8967cbe04d96 | 110 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
Digixx | 0:8967cbe04d96 | 111 | |
Digixx | 0:8967cbe04d96 | 112 | //DLPF_CFG == 0 -> sample rate = 8kHz. |
Digixx | 0:8967cbe04d96 | 113 | if(rx == 0){ |
Digixx | 0:8967cbe04d96 | 114 | return 8; |
Digixx | 0:8967cbe04d96 | 115 | } |
Digixx | 0:8967cbe04d96 | 116 | //DLPF_CFG = 1..7 -> sample rate = 1kHz. |
Digixx | 0:8967cbe04d96 | 117 | else if(rx >= 1 && rx <= 7){ |
Digixx | 0:8967cbe04d96 | 118 | return 1; |
Digixx | 0:8967cbe04d96 | 119 | } |
Digixx | 0:8967cbe04d96 | 120 | //DLPF_CFG = anything else -> something's wrong! |
Digixx | 0:8967cbe04d96 | 121 | else{ |
Digixx | 0:8967cbe04d96 | 122 | return -1; |
Digixx | 0:8967cbe04d96 | 123 | } |
Digixx | 0:8967cbe04d96 | 124 | |
Digixx | 0:8967cbe04d96 | 125 | } |
Digixx | 0:8967cbe04d96 | 126 | |
Digixx | 0:8967cbe04d96 | 127 | void ITG3200::setLpBandwidth(char bandwidth){ |
Digixx | 0:8967cbe04d96 | 128 | |
Digixx | 0:8967cbe04d96 | 129 | char tx[2]; |
Digixx | 0:8967cbe04d96 | 130 | tx[0] = DLPF_FS_REG; |
Digixx | 0:8967cbe04d96 | 131 | //Bits 4,3 are required to be 0x03 for proper operation. |
Digixx | 0:8967cbe04d96 | 132 | tx[1] = bandwidth | (0x03 << 3); |
Digixx | 0:8967cbe04d96 | 133 | |
Digixx | 0:8967cbe04d96 | 134 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
Digixx | 0:8967cbe04d96 | 135 | |
Digixx | 0:8967cbe04d96 | 136 | } |
Digixx | 0:8967cbe04d96 | 137 | |
Digixx | 0:8967cbe04d96 | 138 | char ITG3200::getInterruptConfiguration(void){ |
Digixx | 0:8967cbe04d96 | 139 | |
Digixx | 0:8967cbe04d96 | 140 | char tx = INT_CFG_REG; |
Digixx | 0:8967cbe04d96 | 141 | char rx; |
Digixx | 0:8967cbe04d96 | 142 | |
Digixx | 0:8967cbe04d96 | 143 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 144 | |
Digixx | 0:8967cbe04d96 | 145 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
Digixx | 0:8967cbe04d96 | 146 | |
Digixx | 0:8967cbe04d96 | 147 | return rx; |
Digixx | 0:8967cbe04d96 | 148 | |
Digixx | 0:8967cbe04d96 | 149 | } |
Digixx | 0:8967cbe04d96 | 150 | |
Digixx | 0:8967cbe04d96 | 151 | void ITG3200::setInterruptConfiguration(char config){ |
Digixx | 0:8967cbe04d96 | 152 | |
Digixx | 0:8967cbe04d96 | 153 | char tx[2]; |
Digixx | 0:8967cbe04d96 | 154 | tx[0] = INT_CFG_REG; |
Digixx | 0:8967cbe04d96 | 155 | tx[1] = config; |
Digixx | 0:8967cbe04d96 | 156 | |
Digixx | 0:8967cbe04d96 | 157 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
Digixx | 0:8967cbe04d96 | 158 | |
Digixx | 0:8967cbe04d96 | 159 | } |
Digixx | 0:8967cbe04d96 | 160 | |
Digixx | 0:8967cbe04d96 | 161 | bool ITG3200::isPllReady(void){ |
Digixx | 0:8967cbe04d96 | 162 | |
Digixx | 0:8967cbe04d96 | 163 | char tx = INT_STATUS; |
Digixx | 0:8967cbe04d96 | 164 | char rx; |
Digixx | 0:8967cbe04d96 | 165 | |
Digixx | 0:8967cbe04d96 | 166 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 167 | |
Digixx | 0:8967cbe04d96 | 168 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
Digixx | 0:8967cbe04d96 | 169 | |
Digixx | 0:8967cbe04d96 | 170 | //ITG_RDY bit is bit 4 of INT_STATUS register. |
Digixx | 0:8967cbe04d96 | 171 | if(rx & 0x04){ |
Digixx | 0:8967cbe04d96 | 172 | return true; |
Digixx | 0:8967cbe04d96 | 173 | } |
Digixx | 0:8967cbe04d96 | 174 | else{ |
Digixx | 0:8967cbe04d96 | 175 | return false; |
Digixx | 0:8967cbe04d96 | 176 | } |
Digixx | 0:8967cbe04d96 | 177 | |
Digixx | 0:8967cbe04d96 | 178 | } |
Digixx | 0:8967cbe04d96 | 179 | |
Digixx | 0:8967cbe04d96 | 180 | bool ITG3200::isRawDataReady(void){ |
Digixx | 0:8967cbe04d96 | 181 | |
Digixx | 0:8967cbe04d96 | 182 | char tx = INT_STATUS; |
Digixx | 0:8967cbe04d96 | 183 | char rx; |
Digixx | 0:8967cbe04d96 | 184 | |
Digixx | 0:8967cbe04d96 | 185 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 186 | |
Digixx | 0:8967cbe04d96 | 187 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
Digixx | 0:8967cbe04d96 | 188 | |
Digixx | 0:8967cbe04d96 | 189 | //RAW_DATA_RDY bit is bit 1 of INT_STATUS register. |
Digixx | 0:8967cbe04d96 | 190 | if(rx & 0x01){ |
Digixx | 0:8967cbe04d96 | 191 | return true; |
Digixx | 0:8967cbe04d96 | 192 | } |
Digixx | 0:8967cbe04d96 | 193 | else{ |
Digixx | 0:8967cbe04d96 | 194 | return false; |
Digixx | 0:8967cbe04d96 | 195 | } |
Digixx | 0:8967cbe04d96 | 196 | |
Digixx | 0:8967cbe04d96 | 197 | } |
Digixx | 0:8967cbe04d96 | 198 | |
Digixx | 0:8967cbe04d96 | 199 | float ITG3200::getTemperature(void){ |
Digixx | 0:8967cbe04d96 | 200 | |
Digixx | 0:8967cbe04d96 | 201 | char tx = TEMP_OUT_H_REG; |
Digixx | 0:8967cbe04d96 | 202 | char rx[2]; |
Digixx | 0:8967cbe04d96 | 203 | |
Digixx | 0:8967cbe04d96 | 204 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 205 | |
Digixx | 0:8967cbe04d96 | 206 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
Digixx | 0:8967cbe04d96 | 207 | |
Digixx | 0:8967cbe04d96 | 208 | int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]); |
Digixx | 0:8967cbe04d96 | 209 | //Offset = -35 degrees, 13200 counts. 280 counts/degrees C. |
Digixx | 0:8967cbe04d96 | 210 | return 35.0 + ((temperature + 13200)/280.0); |
Digixx | 0:8967cbe04d96 | 211 | |
Digixx | 0:8967cbe04d96 | 212 | } |
Digixx | 0:8967cbe04d96 | 213 | |
Digixx | 0:8967cbe04d96 | 214 | int ITG3200::getGyroX(void){ |
Digixx | 0:8967cbe04d96 | 215 | |
Digixx | 0:8967cbe04d96 | 216 | char tx = GYRO_XOUT_H_REG; |
Digixx | 0:8967cbe04d96 | 217 | char rx[2]; |
Digixx | 0:8967cbe04d96 | 218 | |
Digixx | 0:8967cbe04d96 | 219 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 220 | |
Digixx | 0:8967cbe04d96 | 221 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
Digixx | 0:8967cbe04d96 | 222 | |
Digixx | 0:8967cbe04d96 | 223 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
Digixx | 0:8967cbe04d96 | 224 | |
Digixx | 0:8967cbe04d96 | 225 | return output; |
Digixx | 0:8967cbe04d96 | 226 | |
Digixx | 0:8967cbe04d96 | 227 | } |
Digixx | 0:8967cbe04d96 | 228 | |
Digixx | 0:8967cbe04d96 | 229 | int ITG3200::getGyroY(void){ |
Digixx | 0:8967cbe04d96 | 230 | |
Digixx | 0:8967cbe04d96 | 231 | char tx = GYRO_YOUT_H_REG; |
Digixx | 0:8967cbe04d96 | 232 | char rx[2]; |
Digixx | 0:8967cbe04d96 | 233 | |
Digixx | 0:8967cbe04d96 | 234 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 235 | |
Digixx | 0:8967cbe04d96 | 236 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
Digixx | 0:8967cbe04d96 | 237 | |
Digixx | 0:8967cbe04d96 | 238 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
Digixx | 0:8967cbe04d96 | 239 | |
Digixx | 0:8967cbe04d96 | 240 | return output; |
Digixx | 0:8967cbe04d96 | 241 | |
Digixx | 0:8967cbe04d96 | 242 | } |
Digixx | 0:8967cbe04d96 | 243 | |
Digixx | 0:8967cbe04d96 | 244 | int ITG3200::getGyroZ(void){ |
Digixx | 0:8967cbe04d96 | 245 | |
Digixx | 0:8967cbe04d96 | 246 | char tx = GYRO_ZOUT_H_REG; |
Digixx | 0:8967cbe04d96 | 247 | char rx[2]; |
Digixx | 0:8967cbe04d96 | 248 | |
Digixx | 0:8967cbe04d96 | 249 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 250 | |
Digixx | 0:8967cbe04d96 | 251 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
Digixx | 0:8967cbe04d96 | 252 | |
Digixx | 0:8967cbe04d96 | 253 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
Digixx | 0:8967cbe04d96 | 254 | |
Digixx | 0:8967cbe04d96 | 255 | return output; |
Digixx | 0:8967cbe04d96 | 256 | |
Digixx | 0:8967cbe04d96 | 257 | } |
Digixx | 0:8967cbe04d96 | 258 | |
Digixx | 0:8967cbe04d96 | 259 | char ITG3200::getPowerManagement(void){ |
Digixx | 0:8967cbe04d96 | 260 | |
Digixx | 0:8967cbe04d96 | 261 | char tx = PWR_MGM_REG; |
Digixx | 0:8967cbe04d96 | 262 | char rx; |
Digixx | 0:8967cbe04d96 | 263 | |
Digixx | 0:8967cbe04d96 | 264 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
Digixx | 0:8967cbe04d96 | 265 | |
Digixx | 0:8967cbe04d96 | 266 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
Digixx | 0:8967cbe04d96 | 267 | |
Digixx | 0:8967cbe04d96 | 268 | return rx; |
Digixx | 0:8967cbe04d96 | 269 | |
Digixx | 0:8967cbe04d96 | 270 | } |
Digixx | 0:8967cbe04d96 | 271 | |
Digixx | 0:8967cbe04d96 | 272 | void ITG3200::setPowerManagement(char config){ |
Digixx | 0:8967cbe04d96 | 273 | |
Digixx | 0:8967cbe04d96 | 274 | char tx[2]; |
Digixx | 0:8967cbe04d96 | 275 | tx[0] = PWR_MGM_REG; |
Digixx | 0:8967cbe04d96 | 276 | tx[1] = config; |
Digixx | 0:8967cbe04d96 | 277 | |
Digixx | 0:8967cbe04d96 | 278 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
Digixx | 0:8967cbe04d96 | 279 | |
Digixx | 0:8967cbe04d96 | 280 | } |