Dependents: IMU DataLogger AcceptanceTest P4_IMU
ITG3200.cpp@0:03dd788f437f, 2010-11-12 (annotated)
- Committer:
- atommota
- Date:
- Fri Nov 12 23:40:58 2010 +0000
- Revision:
- 0:03dd788f437f
updated version of ITG3200 library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
atommota | 0:03dd788f437f | 1 | /** |
atommota | 0:03dd788f437f | 2 | * @section LICENSE |
atommota | 0:03dd788f437f | 3 | * |
atommota | 0:03dd788f437f | 4 | * Copyright (c) 2010 ARM Limited |
atommota | 0:03dd788f437f | 5 | * |
atommota | 0:03dd788f437f | 6 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
atommota | 0:03dd788f437f | 7 | * of this software and associated documentation files (the "Software"), to deal |
atommota | 0:03dd788f437f | 8 | * in the Software without restriction, including without limitation the rights |
atommota | 0:03dd788f437f | 9 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
atommota | 0:03dd788f437f | 10 | * copies of the Software, and to permit persons to whom the Software is |
atommota | 0:03dd788f437f | 11 | * furnished to do so, subject to the following conditions: |
atommota | 0:03dd788f437f | 12 | * |
atommota | 0:03dd788f437f | 13 | * The above copyright notice and this permission notice shall be included in |
atommota | 0:03dd788f437f | 14 | * all copies or substantial portions of the Software. |
atommota | 0:03dd788f437f | 15 | * |
atommota | 0:03dd788f437f | 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
atommota | 0:03dd788f437f | 17 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
atommota | 0:03dd788f437f | 18 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
atommota | 0:03dd788f437f | 19 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
atommota | 0:03dd788f437f | 20 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
atommota | 0:03dd788f437f | 21 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
atommota | 0:03dd788f437f | 22 | * THE SOFTWARE. |
atommota | 0:03dd788f437f | 23 | * |
atommota | 0:03dd788f437f | 24 | * @section DESCRIPTION |
atommota | 0:03dd788f437f | 25 | * |
atommota | 0:03dd788f437f | 26 | * ITG-3200 triple axis, digital interface, gyroscope. |
atommota | 0:03dd788f437f | 27 | * |
atommota | 0:03dd788f437f | 28 | * Datasheet: |
atommota | 0:03dd788f437f | 29 | * |
atommota | 0:03dd788f437f | 30 | * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf |
atommota | 0:03dd788f437f | 31 | */ |
atommota | 0:03dd788f437f | 32 | |
atommota | 0:03dd788f437f | 33 | /** |
atommota | 0:03dd788f437f | 34 | * Includes |
atommota | 0:03dd788f437f | 35 | */ |
atommota | 0:03dd788f437f | 36 | #include "ITG3200.h" |
atommota | 0:03dd788f437f | 37 | |
atommota | 0:03dd788f437f | 38 | ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) { |
atommota | 0:03dd788f437f | 39 | |
atommota | 0:03dd788f437f | 40 | //400kHz, fast mode. |
atommota | 0:03dd788f437f | 41 | i2c_.frequency(400000); |
atommota | 0:03dd788f437f | 42 | |
atommota | 0:03dd788f437f | 43 | //Set FS_SEL to 0x03 for proper operation. |
atommota | 0:03dd788f437f | 44 | //See datasheet for details. |
atommota | 0:03dd788f437f | 45 | char tx[2]; |
atommota | 0:03dd788f437f | 46 | tx[0] = DLPF_FS_REG; |
atommota | 0:03dd788f437f | 47 | //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register. |
atommota | 0:03dd788f437f | 48 | tx[1] = 0x03 << 3; |
atommota | 0:03dd788f437f | 49 | |
atommota | 0:03dd788f437f | 50 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 0:03dd788f437f | 51 | |
atommota | 0:03dd788f437f | 52 | } |
atommota | 0:03dd788f437f | 53 | |
atommota | 0:03dd788f437f | 54 | char ITG3200::getWhoAmI(void){ |
atommota | 0:03dd788f437f | 55 | |
atommota | 0:03dd788f437f | 56 | //WhoAmI Register address. |
atommota | 0:03dd788f437f | 57 | char tx = WHO_AM_I_REG; |
atommota | 0:03dd788f437f | 58 | char rx; |
atommota | 0:03dd788f437f | 59 | |
atommota | 0:03dd788f437f | 60 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 61 | |
atommota | 0:03dd788f437f | 62 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 0:03dd788f437f | 63 | |
atommota | 0:03dd788f437f | 64 | return rx; |
atommota | 0:03dd788f437f | 65 | |
atommota | 0:03dd788f437f | 66 | } |
atommota | 0:03dd788f437f | 67 | |
atommota | 0:03dd788f437f | 68 | void ITG3200::setWhoAmI(char address){ |
atommota | 0:03dd788f437f | 69 | |
atommota | 0:03dd788f437f | 70 | char tx[2]; |
atommota | 0:03dd788f437f | 71 | tx[0] = WHO_AM_I_REG; |
atommota | 0:03dd788f437f | 72 | tx[1] = address; |
atommota | 0:03dd788f437f | 73 | |
atommota | 0:03dd788f437f | 74 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 0:03dd788f437f | 75 | |
atommota | 0:03dd788f437f | 76 | } |
atommota | 0:03dd788f437f | 77 | |
atommota | 0:03dd788f437f | 78 | char ITG3200::getSampleRateDivider(void){ |
atommota | 0:03dd788f437f | 79 | |
atommota | 0:03dd788f437f | 80 | char tx = SMPLRT_DIV_REG; |
atommota | 0:03dd788f437f | 81 | char rx; |
atommota | 0:03dd788f437f | 82 | |
atommota | 0:03dd788f437f | 83 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 84 | |
atommota | 0:03dd788f437f | 85 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 0:03dd788f437f | 86 | |
atommota | 0:03dd788f437f | 87 | return rx; |
atommota | 0:03dd788f437f | 88 | |
atommota | 0:03dd788f437f | 89 | } |
atommota | 0:03dd788f437f | 90 | |
atommota | 0:03dd788f437f | 91 | void ITG3200::setSampleRateDivider(char divider){ |
atommota | 0:03dd788f437f | 92 | |
atommota | 0:03dd788f437f | 93 | char tx[2]; |
atommota | 0:03dd788f437f | 94 | tx[0] = SMPLRT_DIV_REG; |
atommota | 0:03dd788f437f | 95 | tx[1] = divider; |
atommota | 0:03dd788f437f | 96 | |
atommota | 0:03dd788f437f | 97 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 0:03dd788f437f | 98 | |
atommota | 0:03dd788f437f | 99 | } |
atommota | 0:03dd788f437f | 100 | |
atommota | 0:03dd788f437f | 101 | int ITG3200::getInternalSampleRate(void){ |
atommota | 0:03dd788f437f | 102 | |
atommota | 0:03dd788f437f | 103 | char tx = DLPF_FS_REG; |
atommota | 0:03dd788f437f | 104 | char rx; |
atommota | 0:03dd788f437f | 105 | |
atommota | 0:03dd788f437f | 106 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 107 | |
atommota | 0:03dd788f437f | 108 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 0:03dd788f437f | 109 | |
atommota | 0:03dd788f437f | 110 | //DLPF_CFG == 0 -> sample rate = 8kHz. |
atommota | 0:03dd788f437f | 111 | if(rx == 0){ |
atommota | 0:03dd788f437f | 112 | return 8; |
atommota | 0:03dd788f437f | 113 | } |
atommota | 0:03dd788f437f | 114 | //DLPF_CFG = 1..7 -> sample rate = 1kHz. |
atommota | 0:03dd788f437f | 115 | else if(rx >= 1 && rx <= 7){ |
atommota | 0:03dd788f437f | 116 | return 1; |
atommota | 0:03dd788f437f | 117 | } |
atommota | 0:03dd788f437f | 118 | //DLPF_CFG = anything else -> something's wrong! |
atommota | 0:03dd788f437f | 119 | else{ |
atommota | 0:03dd788f437f | 120 | return -1; |
atommota | 0:03dd788f437f | 121 | } |
atommota | 0:03dd788f437f | 122 | |
atommota | 0:03dd788f437f | 123 | } |
atommota | 0:03dd788f437f | 124 | |
atommota | 0:03dd788f437f | 125 | void ITG3200::setLpBandwidth(char bandwidth){ |
atommota | 0:03dd788f437f | 126 | |
atommota | 0:03dd788f437f | 127 | char tx[2]; |
atommota | 0:03dd788f437f | 128 | tx[0] = DLPF_FS_REG; |
atommota | 0:03dd788f437f | 129 | //Bits 4,3 are required to be 0x03 for proper operation. |
atommota | 0:03dd788f437f | 130 | tx[1] = bandwidth | (0x03 << 3); |
atommota | 0:03dd788f437f | 131 | |
atommota | 0:03dd788f437f | 132 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 0:03dd788f437f | 133 | |
atommota | 0:03dd788f437f | 134 | } |
atommota | 0:03dd788f437f | 135 | |
atommota | 0:03dd788f437f | 136 | char ITG3200::getInterruptConfiguration(void){ |
atommota | 0:03dd788f437f | 137 | |
atommota | 0:03dd788f437f | 138 | char tx = INT_CFG_REG; |
atommota | 0:03dd788f437f | 139 | char rx; |
atommota | 0:03dd788f437f | 140 | |
atommota | 0:03dd788f437f | 141 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 142 | |
atommota | 0:03dd788f437f | 143 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 0:03dd788f437f | 144 | |
atommota | 0:03dd788f437f | 145 | return rx; |
atommota | 0:03dd788f437f | 146 | |
atommota | 0:03dd788f437f | 147 | } |
atommota | 0:03dd788f437f | 148 | |
atommota | 0:03dd788f437f | 149 | void ITG3200::setInterruptConfiguration(char config){ |
atommota | 0:03dd788f437f | 150 | |
atommota | 0:03dd788f437f | 151 | char tx[2]; |
atommota | 0:03dd788f437f | 152 | tx[0] = INT_CFG_REG; |
atommota | 0:03dd788f437f | 153 | tx[1] = config; |
atommota | 0:03dd788f437f | 154 | |
atommota | 0:03dd788f437f | 155 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 0:03dd788f437f | 156 | |
atommota | 0:03dd788f437f | 157 | } |
atommota | 0:03dd788f437f | 158 | |
atommota | 0:03dd788f437f | 159 | bool ITG3200::isPllReady(void){ |
atommota | 0:03dd788f437f | 160 | |
atommota | 0:03dd788f437f | 161 | char tx = INT_STATUS; |
atommota | 0:03dd788f437f | 162 | char rx; |
atommota | 0:03dd788f437f | 163 | |
atommota | 0:03dd788f437f | 164 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 165 | |
atommota | 0:03dd788f437f | 166 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 0:03dd788f437f | 167 | |
atommota | 0:03dd788f437f | 168 | //ITG_RDY bit is bit 4 of INT_STATUS register. |
atommota | 0:03dd788f437f | 169 | if(rx & 0x04){ |
atommota | 0:03dd788f437f | 170 | return true; |
atommota | 0:03dd788f437f | 171 | } |
atommota | 0:03dd788f437f | 172 | else{ |
atommota | 0:03dd788f437f | 173 | return false; |
atommota | 0:03dd788f437f | 174 | } |
atommota | 0:03dd788f437f | 175 | |
atommota | 0:03dd788f437f | 176 | } |
atommota | 0:03dd788f437f | 177 | |
atommota | 0:03dd788f437f | 178 | bool ITG3200::isRawDataReady(void){ |
atommota | 0:03dd788f437f | 179 | |
atommota | 0:03dd788f437f | 180 | char tx = INT_STATUS; |
atommota | 0:03dd788f437f | 181 | char rx; |
atommota | 0:03dd788f437f | 182 | |
atommota | 0:03dd788f437f | 183 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 184 | |
atommota | 0:03dd788f437f | 185 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 0:03dd788f437f | 186 | |
atommota | 0:03dd788f437f | 187 | //RAW_DATA_RDY bit is bit 1 of INT_STATUS register. |
atommota | 0:03dd788f437f | 188 | if(rx & 0x01){ |
atommota | 0:03dd788f437f | 189 | return true; |
atommota | 0:03dd788f437f | 190 | } |
atommota | 0:03dd788f437f | 191 | else{ |
atommota | 0:03dd788f437f | 192 | return false; |
atommota | 0:03dd788f437f | 193 | } |
atommota | 0:03dd788f437f | 194 | |
atommota | 0:03dd788f437f | 195 | } |
atommota | 0:03dd788f437f | 196 | |
atommota | 0:03dd788f437f | 197 | float ITG3200::getTemperature(void){ |
atommota | 0:03dd788f437f | 198 | |
atommota | 0:03dd788f437f | 199 | char tx = TEMP_OUT_H_REG; |
atommota | 0:03dd788f437f | 200 | char rx[2]; |
atommota | 0:03dd788f437f | 201 | |
atommota | 0:03dd788f437f | 202 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 203 | |
atommota | 0:03dd788f437f | 204 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 0:03dd788f437f | 205 | |
atommota | 0:03dd788f437f | 206 | int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]); |
atommota | 0:03dd788f437f | 207 | //Offset = -35 degrees, 13200 counts. 280 counts/degrees C. |
atommota | 0:03dd788f437f | 208 | return 35.0 + ((temperature + 13200)/280.0); |
atommota | 0:03dd788f437f | 209 | |
atommota | 0:03dd788f437f | 210 | } |
atommota | 0:03dd788f437f | 211 | |
atommota | 0:03dd788f437f | 212 | int ITG3200::getGyroX(void){ |
atommota | 0:03dd788f437f | 213 | |
atommota | 0:03dd788f437f | 214 | char tx = GYRO_XOUT_H_REG; |
atommota | 0:03dd788f437f | 215 | char rx[2]; |
atommota | 0:03dd788f437f | 216 | |
atommota | 0:03dd788f437f | 217 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 218 | |
atommota | 0:03dd788f437f | 219 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 0:03dd788f437f | 220 | |
atommota | 0:03dd788f437f | 221 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
atommota | 0:03dd788f437f | 222 | |
atommota | 0:03dd788f437f | 223 | return output; |
atommota | 0:03dd788f437f | 224 | |
atommota | 0:03dd788f437f | 225 | } |
atommota | 0:03dd788f437f | 226 | |
atommota | 0:03dd788f437f | 227 | int ITG3200::getGyroY(void){ |
atommota | 0:03dd788f437f | 228 | |
atommota | 0:03dd788f437f | 229 | char tx = GYRO_YOUT_H_REG; |
atommota | 0:03dd788f437f | 230 | char rx[2]; |
atommota | 0:03dd788f437f | 231 | |
atommota | 0:03dd788f437f | 232 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 233 | |
atommota | 0:03dd788f437f | 234 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 0:03dd788f437f | 235 | |
atommota | 0:03dd788f437f | 236 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
atommota | 0:03dd788f437f | 237 | |
atommota | 0:03dd788f437f | 238 | return output; |
atommota | 0:03dd788f437f | 239 | |
atommota | 0:03dd788f437f | 240 | } |
atommota | 0:03dd788f437f | 241 | |
atommota | 0:03dd788f437f | 242 | int ITG3200::getGyroZ(void){ |
atommota | 0:03dd788f437f | 243 | |
atommota | 0:03dd788f437f | 244 | char tx = GYRO_ZOUT_H_REG; |
atommota | 0:03dd788f437f | 245 | char rx[2]; |
atommota | 0:03dd788f437f | 246 | |
atommota | 0:03dd788f437f | 247 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 248 | |
atommota | 0:03dd788f437f | 249 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
atommota | 0:03dd788f437f | 250 | |
atommota | 0:03dd788f437f | 251 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
atommota | 0:03dd788f437f | 252 | |
atommota | 0:03dd788f437f | 253 | return output; |
atommota | 0:03dd788f437f | 254 | |
atommota | 0:03dd788f437f | 255 | } |
atommota | 0:03dd788f437f | 256 | |
atommota | 0:03dd788f437f | 257 | char ITG3200::getPowerManagement(void){ |
atommota | 0:03dd788f437f | 258 | |
atommota | 0:03dd788f437f | 259 | char tx = PWR_MGM_REG; |
atommota | 0:03dd788f437f | 260 | char rx; |
atommota | 0:03dd788f437f | 261 | |
atommota | 0:03dd788f437f | 262 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
atommota | 0:03dd788f437f | 263 | |
atommota | 0:03dd788f437f | 264 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
atommota | 0:03dd788f437f | 265 | |
atommota | 0:03dd788f437f | 266 | return rx; |
atommota | 0:03dd788f437f | 267 | |
atommota | 0:03dd788f437f | 268 | } |
atommota | 0:03dd788f437f | 269 | |
atommota | 0:03dd788f437f | 270 | void ITG3200::setPowerManagement(char config){ |
atommota | 0:03dd788f437f | 271 | |
atommota | 0:03dd788f437f | 272 | char tx[2]; |
atommota | 0:03dd788f437f | 273 | tx[0] = PWR_MGM_REG; |
atommota | 0:03dd788f437f | 274 | tx[1] = config; |
atommota | 0:03dd788f437f | 275 | |
atommota | 0:03dd788f437f | 276 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
atommota | 0:03dd788f437f | 277 | |
atommota | 0:03dd788f437f | 278 | } |