ITG3200 library with multiple configurable full-scale ranges. Based on the Sensor_test by Bo Carøe.

Dependents:   KalmanFilter

Fork of ITG3200 by Claudio Donate

Files at this revision

API Documentation at this revision

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
diff -r 1208ffc3ace9 -r 044664f2cc01 ITG3200.cpp
--- 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
diff -r 1208ffc3ace9 -r 044664f2cc01 ITG3200.h
--- 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);
+};