Claudio Donate
/
ITG3200
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ITG3200
by 
Claudio Donate
Revision 2:044664f2cc01, committed 2012-08-15
- Comitter:
- cdonate
- Date:
- Wed Aug 15 22:17:36 2012 +0000
- Parent:
- 1:1208ffc3ace9
- Commit message:
- No change
Changed in this revision
| ITG3200.cpp | Show annotated file Show diff for this revision Revisions of this file |
| ITG3200.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/ITG3200.cpp Wed Aug 15 01:33:01 2012 +0000
+++ b/ITG3200.cpp Wed Aug 15 22:17:36 2012 +0000
@@ -1,117 +1,117 @@
-#include "mbed.h"
-#include "ITG3200.h"
-
-#define I2CADR_W(ADR) (ADR<<1&0xFE)
-#define I2CADR_R(ADR) (ADR<<1|0x01)
-
-//Initialization
-ITG3200::ITG3200(I2C & I2CBus_, Timer & GlobalTime_)
- : I2CBus(I2CBus_),
- GlobalTime(GlobalTime_)
-{}
-
-void ITG3200::Init()
-{
- //Zeroing
- for(int i= 0; i < 3; i++)
- {
- RawRate[i]= 0;
- Offset[i]= 0.0;
- Rate[i]= 0.0;
- }
-
-
- //ITG3200 initialization
- char tx[2];
-
- //Full-scale use (250 deg/sec)
- //Digital low-pass filter set at 10 Hz
- //Internal resample at 1 kHz
- tx[0]= 0x16;
- tx[1]= 0x05;//0x0D(500 dg/s) - 0x1D(2000 deg/sec)
- I2CBus.write(I2CADR_W(ITG3200_ADRESS), tx, 2);
-
- //Use the internal clock from (X-gyro)
- tx[0]= 0x3E;
- tx[1]= 0x01;
- I2CBus.write(I2CADR_W(ITG3200_ADRESS), tx, 2);
-
- //Initial wait
- wait_ms(100);
-
- //Pick first value
- Update();
-}
-
-//Get Full-scale range, Low Pass Filter Bandwidth and Internal Sample Rate
-// 5: +-250deg/sec, 10Hz, 1kHz - 13: +- 500deg/sec, 10Hz, 1kHz
-char ITG3200::getInfo(void){
-
- char tx = 0x16;
- char rx;
-
- I2CBus.write(I2CADR_W(ITG3200_ADRESS), &tx, 1);
- I2CBus.read (I2CADR_R(ITG3200_ADRESS), &rx, 1);
-
- return rx;
-
-}
-
-//Read raw data
-void ITG3200::ReadRawData()
-{
- //Getting rotation rate of all axes
- char tx[1];
- char rx[6];
-
- tx[0]= 0x1D;
- I2CBus.write(I2CADR_W(ITG3200_ADRESS), tx, 1);
- I2CBus.read (I2CADR_R(ITG3200_ADRESS), rx, 6);
-
- //Assemble the individual bytes of the 16-bit value
- RawRate[0]= rx[0]<<8|rx[1];
- RawRate[1]= rx[2]<<8|rx[3];
- RawRate[2]= rx[4]<<8|rx[5];
-}
-
-
-//Update-Method
-void ITG3200::Update()
-{
- //Read raw data
- ReadRawData();
-
- //Calculating rotation rate
- Rate[0]= fConvRPS * ((float)RawRate[0] + Offset[0]);
- Rate[1]= fConvRPS * ((float)RawRate[1] + Offset[1]);
- Rate[2]= fConvRPS * ((float)RawRate[2] + Offset[2]);
-}
-
-//Calibration
-void ITG3200::Calibrate(int ms)
-{
- float AvgCalibRate[3]= {0.0, 0.0, 0.0};
- float AvgCalibSampels= 0.0;
-
- //End of calibration calculated in milliseconds
- int CalibEnd= GlobalTime.read_ms() + ms;
-
- while(GlobalTime.read_ms() < CalibEnd)
- {
- //Read raw data
- ReadRawData();
-
- //Averaging
- AvgCalibRate[0]+= (float)RawRate[0];
- AvgCalibRate[1]+= (float)RawRate[1];
- AvgCalibRate[2]+= (float)RawRate[2];
- AvgCalibSampels+= 1.0;
-
- wait_ms(2);
- }
-
- //Collected enough data now form the average
- Offset[0]= -(AvgCalibRate[0] / AvgCalibSampels);
- Offset[1]= -(AvgCalibRate[1] / AvgCalibSampels);
- Offset[2]= -(AvgCalibRate[2] / AvgCalibSampels);
+#include "mbed.h"
+#include "ITG3200.h"
+
+#define I2CADR_W(ADR) (ADR<<1&0xFE)
+#define I2CADR_R(ADR) (ADR<<1|0x01)
+
+//Initialization
+ITG3200::ITG3200(I2C & I2CBus_, Timer & GlobalTime_)
+ : I2CBus(I2CBus_),
+ GlobalTime(GlobalTime_)
+{}
+
+void ITG3200::Init()
+{
+ //Zeroing
+ for(int i= 0; i < 3; i++)
+ {
+ RawRate[i]= 0;
+ Offset[i]= 0.0;
+ Rate[i]= 0.0;
+ }
+
+
+ //ITG3200 initialization
+ char tx[2];
+
+ //Full-scale use (250 deg/sec)
+ //Digital low-pass filter set at 10 Hz
+ //Internal resample at 1 kHz
+ tx[0]= 0x16;
+ tx[1]= 0x05;//0x0D(500 dg/s) - 0x1D(2000 deg/sec)
+ I2CBus.write(I2CADR_W(ITG3200_ADRESS), tx, 2);
+
+ //Use the internal clock from (X-gyro)
+ tx[0]= 0x3E;
+ tx[1]= 0x01;
+ I2CBus.write(I2CADR_W(ITG3200_ADRESS), tx, 2);
+
+ //Initial wait
+ wait_ms(100);
+
+ //Pick first value
+ Update();
+}
+
+//Get Full-scale range, Low Pass Filter Bandwidth and Internal Sample Rate
+// 5: +-250deg/sec, 10Hz, 1kHz - 13: +- 500deg/sec, 10Hz, 1kHz
+char ITG3200::getInfo(void){
+
+ char tx = 0x16;
+ char rx;
+
+ I2CBus.write(I2CADR_W(ITG3200_ADRESS), &tx, 1);
+ I2CBus.read (I2CADR_R(ITG3200_ADRESS), &rx, 1);
+
+ return rx;
+
+}
+
+//Read raw data
+void ITG3200::ReadRawData()
+{
+ //Getting rotation rate of all axes
+ char tx[1];
+ char rx[6];
+
+ tx[0]= 0x1D;
+ I2CBus.write(I2CADR_W(ITG3200_ADRESS), tx, 1);
+ I2CBus.read (I2CADR_R(ITG3200_ADRESS), rx, 6);
+
+ //Assemble the individual bytes of the 16-bit value
+ RawRate[0]= rx[0]<<8|rx[1];
+ RawRate[1]= rx[2]<<8|rx[3];
+ RawRate[2]= rx[4]<<8|rx[5];
+}
+
+
+//Update-Method
+void ITG3200::Update()
+{
+ //Read raw data
+ ReadRawData();
+
+ //Calculating rotation rate
+ Rate[0]= fConvRPS * ((float)RawRate[0] + Offset[0]);
+ Rate[1]= fConvRPS * ((float)RawRate[1] + Offset[1]);
+ Rate[2]= fConvRPS * ((float)RawRate[2] + Offset[2]);
+}
+
+//Calibration
+void ITG3200::Calibrate(int ms)
+{
+ float AvgCalibRate[3]= {0.0, 0.0, 0.0};
+ float AvgCalibSampels= 0.0;
+
+ //End of calibration calculated in milliseconds
+ int CalibEnd= GlobalTime.read_ms() + ms;
+
+ while(GlobalTime.read_ms() < CalibEnd)
+ {
+ //Read raw data
+ ReadRawData();
+
+ //Averaging
+ AvgCalibRate[0]+= (float)RawRate[0];
+ AvgCalibRate[1]+= (float)RawRate[1];
+ AvgCalibRate[2]+= (float)RawRate[2];
+ AvgCalibSampels+= 1.0;
+
+ wait_ms(2);
+ }
+
+ //Collected enough data now form the average
+ Offset[0]= -(AvgCalibRate[0] / AvgCalibSampels);
+ Offset[1]= -(AvgCalibRate[1] / AvgCalibSampels);
+ Offset[2]= -(AvgCalibRate[2] / AvgCalibSampels);
}
\ No newline at end of file
--- a/ITG3200.h Wed Aug 15 01:33:01 2012 +0000
+++ b/ITG3200.h Wed Aug 15 22:17:36 2012 +0000
@@ -1,44 +1,44 @@
-#pragma once
-
-//I2C address is either 0x68 or 0x69 , depending on pin AD0, check block diagram for your device
-#define ITG3200_ADRESS 0x69
-
-//Convert gyro raw data to radians per second, 1 degree/s = 0,017453293 rad/s.
-//The value is 0,017453293/LSB (+- 250 degrees/s)
-
-//const float fConvRPS= 2.6646248854961832061068702290076e-4; //For +- 500 degrees/s
-//const float fConvRPS= 1.2141420883e-3; //For +- 2000 degrees/s
-
-const float fConvRPS= 1.3323124427480916030534351145038e-4; //For +- 250 degrees/s
-
-class ITG3200 {
-protected:
- I2C & I2CBus;
- Timer & GlobalTime;
-
-public:
- //Offset
- float Offset[3];
-
- //Rotational speed around all three axes
- short RawRate[3]; //Raw data
- float Rate[3]; //Calibrated rotation rate in radians per second
-
-
- //Initialization
- ITG3200(I2C & I2CBus_, Timer & GlobalTime_);
- void Init();
-
-
-private:
- //Read raw data
- void ReadRawData();
-
-public:
- //Update Method
- void Update();
- char getInfo(void);
-
- //Calibration
- void Calibrate(int ms);
-};
+#pragma once
+
+//I2C address is either 0x68 or 0x69 , depending on pin AD0, check block diagram for your device
+#define ITG3200_ADRESS 0x69
+
+//Convert gyro raw data to radians per second, 1 degree/s = 0,017453293 rad/s.
+//The value is 0,017453293/LSB (+- 250 degrees/s)
+
+//const float fConvRPS= 2.6646248854961832061068702290076e-4; //For +- 500 degrees/s
+//const float fConvRPS= 1.2141420883e-3; //For +- 2000 degrees/s
+
+const float fConvRPS= 1.3323124427480916030534351145038e-4; //For +- 250 degrees/s
+
+class ITG3200 {
+protected:
+ I2C & I2CBus;
+ Timer & GlobalTime;
+
+public:
+ //Offset
+ float Offset[3];
+
+ //Rotational speed around all three axes
+ short RawRate[3]; //Raw data
+ float Rate[3]; //Calibrated rotation rate in radians per second
+
+
+ //Initialization
+ ITG3200(I2C & I2CBus_, Timer & GlobalTime_);
+ void Init();
+
+
+private:
+ //Read raw data
+ void ReadRawData();
+
+public:
+ //Update Method
+ void Update();
+ char getInfo(void);
+
+ //Calibration
+ void Calibrate(int ms);
+};