File content as of revision 11:b32b3d6be8d2:
/**
* @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);
}
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