James Watanabe
Forked from Aaron Berk's ITG3200 driver class library, customized for my specific application using 9DoF-Stick by Sparkfun.
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。
Diff: ITG3200.cpp
- Revision:
- 1:9bef044f45ad
- Parent:
- 0:b098d99dd81e
- Child:
- 2:f44a902ba081
--- a/ITG3200.cpp Mon Sep 06 13:49:59 2010 +0000
+++ b/ITG3200.cpp Tue Sep 11 16:56:23 2012 +0000
@@ -1,280 +1,297 @@
-/**
- * @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);
-
-}
+/**
+ * @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;
+ }
+
+}
+
+int ITG3200::getRawTemperature(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);
+
+ return int16_t((uint16_t(rx[0]) << 8) | uint16_t(rx[1]));
+
+}
+
+float ITG3200::getTemperature(){
+ //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
+ return 35.0 + ((getRawTemperature() + 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;
+
+}
+
+void ITG3200::getGyroXYZ(int readings[3]){
+
+ char tx = GYRO_XOUT_H_REG;
+ char rx[2];
+
+ i2c_.write(I2C_ADDRESS, &tx, 1);
+
+ i2c_.read(I2C_ADDRESS, rx, 6);
+
+ for(int i = 0; i < 3; i++)
+ readings[i] = int16_t((int) rx[i * 2 + 0] << 8) | ((int) rx[i * 2 + 1]);
+}
+
+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);
+
+}