Revision 0:b098d99dd81e, committed 2010-09-06

Comitter:

aberk

Date:

Mon Sep 06 13:49:59 2010 +0000

Commit message:

Changed output to raw ADC counts as opposed to a value in degrees/sec.

Changed in this revision

diff -r 000000000000 -r b098d99dd81e ITG3200.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.cpp	Mon Sep 06 13:49:59 2010 +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) {
+
+    //400kHz, fast mode.
+    i2c_.frequency(400000);
+    
+    //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);
+
+}

diff -r 000000000000 -r b098d99dd81e ITG3200.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.h	Mon Sep 06 13:49:59 2010 +0000
@@ -0,0 +1,339 @@
+/**
+ * @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
+ */
+
+#ifndef ITG3200_H
+#define ITG3200_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define ITG3200_I2C_ADDRESS 0x69 //7-bit address.
+
+//-----------
+// Registers
+//-----------
+#define WHO_AM_I_REG    0x00
+#define SMPLRT_DIV_REG  0x15
+#define DLPF_FS_REG     0x16
+#define INT_CFG_REG     0x17
+#define INT_STATUS      0x1A
+#define TEMP_OUT_H_REG  0x1B
+#define TEMP_OUT_L_REG  0x1C
+#define GYRO_XOUT_H_REG 0x1D
+#define GYRO_XOUT_L_REG 0x1E
+#define GYRO_YOUT_H_REG 0x1F
+#define GYRO_YOUT_L_REG 0x20
+#define GYRO_ZOUT_H_REG 0x21
+#define GYRO_ZOUT_L_REG 0x22
+#define PWR_MGM_REG     0x3E
+
+//----------------------------
+// Low Pass Filter Bandwidths
+//----------------------------
+#define LPFBW_256HZ 0x00
+#define LPFBW_188HZ 0x01
+#define LPFBW_98HZ  0x02
+#define LPFBW_42HZ  0x03
+#define LPFBW_20HZ  0x04
+#define LPFBW_10HZ  0x05
+#define LPFBW_5HZ   0x06
+
+/**
+ * ITG-3200 triple axis digital gyroscope.
+ */
+class ITG3200 {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * Sets FS_SEL to 0x03 for proper opertaion.
+     *
+     * @param sda - mbed pin to use for the SDA I2C line.
+     * @param scl - mbed pin to use for the SCL I2C line.
+     */
+    ITG3200(PinName sda, PinName scl);
+
+    /**
+     * Get the identity of the device.
+     *
+     * @return The contents of the Who Am I register which contains the I2C
+     *         address of the device.
+     */
+    char getWhoAmI(void);
+
+    /**
+     * Set the address of the device.
+     *
+     * @param address The I2C slave address to write to the Who Am I register
+     *        on the device.
+     */
+    void setWhoAmI(char address);
+
+    /**
+     * Get the sample rate divider.
+     *
+     * @return The sample rate divider as a number from 0-255.
+     */
+    char getSampleRateDivider(void);
+
+    /**
+     * Set the sample rate divider.
+     *
+     * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
+     * as decidied by the DLPF_FS register.
+     *
+     * @param The sample rate divider as a number from 0-255.
+     */
+    void setSampleRateDivider(char divider);
+
+    /**
+     * Get the internal sample rate.
+     *
+     * @return The internal sample rate in kHz - either 1 or 8.
+     */
+    int getInternalSampleRate(void);
+
+    /**
+     * Set the low pass filter bandwidth.
+     *
+     * Also used to set the internal sample rate.
+     * Pass the #define bandwidth codes as a parameter.
+     *
+     * 256Hz -> 8kHz internal sample rate.
+     * Everything else -> 1kHz internal rate.
+     *
+     * @param bandwidth Low pass filter bandwidth code
+     */
+    void setLpBandwidth(char bandwidth);
+
+    /**
+     * Get the interrupt configuration.
+     *
+     * See datasheet for register contents details.
+     *
+     *    7      6           5                 4
+     * +------+------+--------------+------------------+
+     * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
+     * +------+------+--------------+------------------+
+     *
+     *   3        2            1       0
+     * +---+------------+------------+---+
+     * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
+     * +---+------------+------------+---+
+     *
+     * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
+     * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
+     * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
+     *                          0 = 50us pulse.
+     * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
+     *                                      0 = status register read only.
+     * ITG_RDY_EN Enable interrupt when device is ready,
+     *            (PLL ready after changing clock source).
+     * RAW_RDY_EN Enable interrupt when data is available.
+     * 0 Bits 1 and 3 of the INT_CFG register should be zero.
+     *
+     * @return the contents of the INT_CFG register.
+     */
+    char getInterruptConfiguration(void);
+
+    /**
+     * Set the interrupt configuration.
+     *
+     * See datasheet for configuration byte details.
+     *
+     *    7      6           5                 4
+     * +------+------+--------------+------------------+
+     * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
+     * +------+------+--------------+------------------+
+     *
+     *   3        2            1       0
+     * +---+------------+------------+---+
+     * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
+     * +---+------------+------------+---+
+     *
+     * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
+     * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
+     * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
+     *                          0 = 50us pulse.
+     * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
+     *                                      0 = status register read only.
+     * ITG_RDY_EN Enable interrupt when device is ready,
+     *            (PLL ready after changing clock source).
+     * RAW_RDY_EN Enable interrupt when data is available.
+     * 0 Bits 1 and 3 of the INT_CFG register should be zero.
+     *
+     * @param config Configuration byte to write to INT_CFG register.
+     */
+    void setInterruptConfiguration(char config);
+
+    /**
+     * Check the ITG_RDY bit of the INT_STATUS register.
+     *
+     * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
+     *         false if the ITG_RDY bit is not set, corresponding to PLL not
+     *         ready.
+     */
+    bool isPllReady(void);
+
+    /**
+     * Check the RAW_DATA_RDY bit of the INT_STATUS register.
+     *
+     * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
+     *         in the sensor registers, false if the RAW_DATA_RDY bit is not
+     *         set, corresponding to no new data yet in the sensor registers.
+     */
+    bool isRawDataReady(void);
+
+    /**
+     * Get the temperature of the device.
+     *
+     * @return The temperature in degrees celsius.
+     */
+    float getTemperature(void);
+
+    /**
+     * Get the output for the x-axis gyroscope.
+     *
+     * Typical sensitivity is 14.375 LSB/(degrees/sec).
+     *
+     * @return The output on the x-axis in raw ADC counts.
+     */
+    int getGyroX(void);
+
+    /**
+     * Get the output for the y-axis gyroscope.
+     *
+     * Typical sensitivity is 14.375 LSB/(degrees/sec).
+     *
+     * @return The output on the y-axis in raw ADC counts.
+     */
+    int getGyroY(void);
+
+    /**
+     * Get the output on the z-axis gyroscope.
+     *
+     * Typical sensitivity is 14.375 LSB/(degrees/sec).
+     * 
+     * @return The output on the z-axis in raw ADC counts.
+     */
+    int getGyroZ(void);
+
+    /**
+     * Get the power management configuration.
+     *
+     * See the datasheet for register contents details.
+     *
+     *     7        6        5         4
+     * +---------+-------+---------+---------+
+     * | H_RESET | SLEEP | STBY_XG | STBY_YG |
+     * +---------+-------+---------+---------+
+     *
+     *      3          2         1          0
+     * +---------+----------+----------+----------+
+     * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
+     * +---------+----------+----------+----------+
+     *
+     * H_RESET Reset device and internal registers to the power-up-default settings.
+     * SLEEP Enable low power sleep mode.
+     * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
+     * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
+     * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
+     * CLK_SEL Select device clock source:
+     *
+     * CLK_SEL | Clock Source
+     * --------+--------------
+     *    0      Internal oscillator
+     *    1      PLL with X Gyro reference
+     *    2      PLL with Y Gyro reference
+     *    3      PLL with Z Gyro reference
+     *    4      PLL with external 32.768kHz reference
+     *    5      PLL with external 19.2MHz reference
+     *    6      Reserved
+     *    7      Reserved
+     *
+     * @return The contents of the PWR_MGM register.
+     */
+    char getPowerManagement(void);
+
+    /**
+     * Set power management configuration.
+     *
+     * See the datasheet for configuration byte details
+     *
+     *      7        6        5         4
+     * +---------+-------+---------+---------+
+     * | H_RESET | SLEEP | STBY_XG | STBY_YG |
+     * +---------+-------+---------+---------+
+     *
+     *      3          2         1          0
+     * +---------+----------+----------+----------+
+     * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
+     * +---------+----------+----------+----------+
+     *
+     * H_RESET Reset device and internal registers to the power-up-default settings.
+     * SLEEP Enable low power sleep mode.
+     * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
+     * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
+     * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
+     * CLK_SEL Select device clock source:
+     *
+     * CLK_SEL | Clock Source
+     * --------+--------------
+     *    0      Internal oscillator
+     *    1      PLL with X Gyro reference
+     *    2      PLL with Y Gyro reference
+     *    3      PLL with Z Gyro reference
+     *    4      PLL with external 32.768kHz reference
+     *    5      PLL with external 19.2MHz reference
+     *    6      Reserved
+     *    7      Reserved
+     *
+     * @param config The configuration byte to write to the PWR_MGM register.
+     */
+    void setPowerManagement(char config);
+
+private:
+
+    I2C i2c_;
+
+};
+
+#endif /* ITG3200_H */