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ITG3200.cpp@11:b32b3d6be8d2, 2012-03-15 (annotated)

Committer:: higedura
Date:: Thu Mar 15 10:41:22 2012 +0000
Revision:: 11:b32b3d6be8d2
Parent:: 0:b61f317f452e

Who changed what in which revision?

User	Revision	Line number	New contents of line
higedura	0:b61f317f452e	1	/**
higedura	0:b61f317f452e	2	* @author Aaron Berk
higedura	0:b61f317f452e	3	*
higedura	0:b61f317f452e	4	* @section LICENSE
higedura	0:b61f317f452e	5	*
higedura	0:b61f317f452e	6	* Copyright (c) 2010 ARM Limited
higedura	0:b61f317f452e	7	*
higedura	0:b61f317f452e	8	* Permission is hereby granted, free of charge, to any person obtaining a copy
higedura	0:b61f317f452e	9	* of this software and associated documentation files (the "Software"), to deal
higedura	0:b61f317f452e	10	* in the Software without restriction, including without limitation the rights
higedura	0:b61f317f452e	11	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
higedura	0:b61f317f452e	12	* copies of the Software, and to permit persons to whom the Software is
higedura	0:b61f317f452e	13	* furnished to do so, subject to the following conditions:
higedura	0:b61f317f452e	14	*
higedura	0:b61f317f452e	15	* The above copyright notice and this permission notice shall be included in
higedura	0:b61f317f452e	16	* all copies or substantial portions of the Software.
higedura	0:b61f317f452e	17	*
higedura	0:b61f317f452e	18	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
higedura	0:b61f317f452e	19	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
higedura	0:b61f317f452e	20	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
higedura	0:b61f317f452e	21	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
higedura	0:b61f317f452e	22	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
higedura	0:b61f317f452e	23	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
higedura	0:b61f317f452e	24	* THE SOFTWARE.
higedura	0:b61f317f452e	25	*
higedura	0:b61f317f452e	26	* @section DESCRIPTION
higedura	0:b61f317f452e	27	*
higedura	0:b61f317f452e	28	* ITG-3200 triple axis, digital interface, gyroscope.
higedura	0:b61f317f452e	29	*
higedura	0:b61f317f452e	30	* Datasheet:
higedura	0:b61f317f452e	31	*
higedura	0:b61f317f452e	32	* http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
higedura	0:b61f317f452e	33	*/
higedura	0:b61f317f452e	34
higedura	0:b61f317f452e	35	/**
higedura	0:b61f317f452e	36	* Includes
higedura	0:b61f317f452e	37	*/
higedura	0:b61f317f452e	38	#include "ITG3200.h"
higedura	0:b61f317f452e	39
higedura	0:b61f317f452e	40	ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
higedura	0:b61f317f452e	41
higedura	0:b61f317f452e	42	//400kHz, fast mode.
higedura	0:b61f317f452e	43	i2c_.frequency(400000);
higedura	0:b61f317f452e	44
higedura	0:b61f317f452e	45	//Set FS_SEL to 0x03 for proper operation.
higedura	0:b61f317f452e	46	//See datasheet for details.
higedura	0:b61f317f452e	47	char tx[2];
higedura	0:b61f317f452e	48	tx[0] = DLPF_FS_REG;
higedura	0:b61f317f452e	49	//FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
higedura	0:b61f317f452e	50	tx[1] = 0x03 << 3;
higedura	0:b61f317f452e	51
higedura	0:b61f317f452e	52	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:b61f317f452e	53
higedura	0:b61f317f452e	54	}
higedura	0:b61f317f452e	55
higedura	0:b61f317f452e	56	char ITG3200::getWhoAmI(void){
higedura	0:b61f317f452e	57
higedura	0:b61f317f452e	58	//WhoAmI Register address.
higedura	0:b61f317f452e	59	char tx = WHO_AM_I_REG;
higedura	0:b61f317f452e	60	char rx;
higedura	0:b61f317f452e	61
higedura	0:b61f317f452e	62	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	63
higedura	0:b61f317f452e	64	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:b61f317f452e	65
higedura	0:b61f317f452e	66	return rx;
higedura	0:b61f317f452e	67
higedura	0:b61f317f452e	68	}
higedura	0:b61f317f452e	69
higedura	0:b61f317f452e	70	void ITG3200::setWhoAmI(char address){
higedura	0:b61f317f452e	71
higedura	0:b61f317f452e	72	char tx[2];
higedura	0:b61f317f452e	73	tx[0] = WHO_AM_I_REG;
higedura	0:b61f317f452e	74	tx[1] = address;
higedura	0:b61f317f452e	75
higedura	0:b61f317f452e	76	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:b61f317f452e	77
higedura	0:b61f317f452e	78	}
higedura	0:b61f317f452e	79
higedura	0:b61f317f452e	80	char ITG3200::getSampleRateDivider(void){
higedura	0:b61f317f452e	81
higedura	0:b61f317f452e	82	char tx = SMPLRT_DIV_REG;
higedura	0:b61f317f452e	83	char rx;
higedura	0:b61f317f452e	84
higedura	0:b61f317f452e	85	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	86
higedura	0:b61f317f452e	87	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:b61f317f452e	88
higedura	0:b61f317f452e	89	return rx;
higedura	0:b61f317f452e	90
higedura	0:b61f317f452e	91	}
higedura	0:b61f317f452e	92
higedura	0:b61f317f452e	93	void ITG3200::setSampleRateDivider(char divider){
higedura	0:b61f317f452e	94
higedura	0:b61f317f452e	95	char tx[2];
higedura	0:b61f317f452e	96	tx[0] = SMPLRT_DIV_REG;
higedura	0:b61f317f452e	97	tx[1] = divider;
higedura	0:b61f317f452e	98
higedura	0:b61f317f452e	99	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:b61f317f452e	100
higedura	0:b61f317f452e	101	}
higedura	0:b61f317f452e	102
higedura	0:b61f317f452e	103	int ITG3200::getInternalSampleRate(void){
higedura	0:b61f317f452e	104
higedura	0:b61f317f452e	105	char tx = DLPF_FS_REG;
higedura	0:b61f317f452e	106	char rx;
higedura	0:b61f317f452e	107
higedura	0:b61f317f452e	108	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	109
higedura	0:b61f317f452e	110	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:b61f317f452e	111
higedura	0:b61f317f452e	112	//DLPF_CFG == 0 -> sample rate = 8kHz.
higedura	0:b61f317f452e	113	if(rx == 0){
higedura	0:b61f317f452e	114	return 8;
higedura	0:b61f317f452e	115	}
higedura	0:b61f317f452e	116	//DLPF_CFG = 1..7 -> sample rate = 1kHz.
higedura	0:b61f317f452e	117	else if(rx >= 1 && rx <= 7){
higedura	0:b61f317f452e	118	return 1;
higedura	0:b61f317f452e	119	}
higedura	0:b61f317f452e	120	//DLPF_CFG = anything else -> something's wrong!
higedura	0:b61f317f452e	121	else{
higedura	0:b61f317f452e	122	return -1;
higedura	0:b61f317f452e	123	}
higedura	0:b61f317f452e	124
higedura	0:b61f317f452e	125	}
higedura	0:b61f317f452e	126
higedura	0:b61f317f452e	127	void ITG3200::setLpBandwidth(char bandwidth){
higedura	0:b61f317f452e	128
higedura	0:b61f317f452e	129	char tx[2];
higedura	0:b61f317f452e	130	tx[0] = DLPF_FS_REG;
higedura	0:b61f317f452e	131	//Bits 4,3 are required to be 0x03 for proper operation.
higedura	0:b61f317f452e	132	tx[1] = bandwidth \| (0x03 << 3);
higedura	0:b61f317f452e	133
higedura	0:b61f317f452e	134	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:b61f317f452e	135
higedura	0:b61f317f452e	136	}
higedura	0:b61f317f452e	137
higedura	0:b61f317f452e	138	char ITG3200::getInterruptConfiguration(void){
higedura	0:b61f317f452e	139
higedura	0:b61f317f452e	140	char tx = INT_CFG_REG;
higedura	0:b61f317f452e	141	char rx;
higedura	0:b61f317f452e	142
higedura	0:b61f317f452e	143	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	144
higedura	0:b61f317f452e	145	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:b61f317f452e	146
higedura	0:b61f317f452e	147	return rx;
higedura	0:b61f317f452e	148
higedura	0:b61f317f452e	149	}
higedura	0:b61f317f452e	150
higedura	0:b61f317f452e	151	void ITG3200::setInterruptConfiguration(char config){
higedura	0:b61f317f452e	152
higedura	0:b61f317f452e	153	char tx[2];
higedura	0:b61f317f452e	154	tx[0] = INT_CFG_REG;
higedura	0:b61f317f452e	155	tx[1] = config;
higedura	0:b61f317f452e	156
higedura	0:b61f317f452e	157	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:b61f317f452e	158
higedura	0:b61f317f452e	159	}
higedura	0:b61f317f452e	160
higedura	0:b61f317f452e	161	bool ITG3200::isPllReady(void){
higedura	0:b61f317f452e	162
higedura	0:b61f317f452e	163	char tx = INT_STATUS;
higedura	0:b61f317f452e	164	char rx;
higedura	0:b61f317f452e	165
higedura	0:b61f317f452e	166	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	167
higedura	0:b61f317f452e	168	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:b61f317f452e	169
higedura	0:b61f317f452e	170	//ITG_RDY bit is bit 4 of INT_STATUS register.
higedura	0:b61f317f452e	171	if(rx & 0x04){
higedura	0:b61f317f452e	172	return true;
higedura	0:b61f317f452e	173	}
higedura	0:b61f317f452e	174	else{
higedura	0:b61f317f452e	175	return false;
higedura	0:b61f317f452e	176	}
higedura	0:b61f317f452e	177
higedura	0:b61f317f452e	178	}
higedura	0:b61f317f452e	179
higedura	0:b61f317f452e	180	bool ITG3200::isRawDataReady(void){
higedura	0:b61f317f452e	181
higedura	0:b61f317f452e	182	char tx = INT_STATUS;
higedura	0:b61f317f452e	183	char rx;
higedura	0:b61f317f452e	184
higedura	0:b61f317f452e	185	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	186
higedura	0:b61f317f452e	187	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:b61f317f452e	188
higedura	0:b61f317f452e	189	//RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
higedura	0:b61f317f452e	190	if(rx & 0x01){
higedura	0:b61f317f452e	191	return true;
higedura	0:b61f317f452e	192	}
higedura	0:b61f317f452e	193	else{
higedura	0:b61f317f452e	194	return false;
higedura	0:b61f317f452e	195	}
higedura	0:b61f317f452e	196
higedura	0:b61f317f452e	197	}
higedura	0:b61f317f452e	198
higedura	0:b61f317f452e	199	float ITG3200::getTemperature(void){
higedura	0:b61f317f452e	200
higedura	0:b61f317f452e	201	char tx = TEMP_OUT_H_REG;
higedura	0:b61f317f452e	202	char rx[2];
higedura	0:b61f317f452e	203
higedura	0:b61f317f452e	204	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	205
higedura	0:b61f317f452e	206	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
higedura	0:b61f317f452e	207
higedura	0:b61f317f452e	208	int16_t temperature = ((int) rx[0] << 8) \| ((int) rx[1]);
higedura	0:b61f317f452e	209	//Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
higedura	0:b61f317f452e	210	return 35.0 + ((temperature + 13200)/280.0);
higedura	0:b61f317f452e	211
higedura	0:b61f317f452e	212	}
higedura	0:b61f317f452e	213
higedura	0:b61f317f452e	214	int ITG3200::getGyroX(void){
higedura	0:b61f317f452e	215
higedura	0:b61f317f452e	216	char tx = GYRO_XOUT_H_REG;
higedura	0:b61f317f452e	217	char rx[2];
higedura	0:b61f317f452e	218
higedura	0:b61f317f452e	219	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	220
higedura	0:b61f317f452e	221	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
higedura	0:b61f317f452e	222
higedura	0:b61f317f452e	223	int16_t output = ((int) rx[0] << 8) \| ((int) rx[1]);
higedura	0:b61f317f452e	224
higedura	0:b61f317f452e	225	return output;
higedura	0:b61f317f452e	226
higedura	0:b61f317f452e	227	}
higedura	0:b61f317f452e	228
higedura	0:b61f317f452e	229	int ITG3200::getGyroY(void){
higedura	0:b61f317f452e	230
higedura	0:b61f317f452e	231	char tx = GYRO_YOUT_H_REG;
higedura	0:b61f317f452e	232	char rx[2];
higedura	0:b61f317f452e	233
higedura	0:b61f317f452e	234	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	235
higedura	0:b61f317f452e	236	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
higedura	0:b61f317f452e	237
higedura	0:b61f317f452e	238	int16_t output = ((int) rx[0] << 8) \| ((int) rx[1]);
higedura	0:b61f317f452e	239
higedura	0:b61f317f452e	240	return output;
higedura	0:b61f317f452e	241
higedura	0:b61f317f452e	242	}
higedura	0:b61f317f452e	243
higedura	0:b61f317f452e	244	int ITG3200::getGyroZ(void){
higedura	0:b61f317f452e	245
higedura	0:b61f317f452e	246	char tx = GYRO_ZOUT_H_REG;
higedura	0:b61f317f452e	247	char rx[2];
higedura	0:b61f317f452e	248
higedura	0:b61f317f452e	249	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	250
higedura	0:b61f317f452e	251	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
higedura	0:b61f317f452e	252
higedura	0:b61f317f452e	253	int16_t output = ((int) rx[0] << 8) \| ((int) rx[1]);
higedura	0:b61f317f452e	254
higedura	0:b61f317f452e	255	return output;
higedura	0:b61f317f452e	256
higedura	0:b61f317f452e	257	}
higedura	0:b61f317f452e	258
higedura	0:b61f317f452e	259	char ITG3200::getPowerManagement(void){
higedura	0:b61f317f452e	260
higedura	0:b61f317f452e	261	char tx = PWR_MGM_REG;
higedura	0:b61f317f452e	262	char rx;
higedura	0:b61f317f452e	263
higedura	0:b61f317f452e	264	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:b61f317f452e	265
higedura	0:b61f317f452e	266	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:b61f317f452e	267
higedura	0:b61f317f452e	268	return rx;
higedura	0:b61f317f452e	269
higedura	0:b61f317f452e	270	}
higedura	0:b61f317f452e	271
higedura	0:b61f317f452e	272	void ITG3200::setPowerManagement(char config){
higedura	0:b61f317f452e	273
higedura	0:b61f317f452e	274	char tx[2];
higedura	0:b61f317f452e	275	tx[0] = PWR_MGM_REG;
higedura	0:b61f317f452e	276	tx[1] = config;
higedura	0:b61f317f452e	277
higedura	0:b61f317f452e	278	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:b61f317f452e	279
higedura	0:b61f317f452e	280	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	30 Jan 2012
Imports:	245
Forks:	0
Commits:	12
Dependents:	0
Dependencies:	1
Followers:	4

ITG3200.cpp@11:b32b3d6be8d2, 2012-03-15 (annotated)

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