ITG-3200 triple axis, digital gyroscope library.
Fork of ITG3200 by
ITG3200.cpp@1:a7de0a03922a, 2013-08-26 (annotated)
- Committer:
- SED9008
- Date:
- Mon Aug 26 20:06:03 2013 +0000
- Revision:
- 1:a7de0a03922a
- Parent:
- 0:b098d99dd81e
okay
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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aberk | 0:b098d99dd81e | 1 | /** |
aberk | 0:b098d99dd81e | 2 | * @author Aaron Berk |
aberk | 0:b098d99dd81e | 3 | * |
aberk | 0:b098d99dd81e | 4 | * @section LICENSE |
aberk | 0:b098d99dd81e | 5 | * |
aberk | 0:b098d99dd81e | 6 | * Copyright (c) 2010 ARM Limited |
aberk | 0:b098d99dd81e | 7 | * |
aberk | 0:b098d99dd81e | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
aberk | 0:b098d99dd81e | 9 | * of this software and associated documentation files (the "Software"), to deal |
aberk | 0:b098d99dd81e | 10 | * in the Software without restriction, including without limitation the rights |
aberk | 0:b098d99dd81e | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
aberk | 0:b098d99dd81e | 12 | * copies of the Software, and to permit persons to whom the Software is |
aberk | 0:b098d99dd81e | 13 | * furnished to do so, subject to the following conditions: |
aberk | 0:b098d99dd81e | 14 | * |
aberk | 0:b098d99dd81e | 15 | * The above copyright notice and this permission notice shall be included in |
aberk | 0:b098d99dd81e | 16 | * all copies or substantial portions of the Software. |
aberk | 0:b098d99dd81e | 17 | * |
aberk | 0:b098d99dd81e | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
aberk | 0:b098d99dd81e | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
aberk | 0:b098d99dd81e | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
aberk | 0:b098d99dd81e | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
aberk | 0:b098d99dd81e | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
aberk | 0:b098d99dd81e | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
aberk | 0:b098d99dd81e | 24 | * THE SOFTWARE. |
aberk | 0:b098d99dd81e | 25 | * |
aberk | 0:b098d99dd81e | 26 | * @section DESCRIPTION |
aberk | 0:b098d99dd81e | 27 | * |
aberk | 0:b098d99dd81e | 28 | * ITG-3200 triple axis, digital interface, gyroscope. |
aberk | 0:b098d99dd81e | 29 | * |
aberk | 0:b098d99dd81e | 30 | * Datasheet: |
aberk | 0:b098d99dd81e | 31 | * |
aberk | 0:b098d99dd81e | 32 | * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf |
aberk | 0:b098d99dd81e | 33 | */ |
aberk | 0:b098d99dd81e | 34 | |
aberk | 0:b098d99dd81e | 35 | /** |
aberk | 0:b098d99dd81e | 36 | * Includes |
aberk | 0:b098d99dd81e | 37 | */ |
aberk | 0:b098d99dd81e | 38 | #include "ITG3200.h" |
aberk | 0:b098d99dd81e | 39 | |
aberk | 0:b098d99dd81e | 40 | ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) { |
aberk | 0:b098d99dd81e | 41 | |
aberk | 0:b098d99dd81e | 42 | //400kHz, fast mode. |
aberk | 0:b098d99dd81e | 43 | i2c_.frequency(400000); |
aberk | 0:b098d99dd81e | 44 | |
aberk | 0:b098d99dd81e | 45 | //Set FS_SEL to 0x03 for proper operation. |
aberk | 0:b098d99dd81e | 46 | //See datasheet for details. |
aberk | 0:b098d99dd81e | 47 | char tx[2]; |
aberk | 0:b098d99dd81e | 48 | tx[0] = DLPF_FS_REG; |
aberk | 0:b098d99dd81e | 49 | //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register. |
aberk | 0:b098d99dd81e | 50 | tx[1] = 0x03 << 3; |
aberk | 0:b098d99dd81e | 51 | |
aberk | 0:b098d99dd81e | 52 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 53 | |
aberk | 0:b098d99dd81e | 54 | } |
aberk | 0:b098d99dd81e | 55 | |
aberk | 0:b098d99dd81e | 56 | char ITG3200::getWhoAmI(void){ |
aberk | 0:b098d99dd81e | 57 | |
aberk | 0:b098d99dd81e | 58 | //WhoAmI Register address. |
aberk | 0:b098d99dd81e | 59 | char tx = WHO_AM_I_REG; |
aberk | 0:b098d99dd81e | 60 | char rx; |
aberk | 0:b098d99dd81e | 61 | |
aberk | 0:b098d99dd81e | 62 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 63 | |
aberk | 0:b098d99dd81e | 64 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 65 | |
aberk | 0:b098d99dd81e | 66 | return rx; |
aberk | 0:b098d99dd81e | 67 | |
aberk | 0:b098d99dd81e | 68 | } |
aberk | 0:b098d99dd81e | 69 | |
aberk | 0:b098d99dd81e | 70 | void ITG3200::setWhoAmI(char address){ |
aberk | 0:b098d99dd81e | 71 | |
aberk | 0:b098d99dd81e | 72 | char tx[2]; |
aberk | 0:b098d99dd81e | 73 | tx[0] = WHO_AM_I_REG; |
aberk | 0:b098d99dd81e | 74 | tx[1] = address; |
aberk | 0:b098d99dd81e | 75 | |
aberk | 0:b098d99dd81e | 76 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 77 | |
aberk | 0:b098d99dd81e | 78 | } |
aberk | 0:b098d99dd81e | 79 | |
aberk | 0:b098d99dd81e | 80 | char ITG3200::getSampleRateDivider(void){ |
aberk | 0:b098d99dd81e | 81 | |
aberk | 0:b098d99dd81e | 82 | char tx = SMPLRT_DIV_REG; |
aberk | 0:b098d99dd81e | 83 | char rx; |
aberk | 0:b098d99dd81e | 84 | |
aberk | 0:b098d99dd81e | 85 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 86 | |
aberk | 0:b098d99dd81e | 87 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 88 | |
aberk | 0:b098d99dd81e | 89 | return rx; |
aberk | 0:b098d99dd81e | 90 | |
aberk | 0:b098d99dd81e | 91 | } |
aberk | 0:b098d99dd81e | 92 | |
aberk | 0:b098d99dd81e | 93 | void ITG3200::setSampleRateDivider(char divider){ |
aberk | 0:b098d99dd81e | 94 | |
aberk | 0:b098d99dd81e | 95 | char tx[2]; |
aberk | 0:b098d99dd81e | 96 | tx[0] = SMPLRT_DIV_REG; |
aberk | 0:b098d99dd81e | 97 | tx[1] = divider; |
aberk | 0:b098d99dd81e | 98 | |
aberk | 0:b098d99dd81e | 99 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 100 | |
aberk | 0:b098d99dd81e | 101 | } |
aberk | 0:b098d99dd81e | 102 | |
aberk | 0:b098d99dd81e | 103 | int ITG3200::getInternalSampleRate(void){ |
aberk | 0:b098d99dd81e | 104 | |
aberk | 0:b098d99dd81e | 105 | char tx = DLPF_FS_REG; |
aberk | 0:b098d99dd81e | 106 | char rx; |
aberk | 0:b098d99dd81e | 107 | |
aberk | 0:b098d99dd81e | 108 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 109 | |
aberk | 0:b098d99dd81e | 110 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 111 | |
aberk | 0:b098d99dd81e | 112 | //DLPF_CFG == 0 -> sample rate = 8kHz. |
aberk | 0:b098d99dd81e | 113 | if(rx == 0){ |
aberk | 0:b098d99dd81e | 114 | return 8; |
aberk | 0:b098d99dd81e | 115 | } |
aberk | 0:b098d99dd81e | 116 | //DLPF_CFG = 1..7 -> sample rate = 1kHz. |
aberk | 0:b098d99dd81e | 117 | else if(rx >= 1 && rx <= 7){ |
aberk | 0:b098d99dd81e | 118 | return 1; |
aberk | 0:b098d99dd81e | 119 | } |
aberk | 0:b098d99dd81e | 120 | //DLPF_CFG = anything else -> something's wrong! |
aberk | 0:b098d99dd81e | 121 | else{ |
aberk | 0:b098d99dd81e | 122 | return -1; |
aberk | 0:b098d99dd81e | 123 | } |
aberk | 0:b098d99dd81e | 124 | |
aberk | 0:b098d99dd81e | 125 | } |
aberk | 0:b098d99dd81e | 126 | |
aberk | 0:b098d99dd81e | 127 | void ITG3200::setLpBandwidth(char bandwidth){ |
aberk | 0:b098d99dd81e | 128 | |
aberk | 0:b098d99dd81e | 129 | char tx[2]; |
aberk | 0:b098d99dd81e | 130 | tx[0] = DLPF_FS_REG; |
aberk | 0:b098d99dd81e | 131 | //Bits 4,3 are required to be 0x03 for proper operation. |
aberk | 0:b098d99dd81e | 132 | tx[1] = bandwidth | (0x03 << 3); |
aberk | 0:b098d99dd81e | 133 | |
aberk | 0:b098d99dd81e | 134 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 135 | |
aberk | 0:b098d99dd81e | 136 | } |
aberk | 0:b098d99dd81e | 137 | |
aberk | 0:b098d99dd81e | 138 | char ITG3200::getInterruptConfiguration(void){ |
aberk | 0:b098d99dd81e | 139 | |
aberk | 0:b098d99dd81e | 140 | char tx = INT_CFG_REG; |
aberk | 0:b098d99dd81e | 141 | char rx; |
aberk | 0:b098d99dd81e | 142 | |
aberk | 0:b098d99dd81e | 143 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 144 | |
aberk | 0:b098d99dd81e | 145 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 146 | |
aberk | 0:b098d99dd81e | 147 | return rx; |
aberk | 0:b098d99dd81e | 148 | |
aberk | 0:b098d99dd81e | 149 | } |
aberk | 0:b098d99dd81e | 150 | |
aberk | 0:b098d99dd81e | 151 | void ITG3200::setInterruptConfiguration(char config){ |
aberk | 0:b098d99dd81e | 152 | |
aberk | 0:b098d99dd81e | 153 | char tx[2]; |
aberk | 0:b098d99dd81e | 154 | tx[0] = INT_CFG_REG; |
aberk | 0:b098d99dd81e | 155 | tx[1] = config; |
aberk | 0:b098d99dd81e | 156 | |
aberk | 0:b098d99dd81e | 157 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 158 | |
aberk | 0:b098d99dd81e | 159 | } |
aberk | 0:b098d99dd81e | 160 | |
aberk | 0:b098d99dd81e | 161 | bool ITG3200::isPllReady(void){ |
aberk | 0:b098d99dd81e | 162 | |
aberk | 0:b098d99dd81e | 163 | char tx = INT_STATUS; |
aberk | 0:b098d99dd81e | 164 | char rx; |
aberk | 0:b098d99dd81e | 165 | |
aberk | 0:b098d99dd81e | 166 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 167 | |
aberk | 0:b098d99dd81e | 168 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 169 | |
aberk | 0:b098d99dd81e | 170 | //ITG_RDY bit is bit 4 of INT_STATUS register. |
aberk | 0:b098d99dd81e | 171 | if(rx & 0x04){ |
aberk | 0:b098d99dd81e | 172 | return true; |
aberk | 0:b098d99dd81e | 173 | } |
aberk | 0:b098d99dd81e | 174 | else{ |
aberk | 0:b098d99dd81e | 175 | return false; |
aberk | 0:b098d99dd81e | 176 | } |
aberk | 0:b098d99dd81e | 177 | |
aberk | 0:b098d99dd81e | 178 | } |
aberk | 0:b098d99dd81e | 179 | |
aberk | 0:b098d99dd81e | 180 | bool ITG3200::isRawDataReady(void){ |
aberk | 0:b098d99dd81e | 181 | |
aberk | 0:b098d99dd81e | 182 | char tx = INT_STATUS; |
aberk | 0:b098d99dd81e | 183 | char rx; |
aberk | 0:b098d99dd81e | 184 | |
aberk | 0:b098d99dd81e | 185 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 186 | |
aberk | 0:b098d99dd81e | 187 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 188 | |
aberk | 0:b098d99dd81e | 189 | //RAW_DATA_RDY bit is bit 1 of INT_STATUS register. |
aberk | 0:b098d99dd81e | 190 | if(rx & 0x01){ |
aberk | 0:b098d99dd81e | 191 | return true; |
aberk | 0:b098d99dd81e | 192 | } |
aberk | 0:b098d99dd81e | 193 | else{ |
aberk | 0:b098d99dd81e | 194 | return false; |
aberk | 0:b098d99dd81e | 195 | } |
aberk | 0:b098d99dd81e | 196 | |
aberk | 0:b098d99dd81e | 197 | } |
aberk | 0:b098d99dd81e | 198 | |
aberk | 0:b098d99dd81e | 199 | float ITG3200::getTemperature(void){ |
aberk | 0:b098d99dd81e | 200 | |
aberk | 0:b098d99dd81e | 201 | char tx = TEMP_OUT_H_REG; |
aberk | 0:b098d99dd81e | 202 | char rx[2]; |
aberk | 0:b098d99dd81e | 203 | |
aberk | 0:b098d99dd81e | 204 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 205 | |
aberk | 0:b098d99dd81e | 206 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
aberk | 0:b098d99dd81e | 207 | |
aberk | 0:b098d99dd81e | 208 | int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]); |
aberk | 0:b098d99dd81e | 209 | //Offset = -35 degrees, 13200 counts. 280 counts/degrees C. |
aberk | 0:b098d99dd81e | 210 | return 35.0 + ((temperature + 13200)/280.0); |
aberk | 0:b098d99dd81e | 211 | |
aberk | 0:b098d99dd81e | 212 | } |
aberk | 0:b098d99dd81e | 213 | |
aberk | 0:b098d99dd81e | 214 | int ITG3200::getGyroX(void){ |
aberk | 0:b098d99dd81e | 215 | |
aberk | 0:b098d99dd81e | 216 | char tx = GYRO_XOUT_H_REG; |
aberk | 0:b098d99dd81e | 217 | char rx[2]; |
aberk | 0:b098d99dd81e | 218 | |
aberk | 0:b098d99dd81e | 219 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 220 | |
aberk | 0:b098d99dd81e | 221 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
aberk | 0:b098d99dd81e | 222 | |
aberk | 0:b098d99dd81e | 223 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
aberk | 0:b098d99dd81e | 224 | |
aberk | 0:b098d99dd81e | 225 | return output; |
aberk | 0:b098d99dd81e | 226 | |
aberk | 0:b098d99dd81e | 227 | } |
aberk | 0:b098d99dd81e | 228 | |
aberk | 0:b098d99dd81e | 229 | int ITG3200::getGyroY(void){ |
aberk | 0:b098d99dd81e | 230 | |
aberk | 0:b098d99dd81e | 231 | char tx = GYRO_YOUT_H_REG; |
aberk | 0:b098d99dd81e | 232 | char rx[2]; |
aberk | 0:b098d99dd81e | 233 | |
aberk | 0:b098d99dd81e | 234 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 235 | |
aberk | 0:b098d99dd81e | 236 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
aberk | 0:b098d99dd81e | 237 | |
aberk | 0:b098d99dd81e | 238 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
aberk | 0:b098d99dd81e | 239 | |
aberk | 0:b098d99dd81e | 240 | return output; |
aberk | 0:b098d99dd81e | 241 | |
aberk | 0:b098d99dd81e | 242 | } |
aberk | 0:b098d99dd81e | 243 | |
aberk | 0:b098d99dd81e | 244 | int ITG3200::getGyroZ(void){ |
aberk | 0:b098d99dd81e | 245 | |
aberk | 0:b098d99dd81e | 246 | char tx = GYRO_ZOUT_H_REG; |
aberk | 0:b098d99dd81e | 247 | char rx[2]; |
aberk | 0:b098d99dd81e | 248 | |
aberk | 0:b098d99dd81e | 249 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 250 | |
aberk | 0:b098d99dd81e | 251 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
aberk | 0:b098d99dd81e | 252 | |
aberk | 0:b098d99dd81e | 253 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
aberk | 0:b098d99dd81e | 254 | |
aberk | 0:b098d99dd81e | 255 | return output; |
aberk | 0:b098d99dd81e | 256 | |
aberk | 0:b098d99dd81e | 257 | } |
aberk | 0:b098d99dd81e | 258 | |
aberk | 0:b098d99dd81e | 259 | char ITG3200::getPowerManagement(void){ |
aberk | 0:b098d99dd81e | 260 | |
aberk | 0:b098d99dd81e | 261 | char tx = PWR_MGM_REG; |
aberk | 0:b098d99dd81e | 262 | char rx; |
aberk | 0:b098d99dd81e | 263 | |
aberk | 0:b098d99dd81e | 264 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 265 | |
aberk | 0:b098d99dd81e | 266 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 267 | |
aberk | 0:b098d99dd81e | 268 | return rx; |
aberk | 0:b098d99dd81e | 269 | |
aberk | 0:b098d99dd81e | 270 | } |
aberk | 0:b098d99dd81e | 271 | |
aberk | 0:b098d99dd81e | 272 | void ITG3200::setPowerManagement(char config){ |
aberk | 0:b098d99dd81e | 273 | |
aberk | 0:b098d99dd81e | 274 | char tx[2]; |
aberk | 0:b098d99dd81e | 275 | tx[0] = PWR_MGM_REG; |
aberk | 0:b098d99dd81e | 276 | tx[1] = config; |
aberk | 0:b098d99dd81e | 277 | |
aberk | 0:b098d99dd81e | 278 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 279 | |
aberk | 0:b098d99dd81e | 280 | } |