James Watanabe / ITG3200

Forked from Aaron Berk's ITG3200 driver class library, customized for my specific application using 9DoF-Stick by Sparkfun.

Dependents:   HARP

Fork of ITG3200 by Aaron Berk

ITG-3200 is triple axis, digital interface, gyro sensor.

This library is forked from Aaron Berk's work.

This library is for specific application using 9DoF-Stick.

Datasheet:

http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf

This library has a feature to correct thermal drift of the device. For details, see Thermal Drift.

ITG-3200は3軸のデジタルインターフェースを備えたジャイロセンサです。

このライブラリは 9DoF-Stick を使用した特定の企画のために保守しています。

mbed IDEが日本語をサポートするまでは英語でコメントを書いていきますが、サポートした後もきっと英語で書いていくでしょう。

このライブラリはデバイスの熱ドリフトを補正する機能を持っています。詳しくは Thermal Drift。

ITG3200.h@7:43b936a53b64, 2012-09-29 (annotated)

Committer:
gltest26
Date:
Sat Sep 29 14:34:17 2012 +0000
Revision:
7:43b936a53b64
Parent:
6:a7ad6046824c
Child:
8:ac0365ab3cef
Added a new constructor to accept an external I2C interface object.; Added options to return values not zero adjusted.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gltest26 1:9bef044f45ad 1 /**
gltest26 3:eea9733ca427 2 * @file ITG3200.h
gltest26 1:9bef044f45ad 3 * @author Aaron Berk
gltest26 1:9bef044f45ad 4 *
gltest26 1:9bef044f45ad 5 * @section LICENSE
gltest26 1:9bef044f45ad 6 *
gltest26 1:9bef044f45ad 7 * Copyright (c) 2010 ARM Limited
gltest26 1:9bef044f45ad 8 *
gltest26 1:9bef044f45ad 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
gltest26 1:9bef044f45ad 10 * of this software and associated documentation files (the "Software"), to deal
gltest26 1:9bef044f45ad 11 * in the Software without restriction, including without limitation the rights
gltest26 1:9bef044f45ad 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
gltest26 1:9bef044f45ad 13 * copies of the Software, and to permit persons to whom the Software is
gltest26 1:9bef044f45ad 14 * furnished to do so, subject to the following conditions:
gltest26 1:9bef044f45ad 15 *
gltest26 1:9bef044f45ad 16 * The above copyright notice and this permission notice shall be included in
gltest26 1:9bef044f45ad 17 * all copies or substantial portions of the Software.
gltest26 1:9bef044f45ad 18 *
gltest26 1:9bef044f45ad 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
gltest26 1:9bef044f45ad 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
gltest26 1:9bef044f45ad 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
gltest26 1:9bef044f45ad 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
gltest26 1:9bef044f45ad 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
gltest26 1:9bef044f45ad 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
gltest26 1:9bef044f45ad 25 * THE SOFTWARE.
gltest26 1:9bef044f45ad 26 *
gltest26 1:9bef044f45ad 27 * @section DESCRIPTION
gltest26 1:9bef044f45ad 28 *
gltest26 1:9bef044f45ad 29 * ITG-3200 triple axis, digital interface, gyroscope.
gltest26 3:eea9733ca427 30 * Forked from Aaron Berk's work.
gltest26 1:9bef044f45ad 31 *
gltest26 1:9bef044f45ad 32 * Datasheet:
gltest26 1:9bef044f45ad 33 *
gltest26 1:9bef044f45ad 34 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
gltest26 1:9bef044f45ad 35 */
gltest26 1:9bef044f45ad 36
gltest26 1:9bef044f45ad 37 #ifndef ITG3200_H
gltest26 1:9bef044f45ad 38 #define ITG3200_H
gltest26 1:9bef044f45ad 39
gltest26 3:eea9733ca427 40 /*
gltest26 1:9bef044f45ad 41 * Includes
gltest26 1:9bef044f45ad 42 */
gltest26 1:9bef044f45ad 43 #include "mbed.h"
gltest26 1:9bef044f45ad 44
gltest26 3:eea9733ca427 45 /*
gltest26 1:9bef044f45ad 46 * Defines
gltest26 1:9bef044f45ad 47 */
gltest26 1:9bef044f45ad 48 #define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
gltest26 1:9bef044f45ad 49
gltest26 1:9bef044f45ad 50 //-----------
gltest26 1:9bef044f45ad 51 // Registers
gltest26 1:9bef044f45ad 52 //-----------
gltest26 1:9bef044f45ad 53 #define WHO_AM_I_REG 0x00
gltest26 1:9bef044f45ad 54 #define SMPLRT_DIV_REG 0x15
gltest26 1:9bef044f45ad 55 #define DLPF_FS_REG 0x16
gltest26 1:9bef044f45ad 56 #define INT_CFG_REG 0x17
gltest26 1:9bef044f45ad 57 #define INT_STATUS 0x1A
gltest26 1:9bef044f45ad 58 #define TEMP_OUT_H_REG 0x1B
gltest26 1:9bef044f45ad 59 #define TEMP_OUT_L_REG 0x1C
gltest26 1:9bef044f45ad 60 #define GYRO_XOUT_H_REG 0x1D
gltest26 1:9bef044f45ad 61 #define GYRO_XOUT_L_REG 0x1E
gltest26 1:9bef044f45ad 62 #define GYRO_YOUT_H_REG 0x1F
gltest26 1:9bef044f45ad 63 #define GYRO_YOUT_L_REG 0x20
gltest26 1:9bef044f45ad 64 #define GYRO_ZOUT_H_REG 0x21
gltest26 1:9bef044f45ad 65 #define GYRO_ZOUT_L_REG 0x22
gltest26 1:9bef044f45ad 66 #define PWR_MGM_REG 0x3E
gltest26 1:9bef044f45ad 67
gltest26 1:9bef044f45ad 68 //----------------------------
gltest26 1:9bef044f45ad 69 // Low Pass Filter Bandwidths
gltest26 1:9bef044f45ad 70 //----------------------------
gltest26 1:9bef044f45ad 71 #define LPFBW_256HZ 0x00
gltest26 1:9bef044f45ad 72 #define LPFBW_188HZ 0x01
gltest26 1:9bef044f45ad 73 #define LPFBW_98HZ 0x02
gltest26 1:9bef044f45ad 74 #define LPFBW_42HZ 0x03
gltest26 1:9bef044f45ad 75 #define LPFBW_20HZ 0x04
gltest26 1:9bef044f45ad 76 #define LPFBW_10HZ 0x05
gltest26 1:9bef044f45ad 77 #define LPFBW_5HZ 0x06
gltest26 1:9bef044f45ad 78
gltest26 1:9bef044f45ad 79 // Utility
gltest26 1:9bef044f45ad 80 #ifndef M_PI
gltest26 1:9bef044f45ad 81 #define M_PI 3.1415926535897932384626433832795
gltest26 1:9bef044f45ad 82 #endif
gltest26 1:9bef044f45ad 83
gltest26 1:9bef044f45ad 84 /**
gltest26 1:9bef044f45ad 85 * ITG-3200 triple axis digital gyroscope.
gltest26 1:9bef044f45ad 86 */
gltest26 1:9bef044f45ad 87 class ITG3200 {
gltest26 1:9bef044f45ad 88
gltest26 1:9bef044f45ad 89 public:
gltest26 1:9bef044f45ad 90
gltest26 3:eea9733ca427 91 /**
gltest26 3:eea9733ca427 92 * The I2C address that can be passed directly to i2c object (it's already shifted 1 bit left).
gltest26 3:eea9733ca427 93 *
gltest26 3:eea9733ca427 94 * You don't need to manually set or clear the LSB when calling I2C::read() or I2C::write(),
gltest26 3:eea9733ca427 95 * the library takes care of it. We just always clear the LSB.
gltest26 3:eea9733ca427 96 */
gltest26 1:9bef044f45ad 97 static const int I2C_ADDRESS = 0xD0;
gltest26 1:9bef044f45ad 98
gltest26 1:9bef044f45ad 99 /**
gltest26 1:9bef044f45ad 100 * Constructor.
gltest26 1:9bef044f45ad 101 *
gltest26 1:9bef044f45ad 102 * Sets FS_SEL to 0x03 for proper opertaion.
gltest26 1:9bef044f45ad 103 *
gltest26 1:9bef044f45ad 104 * @param sda - mbed pin to use for the SDA I2C line.
gltest26 1:9bef044f45ad 105 * @param scl - mbed pin to use for the SCL I2C line.
gltest26 7:43b936a53b64 106 * @param fastmode Sets the internal I2C interface to use 400kHz clock.
gltest26 1:9bef044f45ad 107 */
gltest26 7:43b936a53b64 108 ITG3200(PinName sda, PinName scl, bool fastmode = false);
gltest26 1:9bef044f45ad 109
gltest26 1:9bef044f45ad 110 /**
gltest26 1:9bef044f45ad 111 * Get the identity of the device.
gltest26 1:9bef044f45ad 112 *
gltest26 1:9bef044f45ad 113 * @return The contents of the Who Am I register which contains the I2C
gltest26 1:9bef044f45ad 114 * address of the device.
gltest26 1:9bef044f45ad 115 */
gltest26 1:9bef044f45ad 116 char getWhoAmI(void);
gltest26 1:9bef044f45ad 117
gltest26 1:9bef044f45ad 118 /**
gltest26 1:9bef044f45ad 119 * Set the address of the device.
gltest26 1:9bef044f45ad 120 *
gltest26 1:9bef044f45ad 121 * @param address The I2C slave address to write to the Who Am I register
gltest26 1:9bef044f45ad 122 * on the device.
gltest26 1:9bef044f45ad 123 */
gltest26 1:9bef044f45ad 124 void setWhoAmI(char address);
gltest26 1:9bef044f45ad 125
gltest26 1:9bef044f45ad 126 /**
gltest26 1:9bef044f45ad 127 * Get the sample rate divider.
gltest26 1:9bef044f45ad 128 *
gltest26 1:9bef044f45ad 129 * @return The sample rate divider as a number from 0-255.
gltest26 1:9bef044f45ad 130 */
gltest26 1:9bef044f45ad 131 char getSampleRateDivider(void);
gltest26 1:9bef044f45ad 132
gltest26 1:9bef044f45ad 133 /**
gltest26 1:9bef044f45ad 134 * Set the sample rate divider.
gltest26 1:9bef044f45ad 135 *
gltest26 1:9bef044f45ad 136 * Fsample = Finternal / (divider + 1), where Finternal = 1kHz or 8kHz,
gltest26 1:9bef044f45ad 137 * as decidied by the DLPF_FS register.
gltest26 1:9bef044f45ad 138 *
gltest26 1:9bef044f45ad 139 * @param The sample rate divider as a number from 0-255.
gltest26 1:9bef044f45ad 140 */
gltest26 1:9bef044f45ad 141 void setSampleRateDivider(char divider);
gltest26 1:9bef044f45ad 142
gltest26 1:9bef044f45ad 143 /**
gltest26 1:9bef044f45ad 144 * Get the internal sample rate.
gltest26 1:9bef044f45ad 145 *
gltest26 1:9bef044f45ad 146 * @return The internal sample rate in kHz - either 1 or 8.
gltest26 1:9bef044f45ad 147 */
gltest26 1:9bef044f45ad 148 int getInternalSampleRate(void);
gltest26 1:9bef044f45ad 149
gltest26 1:9bef044f45ad 150 /**
gltest26 1:9bef044f45ad 151 * Set the low pass filter bandwidth.
gltest26 1:9bef044f45ad 152 *
gltest26 1:9bef044f45ad 153 * Also used to set the internal sample rate.
gltest26 1:9bef044f45ad 154 * Pass the #define bandwidth codes as a parameter.
gltest26 1:9bef044f45ad 155 *
gltest26 1:9bef044f45ad 156 * 256Hz -> 8kHz internal sample rate.
gltest26 1:9bef044f45ad 157 * Everything else -> 1kHz internal rate.
gltest26 1:9bef044f45ad 158 *
gltest26 1:9bef044f45ad 159 * @param bandwidth Low pass filter bandwidth code
gltest26 1:9bef044f45ad 160 */
gltest26 1:9bef044f45ad 161 void setLpBandwidth(char bandwidth);
gltest26 1:9bef044f45ad 162
gltest26 1:9bef044f45ad 163 /**
gltest26 1:9bef044f45ad 164 * Get the interrupt configuration.
gltest26 1:9bef044f45ad 165 *
gltest26 1:9bef044f45ad 166 * See datasheet for register contents details.
gltest26 1:9bef044f45ad 167 *
gltest26 1:9bef044f45ad 168 * 7 6 5 4
gltest26 1:9bef044f45ad 169 * +------+------+--------------+------------------+
gltest26 1:9bef044f45ad 170 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
gltest26 1:9bef044f45ad 171 * +------+------+--------------+------------------+
gltest26 1:9bef044f45ad 172 *
gltest26 1:9bef044f45ad 173 * 3 2 1 0
gltest26 1:9bef044f45ad 174 * +---+------------+------------+---+
gltest26 1:9bef044f45ad 175 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
gltest26 1:9bef044f45ad 176 * +---+------------+------------+---+
gltest26 1:9bef044f45ad 177 *
gltest26 1:9bef044f45ad 178 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
gltest26 1:9bef044f45ad 179 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
gltest26 1:9bef044f45ad 180 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
gltest26 1:9bef044f45ad 181 * 0 = 50us pulse.
gltest26 1:9bef044f45ad 182 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
gltest26 1:9bef044f45ad 183 * 0 = status register read only.
gltest26 1:9bef044f45ad 184 * ITG_RDY_EN Enable interrupt when device is ready,
gltest26 1:9bef044f45ad 185 * (PLL ready after changing clock source).
gltest26 1:9bef044f45ad 186 * RAW_RDY_EN Enable interrupt when data is available.
gltest26 1:9bef044f45ad 187 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
gltest26 1:9bef044f45ad 188 *
gltest26 1:9bef044f45ad 189 * @return the contents of the INT_CFG register.
gltest26 1:9bef044f45ad 190 */
gltest26 1:9bef044f45ad 191 char getInterruptConfiguration(void);
gltest26 1:9bef044f45ad 192
gltest26 1:9bef044f45ad 193 /**
gltest26 1:9bef044f45ad 194 * Set the interrupt configuration.
gltest26 1:9bef044f45ad 195 *
gltest26 1:9bef044f45ad 196 * See datasheet for configuration byte details.
gltest26 1:9bef044f45ad 197 *
gltest26 1:9bef044f45ad 198 * 7 6 5 4
gltest26 1:9bef044f45ad 199 * +------+------+--------------+------------------+
gltest26 1:9bef044f45ad 200 * | ACTL | OPEN | LATCH_INT_EN | INT_ANYRD_2CLEAR |
gltest26 1:9bef044f45ad 201 * +------+------+--------------+------------------+
gltest26 1:9bef044f45ad 202 *
gltest26 1:9bef044f45ad 203 * 3 2 1 0
gltest26 1:9bef044f45ad 204 * +---+------------+------------+---+
gltest26 1:9bef044f45ad 205 * | 0 | ITG_RDY_EN | RAW_RDY_EN | 0 |
gltest26 1:9bef044f45ad 206 * +---+------------+------------+---+
gltest26 1:9bef044f45ad 207 *
gltest26 1:9bef044f45ad 208 * ACTL Logic level for INT output pin; 1 = active low, 0 = active high.
gltest26 1:9bef044f45ad 209 * OPEN Drive type for INT output pin; 1 = open drain, 0 = push-pull.
gltest26 1:9bef044f45ad 210 * LATCH_INT_EN Latch mode; 1 = latch until interrupt is cleared,
gltest26 1:9bef044f45ad 211 * 0 = 50us pulse.
gltest26 1:9bef044f45ad 212 * INT_ANYRD_2CLEAR Latch clear method; 1 = any register read,
gltest26 1:9bef044f45ad 213 * 0 = status register read only.
gltest26 1:9bef044f45ad 214 * ITG_RDY_EN Enable interrupt when device is ready,
gltest26 1:9bef044f45ad 215 * (PLL ready after changing clock source).
gltest26 1:9bef044f45ad 216 * RAW_RDY_EN Enable interrupt when data is available.
gltest26 1:9bef044f45ad 217 * 0 Bits 1 and 3 of the INT_CFG register should be zero.
gltest26 1:9bef044f45ad 218 *
gltest26 1:9bef044f45ad 219 * @param config Configuration byte to write to INT_CFG register.
gltest26 1:9bef044f45ad 220 */
gltest26 1:9bef044f45ad 221 void setInterruptConfiguration(char config);
gltest26 1:9bef044f45ad 222
gltest26 1:9bef044f45ad 223 /**
gltest26 1:9bef044f45ad 224 * Check the ITG_RDY bit of the INT_STATUS register.
gltest26 1:9bef044f45ad 225 *
gltest26 1:9bef044f45ad 226 * @return True if the ITG_RDY bit is set, corresponding to PLL ready,
gltest26 1:9bef044f45ad 227 * false if the ITG_RDY bit is not set, corresponding to PLL not
gltest26 1:9bef044f45ad 228 * ready.
gltest26 1:9bef044f45ad 229 */
gltest26 1:9bef044f45ad 230 bool isPllReady(void);
gltest26 1:9bef044f45ad 231
gltest26 1:9bef044f45ad 232 /**
gltest26 1:9bef044f45ad 233 * Check the RAW_DATA_RDY bit of the INT_STATUS register.
gltest26 1:9bef044f45ad 234 *
gltest26 1:9bef044f45ad 235 * @return True if the RAW_DATA_RDY bit is set, corresponding to new data
gltest26 1:9bef044f45ad 236 * in the sensor registers, false if the RAW_DATA_RDY bit is not
gltest26 1:9bef044f45ad 237 * set, corresponding to no new data yet in the sensor registers.
gltest26 1:9bef044f45ad 238 */
gltest26 1:9bef044f45ad 239 bool isRawDataReady(void);
gltest26 1:9bef044f45ad 240
gltest26 1:9bef044f45ad 241 /**
gltest26 1:9bef044f45ad 242 * Get the temperature in raw format.
gltest26 1:9bef044f45ad 243 *
gltest26 1:9bef044f45ad 244 * @return The temperature in raw 16bit integer.
gltest26 1:9bef044f45ad 245 */
gltest26 4:155c44407af5 246 int getRawTemperature(void){ return getWord(TEMP_OUT_H_REG); }
gltest26 1:9bef044f45ad 247
gltest26 1:9bef044f45ad 248 /**
gltest26 1:9bef044f45ad 249 * Get the temperature of the device.
gltest26 1:9bef044f45ad 250 *
gltest26 1:9bef044f45ad 251 * @return The temperature in degrees celsius.
gltest26 1:9bef044f45ad 252 */
gltest26 1:9bef044f45ad 253 float getTemperature(void);
gltest26 1:9bef044f45ad 254
gltest26 1:9bef044f45ad 255 /**
gltest26 1:9bef044f45ad 256 * Get the output for the x-axis gyroscope.
gltest26 1:9bef044f45ad 257 *
gltest26 1:9bef044f45ad 258 * Typical sensitivity is 14.375 LSB/(degrees/sec).
gltest26 1:9bef044f45ad 259 *
gltest26 1:9bef044f45ad 260 * @return The output on the x-axis in raw ADC counts.
gltest26 1:9bef044f45ad 261 */
gltest26 4:155c44407af5 262 int getGyroX(void){ return getWord(GYRO_XOUT_H_REG); }
gltest26 1:9bef044f45ad 263
gltest26 1:9bef044f45ad 264 /**
gltest26 1:9bef044f45ad 265 * Get the output for the y-axis gyroscope.
gltest26 1:9bef044f45ad 266 *
gltest26 1:9bef044f45ad 267 * Typical sensitivity is 14.375 LSB/(degrees/sec).
gltest26 1:9bef044f45ad 268 *
gltest26 1:9bef044f45ad 269 * @return The output on the y-axis in raw ADC counts.
gltest26 1:9bef044f45ad 270 */
gltest26 4:155c44407af5 271 int getGyroY(void){ return getWord(GYRO_YOUT_H_REG); }
gltest26 1:9bef044f45ad 272
gltest26 1:9bef044f45ad 273 /**
gltest26 1:9bef044f45ad 274 * Get the output on the z-axis gyroscope.
gltest26 1:9bef044f45ad 275 *
gltest26 1:9bef044f45ad 276 * Typical sensitivity is 14.375 LSB/(degrees/sec).
gltest26 1:9bef044f45ad 277 *
gltest26 1:9bef044f45ad 278 * @return The output on the z-axis in raw ADC counts.
gltest26 1:9bef044f45ad 279 */
gltest26 4:155c44407af5 280 int getGyroZ(void){ return getWord(GYRO_ZOUT_H_REG); }
gltest26 1:9bef044f45ad 281
gltest26 1:9bef044f45ad 282 /**
gltest26 1:9bef044f45ad 283 * Burst read the outputs on the x,y,z-axis gyroscope.
gltest26 1:9bef044f45ad 284 *
gltest26 1:9bef044f45ad 285 * Typical sensitivity is 14.375 LSB/(degrees/sec).
gltest26 1:9bef044f45ad 286 *
gltest26 1:9bef044f45ad 287 * @param readings The output buffer array that has at least 3 length.
gltest26 7:43b936a53b64 288 * @param subtractOffset Make the returned values subtracted of zero offset.
gltest26 1:9bef044f45ad 289 */
gltest26 7:43b936a53b64 290 void getGyroXYZ(int readings[3], bool subtractOffset = true);
gltest26 1:9bef044f45ad 291
gltest26 1:9bef044f45ad 292 /**
gltest26 1:9bef044f45ad 293 * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
gltest26 1:9bef044f45ad 294 *
gltest26 1:9bef044f45ad 295 * @param readings The output buffer array that has at least 3 length.
gltest26 1:9bef044f45ad 296 */
gltest26 1:9bef044f45ad 297 void getGyroXYZDegrees(double readings[3]);
gltest26 1:9bef044f45ad 298
gltest26 1:9bef044f45ad 299 /**
gltest26 1:9bef044f45ad 300 * Burst read the outputs on the x,y,z-axis gyroscope and convert them into degrees per second.
gltest26 1:9bef044f45ad 301 *
gltest26 1:9bef044f45ad 302 * @param readings The output buffer array that has at least 3 length.
gltest26 7:43b936a53b64 303 * @param subtractOffset Make the returned values subtracted of zero offset.
gltest26 1:9bef044f45ad 304 */
gltest26 7:43b936a53b64 305 void getGyroXYZRadians(double readings[3], bool subtractOffset = true);
gltest26 1:9bef044f45ad 306
gltest26 1:9bef044f45ad 307 /**
gltest26 1:9bef044f45ad 308 * Get the power management configuration.
gltest26 1:9bef044f45ad 309 *
gltest26 1:9bef044f45ad 310 * See the datasheet for register contents details.
gltest26 1:9bef044f45ad 311 *
gltest26 1:9bef044f45ad 312 * 7 6 5 4
gltest26 1:9bef044f45ad 313 * +---------+-------+---------+---------+
gltest26 1:9bef044f45ad 314 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
gltest26 1:9bef044f45ad 315 * +---------+-------+---------+---------+
gltest26 1:9bef044f45ad 316 *
gltest26 1:9bef044f45ad 317 * 3 2 1 0
gltest26 1:9bef044f45ad 318 * +---------+----------+----------+----------+
gltest26 1:9bef044f45ad 319 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
gltest26 1:9bef044f45ad 320 * +---------+----------+----------+----------+
gltest26 1:9bef044f45ad 321 *
gltest26 1:9bef044f45ad 322 * H_RESET Reset device and internal registers to the power-up-default settings.
gltest26 1:9bef044f45ad 323 * SLEEP Enable low power sleep mode.
gltest26 1:9bef044f45ad 324 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 325 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 326 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 327 * CLK_SEL Select device clock source:
gltest26 1:9bef044f45ad 328 *
gltest26 1:9bef044f45ad 329 * CLK_SEL | Clock Source
gltest26 1:9bef044f45ad 330 * --------+--------------
gltest26 1:9bef044f45ad 331 * 0 Internal oscillator
gltest26 1:9bef044f45ad 332 * 1 PLL with X Gyro reference
gltest26 1:9bef044f45ad 333 * 2 PLL with Y Gyro reference
gltest26 1:9bef044f45ad 334 * 3 PLL with Z Gyro reference
gltest26 1:9bef044f45ad 335 * 4 PLL with external 32.768kHz reference
gltest26 1:9bef044f45ad 336 * 5 PLL with external 19.2MHz reference
gltest26 1:9bef044f45ad 337 * 6 Reserved
gltest26 1:9bef044f45ad 338 * 7 Reserved
gltest26 1:9bef044f45ad 339 *
gltest26 1:9bef044f45ad 340 * @return The contents of the PWR_MGM register.
gltest26 1:9bef044f45ad 341 */
gltest26 1:9bef044f45ad 342 char getPowerManagement(void);
gltest26 1:9bef044f45ad 343
gltest26 1:9bef044f45ad 344 /**
gltest26 1:9bef044f45ad 345 * Set power management configuration.
gltest26 1:9bef044f45ad 346 *
gltest26 1:9bef044f45ad 347 * See the datasheet for configuration byte details
gltest26 1:9bef044f45ad 348 *
gltest26 1:9bef044f45ad 349 * 7 6 5 4
gltest26 1:9bef044f45ad 350 * +---------+-------+---------+---------+
gltest26 1:9bef044f45ad 351 * | H_RESET | SLEEP | STBY_XG | STBY_YG |
gltest26 1:9bef044f45ad 352 * +---------+-------+---------+---------+
gltest26 1:9bef044f45ad 353 *
gltest26 1:9bef044f45ad 354 * 3 2 1 0
gltest26 1:9bef044f45ad 355 * +---------+----------+----------+----------+
gltest26 1:9bef044f45ad 356 * | STBY_ZG | CLK_SEL2 | CLK_SEL1 | CLK_SEL0 |
gltest26 1:9bef044f45ad 357 * +---------+----------+----------+----------+
gltest26 1:9bef044f45ad 358 *
gltest26 1:9bef044f45ad 359 * H_RESET Reset device and internal registers to the power-up-default settings.
gltest26 1:9bef044f45ad 360 * SLEEP Enable low power sleep mode.
gltest26 1:9bef044f45ad 361 * STBY_XG Put gyro X in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 362 * STBY_YG Put gyro Y in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 363 * STBY_ZG Put gyro Z in standby mode (1=standby, 0=normal).
gltest26 1:9bef044f45ad 364 * CLK_SEL Select device clock source:
gltest26 1:9bef044f45ad 365 *
gltest26 1:9bef044f45ad 366 * CLK_SEL | Clock Source
gltest26 1:9bef044f45ad 367 * --------+--------------
gltest26 1:9bef044f45ad 368 * 0 Internal oscillator
gltest26 1:9bef044f45ad 369 * 1 PLL with X Gyro reference
gltest26 1:9bef044f45ad 370 * 2 PLL with Y Gyro reference
gltest26 1:9bef044f45ad 371 * 3 PLL with Z Gyro reference
gltest26 1:9bef044f45ad 372 * 4 PLL with external 32.768kHz reference
gltest26 1:9bef044f45ad 373 * 5 PLL with external 19.2MHz reference
gltest26 1:9bef044f45ad 374 * 6 Reserved
gltest26 1:9bef044f45ad 375 * 7 Reserved
gltest26 1:9bef044f45ad 376 *
gltest26 1:9bef044f45ad 377 * @param config The configuration byte to write to the PWR_MGM register.
gltest26 1:9bef044f45ad 378 */
gltest26 1:9bef044f45ad 379 void setPowerManagement(char config);
gltest26 3:eea9733ca427 380
gltest26 3:eea9733ca427 381 /**
gltest26 3:eea9733ca427 382 * Calibrate the sensor drift by sampling zero offset.
gltest26 3:eea9733ca427 383 *
gltest26 3:eea9733ca427 384 * Be sure to keep the sensor stationary while sampling offset.
gltest26 3:eea9733ca427 385 *
gltest26 3:eea9733ca427 386 * Once this function is invoked, following getGyroXYZ*() functions return
gltest26 3:eea9733ca427 387 * corrected values.
gltest26 3:eea9733ca427 388 *
gltest26 3:eea9733ca427 389 * If the drift value changes over time, you can call this function once in a while
gltest26 3:eea9733ca427 390 * to follow it. But don't forget to fix the sensor while calibrating!
gltest26 3:eea9733ca427 391 *
gltest26 3:eea9733ca427 392 * @param time The time span to sample and average offset.
gltest26 3:eea9733ca427 393 * Sampling rate is limited, so giving long time to calibrate will improve
gltest26 3:eea9733ca427 394 * correction quality.
gltest26 3:eea9733ca427 395 */
gltest26 3:eea9733ca427 396 void calibrate(double time);
gltest26 6:a7ad6046824c 397
gltest26 6:a7ad6046824c 398 long getCalibrationSamples()const{
gltest26 6:a7ad6046824c 399 return calibSamples;
gltest26 6:a7ad6046824c 400 }
gltest26 3:eea9733ca427 401
gltest26 7:43b936a53b64 402 /**
gltest26 7:43b936a53b64 403 * Returns the I2C object that this object is using for communication.
gltest26 7:43b936a53b64 404 */
gltest26 7:43b936a53b64 405 I2C &getI2C(){
gltest26 7:43b936a53b64 406 return i2c_;
gltest26 7:43b936a53b64 407 }
gltest26 7:43b936a53b64 408
gltest26 7:43b936a53b64 409 /**
gltest26 7:43b936a53b64 410 * Returns internal offset values for zero adjusting. Returned pointer is pointing an array of 3 elements.
gltest26 7:43b936a53b64 411 */
gltest26 7:43b936a53b64 412 const int *getOffset()const{
gltest26 7:43b936a53b64 413 return offset;
gltest26 7:43b936a53b64 414 }
gltest26 7:43b936a53b64 415
gltest26 3:eea9733ca427 416 protected:
gltest26 4:155c44407af5 417
gltest26 4:155c44407af5 418 /**
gltest26 4:155c44407af5 419 * Reads a word (2 bytes) from the sensor via I2C bus.
gltest26 4:155c44407af5 420 *
gltest26 4:155c44407af5 421 * The queried value is assumed big-endian, 2's complement value.
gltest26 4:155c44407af5 422 *
gltest26 4:155c44407af5 423 * This protected function is added because we shouldn't write getGyroX(), getGyroY() and getGyroZ()
gltest26 4:155c44407af5 424 * independently, but collect common codes.
gltest26 4:155c44407af5 425 *
gltest26 4:155c44407af5 426 * @param regi Register address to be read.
gltest26 4:155c44407af5 427 */
gltest26 4:155c44407af5 428 int getWord(int regi);
gltest26 4:155c44407af5 429
gltest26 3:eea9733ca427 430 /**
gltest26 3:eea9733ca427 431 * An internal method to acquire gyro sensor readings before calibration correction.
gltest26 3:eea9733ca427 432 *
gltest26 3:eea9733ca427 433 * Protected for the time being, although there could be cases that raw values are
gltest26 3:eea9733ca427 434 * appreciated by the user.
gltest26 3:eea9733ca427 435 */
gltest26 3:eea9733ca427 436 void getRawGyroXYZ(int readings[3]);
gltest26 3:eea9733ca427 437
gltest26 3:eea9733ca427 438 /**
gltest26 3:eea9733ca427 439 * Offset values that will be subtracted from output.
gltest26 3:eea9733ca427 440 *
gltest26 3:eea9733ca427 441 * TODO: temperature drift calibration
gltest26 3:eea9733ca427 442 */
gltest26 3:eea9733ca427 443 int offset[3];
gltest26 6:a7ad6046824c 444
gltest26 6:a7ad6046824c 445 long calibSamples;
gltest26 7:43b936a53b64 446
gltest26 1:9bef044f45ad 447 private:
gltest26 1:9bef044f45ad 448
gltest26 1:9bef044f45ad 449 I2C i2c_;
gltest26 1:9bef044f45ad 450
gltest26 5:0a0315f0f34e 451 /**
gltest26 5:0a0315f0f34e 452 * Converts big-endian 2's complement byte pair to native byte order of
gltest26 5:0a0315f0f34e 453 * the CPU and then sign extend it to the CPU's register size.
gltest26 5:0a0315f0f34e 454 *
gltest26 5:0a0315f0f34e 455 * Implemented here to make the compiler inline expand it.
gltest26 5:0a0315f0f34e 456 */
gltest26 5:0a0315f0f34e 457 int swapExtend(const char rx[2]){
gltest26 5:0a0315f0f34e 458 // Readings are expressed in 16bit 2's complement, so we must first
gltest26 5:0a0315f0f34e 459 // concatenate two bytes to make a word and sign extend it to obtain
gltest26 5:0a0315f0f34e 460 // correct negative values.
gltest26 5:0a0315f0f34e 461 // ARMCC compiles char as unsigned, which means no sign extension is
gltest26 5:0a0315f0f34e 462 // performed during bitwise operations to chars. But we should make sure
gltest26 5:0a0315f0f34e 463 // that lower byte won't extend its sign past upper byte for other
gltest26 5:0a0315f0f34e 464 // compilers if we want to keep it portable.
gltest26 5:0a0315f0f34e 465 return int16_t(((unsigned char)rx[0] << 8) | (unsigned char)rx[1]);
gltest26 5:0a0315f0f34e 466 }
gltest26 1:9bef044f45ad 467 };
gltest26 1:9bef044f45ad 468
gltest26 1:9bef044f45ad 469
gltest26 7:43b936a53b64 470 inline void ITG3200::getGyroXYZ(int readings[3], bool subtractOffset){
gltest26 3:eea9733ca427 471 getRawGyroXYZ(readings);
gltest26 7:43b936a53b64 472 if(subtractOffset){
gltest26 7:43b936a53b64 473 for(int i = 0; i < 3; i++)
gltest26 7:43b936a53b64 474 readings[i] -= offset[i];
gltest26 7:43b936a53b64 475 }
gltest26 3:eea9733ca427 476 }
gltest26 3:eea9733ca427 477
gltest26 1:9bef044f45ad 478 inline void ITG3200::getGyroXYZDegrees(double readings[3]){
gltest26 1:9bef044f45ad 479 int intData[3];
gltest26 1:9bef044f45ad 480 getGyroXYZ(intData);
gltest26 1:9bef044f45ad 481 for(int i = 0; i < 3; i++)
gltest26 1:9bef044f45ad 482 readings[i] = intData[i] * 2000. / 32767.;
gltest26 1:9bef044f45ad 483 }
gltest26 1:9bef044f45ad 484
gltest26 7:43b936a53b64 485 inline void ITG3200::getGyroXYZRadians(double readings[3], bool subtractOffset){
gltest26 1:9bef044f45ad 486 int intData[3];
gltest26 7:43b936a53b64 487 getGyroXYZ(intData, subtractOffset);
gltest26 1:9bef044f45ad 488 for(int i = 0; i < 3; i++)
gltest26 1:9bef044f45ad 489 readings[i] = intData[i] * 2000. / 32767. * 2. * M_PI / 360.;
gltest26 1:9bef044f45ad 490 }
gltest26 1:9bef044f45ad 491
gltest26 1:9bef044f45ad 492 #endif /* ITG3200_H */