ITG3200 - | Mbed

Users » SED9008 » Code » ITG3200

ITG3200.cpp@0:f075e92ce8d2, 2012-06-01 (annotated)

Committer:: SED9008
Date:: Fri Jun 01 08:17:03 2012 +0000
Revision:: 0:f075e92ce8d2

Who changed what in which revision?

User	Revision	Line number	New contents of line
SED9008	0:f075e92ce8d2	1	/**
SED9008	0:f075e92ce8d2	2	* @author Aaron Berk
SED9008	0:f075e92ce8d2	3	*
SED9008	0:f075e92ce8d2	4	* @section LICENSE
SED9008	0:f075e92ce8d2	5	*
SED9008	0:f075e92ce8d2	6	* Copyright (c) 2010 ARM Limited
SED9008	0:f075e92ce8d2	7	*
SED9008	0:f075e92ce8d2	8	* Permission is hereby granted, free of charge, to any person obtaining a copy
SED9008	0:f075e92ce8d2	9	* of this software and associated documentation files (the "Software"), to deal
SED9008	0:f075e92ce8d2	10	* in the Software without restriction, including without limitation the rights
SED9008	0:f075e92ce8d2	11	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
SED9008	0:f075e92ce8d2	12	* copies of the Software, and to permit persons to whom the Software is
SED9008	0:f075e92ce8d2	13	* furnished to do so, subject to the following conditions:
SED9008	0:f075e92ce8d2	14	*
SED9008	0:f075e92ce8d2	15	* The above copyright notice and this permission notice shall be included in
SED9008	0:f075e92ce8d2	16	* all copies or substantial portions of the Software.
SED9008	0:f075e92ce8d2	17	*
SED9008	0:f075e92ce8d2	18	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
SED9008	0:f075e92ce8d2	19	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
SED9008	0:f075e92ce8d2	20	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
SED9008	0:f075e92ce8d2	21	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
SED9008	0:f075e92ce8d2	22	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
SED9008	0:f075e92ce8d2	23	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
SED9008	0:f075e92ce8d2	24	* THE SOFTWARE.
SED9008	0:f075e92ce8d2	25	*
SED9008	0:f075e92ce8d2	26	* @section DESCRIPTION
SED9008	0:f075e92ce8d2	27	*
SED9008	0:f075e92ce8d2	28	* ITG-3200 triple axis, digital interface, gyroscope.
SED9008	0:f075e92ce8d2	29	*
SED9008	0:f075e92ce8d2	30	* Datasheet:
SED9008	0:f075e92ce8d2	31	*
SED9008	0:f075e92ce8d2	32	* http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
SED9008	0:f075e92ce8d2	33	*/
SED9008	0:f075e92ce8d2	34
SED9008	0:f075e92ce8d2	35	/**
SED9008	0:f075e92ce8d2	36	* Includes
SED9008	0:f075e92ce8d2	37	*/
SED9008	0:f075e92ce8d2	38	#include "ITG3200.h"
SED9008	0:f075e92ce8d2	39
SED9008	0:f075e92ce8d2	40	ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
SED9008	0:f075e92ce8d2	41
SED9008	0:f075e92ce8d2	42	//400kHz, fast mode.
SED9008	0:f075e92ce8d2	43	i2c_.frequency(400000);
SED9008	0:f075e92ce8d2	44
SED9008	0:f075e92ce8d2	45	//Set FS_SEL to 0x03 for proper operation.
SED9008	0:f075e92ce8d2	46	//See datasheet for details.
SED9008	0:f075e92ce8d2	47	char tx[2];
SED9008	0:f075e92ce8d2	48	tx[0] = DLPF_FS_REG;
SED9008	0:f075e92ce8d2	49	//FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
SED9008	0:f075e92ce8d2	50	tx[1] = 0x03 << 3;
SED9008	0:f075e92ce8d2	51
SED9008	0:f075e92ce8d2	52	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
SED9008	0:f075e92ce8d2	53
SED9008	0:f075e92ce8d2	54	}
SED9008	0:f075e92ce8d2	55
SED9008	0:f075e92ce8d2	56	char ITG3200::getWhoAmI(void){
SED9008	0:f075e92ce8d2	57
SED9008	0:f075e92ce8d2	58	//WhoAmI Register address.
SED9008	0:f075e92ce8d2	59	char tx = WHO_AM_I_REG;
SED9008	0:f075e92ce8d2	60	char rx;
SED9008	0:f075e92ce8d2	61
SED9008	0:f075e92ce8d2	62	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	63
SED9008	0:f075e92ce8d2	64	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
SED9008	0:f075e92ce8d2	65
SED9008	0:f075e92ce8d2	66	return rx;
SED9008	0:f075e92ce8d2	67
SED9008	0:f075e92ce8d2	68	}
SED9008	0:f075e92ce8d2	69
SED9008	0:f075e92ce8d2	70	void ITG3200::setWhoAmI(char address){
SED9008	0:f075e92ce8d2	71
SED9008	0:f075e92ce8d2	72	char tx[2];
SED9008	0:f075e92ce8d2	73	tx[0] = WHO_AM_I_REG;
SED9008	0:f075e92ce8d2	74	tx[1] = address;
SED9008	0:f075e92ce8d2	75
SED9008	0:f075e92ce8d2	76	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
SED9008	0:f075e92ce8d2	77
SED9008	0:f075e92ce8d2	78	}
SED9008	0:f075e92ce8d2	79
SED9008	0:f075e92ce8d2	80	char ITG3200::getSampleRateDivider(void){
SED9008	0:f075e92ce8d2	81
SED9008	0:f075e92ce8d2	82	char tx = SMPLRT_DIV_REG;
SED9008	0:f075e92ce8d2	83	char rx;
SED9008	0:f075e92ce8d2	84
SED9008	0:f075e92ce8d2	85	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	86
SED9008	0:f075e92ce8d2	87	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
SED9008	0:f075e92ce8d2	88
SED9008	0:f075e92ce8d2	89	return rx;
SED9008	0:f075e92ce8d2	90
SED9008	0:f075e92ce8d2	91	}
SED9008	0:f075e92ce8d2	92
SED9008	0:f075e92ce8d2	93	void ITG3200::setSampleRateDivider(char divider){
SED9008	0:f075e92ce8d2	94
SED9008	0:f075e92ce8d2	95	char tx[2];
SED9008	0:f075e92ce8d2	96	tx[0] = SMPLRT_DIV_REG;
SED9008	0:f075e92ce8d2	97	tx[1] = divider;
SED9008	0:f075e92ce8d2	98
SED9008	0:f075e92ce8d2	99	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
SED9008	0:f075e92ce8d2	100
SED9008	0:f075e92ce8d2	101	}
SED9008	0:f075e92ce8d2	102
SED9008	0:f075e92ce8d2	103	int ITG3200::getInternalSampleRate(void){
SED9008	0:f075e92ce8d2	104
SED9008	0:f075e92ce8d2	105	char tx = DLPF_FS_REG;
SED9008	0:f075e92ce8d2	106	char rx;
SED9008	0:f075e92ce8d2	107
SED9008	0:f075e92ce8d2	108	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	109
SED9008	0:f075e92ce8d2	110	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
SED9008	0:f075e92ce8d2	111
SED9008	0:f075e92ce8d2	112	//DLPF_CFG == 0 -> sample rate = 8kHz.
SED9008	0:f075e92ce8d2	113	if(rx == 0){
SED9008	0:f075e92ce8d2	114	return 8;
SED9008	0:f075e92ce8d2	115	}
SED9008	0:f075e92ce8d2	116	//DLPF_CFG = 1..7 -> sample rate = 1kHz.
SED9008	0:f075e92ce8d2	117	else if(rx >= 1 && rx <= 7){
SED9008	0:f075e92ce8d2	118	return 1;
SED9008	0:f075e92ce8d2	119	}
SED9008	0:f075e92ce8d2	120	//DLPF_CFG = anything else -> something's wrong!
SED9008	0:f075e92ce8d2	121	else{
SED9008	0:f075e92ce8d2	122	return -1;
SED9008	0:f075e92ce8d2	123	}
SED9008	0:f075e92ce8d2	124
SED9008	0:f075e92ce8d2	125	}
SED9008	0:f075e92ce8d2	126
SED9008	0:f075e92ce8d2	127	void ITG3200::setLpBandwidth(char bandwidth){
SED9008	0:f075e92ce8d2	128
SED9008	0:f075e92ce8d2	129	char tx[2];
SED9008	0:f075e92ce8d2	130	tx[0] = DLPF_FS_REG;
SED9008	0:f075e92ce8d2	131	//Bits 4,3 are required to be 0x03 for proper operation.
SED9008	0:f075e92ce8d2	132	tx[1] = bandwidth \| (0x03 << 3);
SED9008	0:f075e92ce8d2	133
SED9008	0:f075e92ce8d2	134	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
SED9008	0:f075e92ce8d2	135
SED9008	0:f075e92ce8d2	136	}
SED9008	0:f075e92ce8d2	137
SED9008	0:f075e92ce8d2	138	char ITG3200::getInterruptConfiguration(void){
SED9008	0:f075e92ce8d2	139
SED9008	0:f075e92ce8d2	140	char tx = INT_CFG_REG;
SED9008	0:f075e92ce8d2	141	char rx;
SED9008	0:f075e92ce8d2	142
SED9008	0:f075e92ce8d2	143	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	144
SED9008	0:f075e92ce8d2	145	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
SED9008	0:f075e92ce8d2	146
SED9008	0:f075e92ce8d2	147	return rx;
SED9008	0:f075e92ce8d2	148
SED9008	0:f075e92ce8d2	149	}
SED9008	0:f075e92ce8d2	150
SED9008	0:f075e92ce8d2	151	void ITG3200::setInterruptConfiguration(char config){
SED9008	0:f075e92ce8d2	152
SED9008	0:f075e92ce8d2	153	char tx[2];
SED9008	0:f075e92ce8d2	154	tx[0] = INT_CFG_REG;
SED9008	0:f075e92ce8d2	155	tx[1] = config;
SED9008	0:f075e92ce8d2	156
SED9008	0:f075e92ce8d2	157	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
SED9008	0:f075e92ce8d2	158
SED9008	0:f075e92ce8d2	159	}
SED9008	0:f075e92ce8d2	160
SED9008	0:f075e92ce8d2	161	bool ITG3200::isPllReady(void){
SED9008	0:f075e92ce8d2	162
SED9008	0:f075e92ce8d2	163	char tx = INT_STATUS;
SED9008	0:f075e92ce8d2	164	char rx;
SED9008	0:f075e92ce8d2	165
SED9008	0:f075e92ce8d2	166	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	167
SED9008	0:f075e92ce8d2	168	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
SED9008	0:f075e92ce8d2	169
SED9008	0:f075e92ce8d2	170	//ITG_RDY bit is bit 4 of INT_STATUS register.
SED9008	0:f075e92ce8d2	171	if(rx & 0x04){
SED9008	0:f075e92ce8d2	172	return true;
SED9008	0:f075e92ce8d2	173	}
SED9008	0:f075e92ce8d2	174	else{
SED9008	0:f075e92ce8d2	175	return false;
SED9008	0:f075e92ce8d2	176	}
SED9008	0:f075e92ce8d2	177
SED9008	0:f075e92ce8d2	178	}
SED9008	0:f075e92ce8d2	179
SED9008	0:f075e92ce8d2	180	bool ITG3200::isRawDataReady(void){
SED9008	0:f075e92ce8d2	181
SED9008	0:f075e92ce8d2	182	char tx = INT_STATUS;
SED9008	0:f075e92ce8d2	183	char rx;
SED9008	0:f075e92ce8d2	184
SED9008	0:f075e92ce8d2	185	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	186
SED9008	0:f075e92ce8d2	187	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
SED9008	0:f075e92ce8d2	188
SED9008	0:f075e92ce8d2	189	//RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
SED9008	0:f075e92ce8d2	190	if(rx & 0x01){
SED9008	0:f075e92ce8d2	191	return true;
SED9008	0:f075e92ce8d2	192	}
SED9008	0:f075e92ce8d2	193	else{
SED9008	0:f075e92ce8d2	194	return false;
SED9008	0:f075e92ce8d2	195	}
SED9008	0:f075e92ce8d2	196
SED9008	0:f075e92ce8d2	197	}
SED9008	0:f075e92ce8d2	198
SED9008	0:f075e92ce8d2	199	float ITG3200::getTemperature(void){
SED9008	0:f075e92ce8d2	200
SED9008	0:f075e92ce8d2	201	char tx = TEMP_OUT_H_REG;
SED9008	0:f075e92ce8d2	202	char rx[2];
SED9008	0:f075e92ce8d2	203
SED9008	0:f075e92ce8d2	204	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	205
SED9008	0:f075e92ce8d2	206	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
SED9008	0:f075e92ce8d2	207
SED9008	0:f075e92ce8d2	208	int16_t temperature = ((int) rx[0] << 8) \| ((int) rx[1]);
SED9008	0:f075e92ce8d2	209	//Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
SED9008	0:f075e92ce8d2	210	return 35.0 + ((temperature + 13200)/280.0);
SED9008	0:f075e92ce8d2	211
SED9008	0:f075e92ce8d2	212	}
SED9008	0:f075e92ce8d2	213
SED9008	0:f075e92ce8d2	214	int ITG3200::getGyroX(void){
SED9008	0:f075e92ce8d2	215
SED9008	0:f075e92ce8d2	216	char tx = GYRO_XOUT_H_REG;
SED9008	0:f075e92ce8d2	217	char rx[2];
SED9008	0:f075e92ce8d2	218
SED9008	0:f075e92ce8d2	219	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	220
SED9008	0:f075e92ce8d2	221	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
SED9008	0:f075e92ce8d2	222
SED9008	0:f075e92ce8d2	223	int16_t output = ((int) rx[0] << 8) \| ((int) rx[1]);
SED9008	0:f075e92ce8d2	224
SED9008	0:f075e92ce8d2	225	return output;
SED9008	0:f075e92ce8d2	226
SED9008	0:f075e92ce8d2	227	}
SED9008	0:f075e92ce8d2	228
SED9008	0:f075e92ce8d2	229	int ITG3200::getGyroY(void){
SED9008	0:f075e92ce8d2	230
SED9008	0:f075e92ce8d2	231	char tx = GYRO_YOUT_H_REG;
SED9008	0:f075e92ce8d2	232	char rx[2];
SED9008	0:f075e92ce8d2	233
SED9008	0:f075e92ce8d2	234	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	235
SED9008	0:f075e92ce8d2	236	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
SED9008	0:f075e92ce8d2	237
SED9008	0:f075e92ce8d2	238	int16_t output = ((int) rx[0] << 8) \| ((int) rx[1]);
SED9008	0:f075e92ce8d2	239
SED9008	0:f075e92ce8d2	240	return output;
SED9008	0:f075e92ce8d2	241
SED9008	0:f075e92ce8d2	242	}
SED9008	0:f075e92ce8d2	243
SED9008	0:f075e92ce8d2	244	int ITG3200::getGyroZ(void){
SED9008	0:f075e92ce8d2	245
SED9008	0:f075e92ce8d2	246	char tx = GYRO_ZOUT_H_REG;
SED9008	0:f075e92ce8d2	247	char rx[2];
SED9008	0:f075e92ce8d2	248
SED9008	0:f075e92ce8d2	249	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	250
SED9008	0:f075e92ce8d2	251	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
SED9008	0:f075e92ce8d2	252
SED9008	0:f075e92ce8d2	253	int16_t output = ((int) rx[0] << 8) \| ((int) rx[1]);
SED9008	0:f075e92ce8d2	254
SED9008	0:f075e92ce8d2	255	return output;
SED9008	0:f075e92ce8d2	256
SED9008	0:f075e92ce8d2	257	}
SED9008	0:f075e92ce8d2	258
SED9008	0:f075e92ce8d2	259	char ITG3200::getPowerManagement(void){
SED9008	0:f075e92ce8d2	260
SED9008	0:f075e92ce8d2	261	char tx = PWR_MGM_REG;
SED9008	0:f075e92ce8d2	262	char rx;
SED9008	0:f075e92ce8d2	263
SED9008	0:f075e92ce8d2	264	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
SED9008	0:f075e92ce8d2	265
SED9008	0:f075e92ce8d2	266	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
SED9008	0:f075e92ce8d2	267
SED9008	0:f075e92ce8d2	268	return rx;
SED9008	0:f075e92ce8d2	269
SED9008	0:f075e92ce8d2	270	}
SED9008	0:f075e92ce8d2	271
SED9008	0:f075e92ce8d2	272	void ITG3200::setPowerManagement(char config){
SED9008	0:f075e92ce8d2	273
SED9008	0:f075e92ce8d2	274	char tx[2];
SED9008	0:f075e92ce8d2	275	tx[0] = PWR_MGM_REG;
SED9008	0:f075e92ce8d2	276	tx[1] = config;
SED9008	0:f075e92ce8d2	277
SED9008	0:f075e92ce8d2	278	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
SED9008	0:f075e92ce8d2	279
SED9008	0:f075e92ce8d2	280	}

Repository toolbox

Export to desktop IDE

Repository details

Type:	Library
Created:	01 Jun 2012
Imports:	4
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	0
Followers:	1

This repository is Public (Unlisted).

ITG3200.cpp@0:f075e92ce8d2, 2012-06-01 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning