Dependencies:   TextLCD mbed

Committer:
higedura
Date:
Mon Apr 23 14:59:48 2012 +0000
Revision:
0:f5a5a0e5fefb

        

Who changed what in which revision?

UserRevisionLine numberNew contents of line
higedura 0:f5a5a0e5fefb 1 /**
higedura 0:f5a5a0e5fefb 2 * @author Aaron Berk
higedura 0:f5a5a0e5fefb 3 *
higedura 0:f5a5a0e5fefb 4 * @section LICENSE
higedura 0:f5a5a0e5fefb 5 *
higedura 0:f5a5a0e5fefb 6 * Copyright (c) 2010 ARM Limited
higedura 0:f5a5a0e5fefb 7 *
higedura 0:f5a5a0e5fefb 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
higedura 0:f5a5a0e5fefb 9 * of this software and associated documentation files (the "Software"), to deal
higedura 0:f5a5a0e5fefb 10 * in the Software without restriction, including without limitation the rights
higedura 0:f5a5a0e5fefb 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
higedura 0:f5a5a0e5fefb 12 * copies of the Software, and to permit persons to whom the Software is
higedura 0:f5a5a0e5fefb 13 * furnished to do so, subject to the following conditions:
higedura 0:f5a5a0e5fefb 14 *
higedura 0:f5a5a0e5fefb 15 * The above copyright notice and this permission notice shall be included in
higedura 0:f5a5a0e5fefb 16 * all copies or substantial portions of the Software.
higedura 0:f5a5a0e5fefb 17 *
higedura 0:f5a5a0e5fefb 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
higedura 0:f5a5a0e5fefb 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
higedura 0:f5a5a0e5fefb 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
higedura 0:f5a5a0e5fefb 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
higedura 0:f5a5a0e5fefb 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
higedura 0:f5a5a0e5fefb 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
higedura 0:f5a5a0e5fefb 24 * THE SOFTWARE.
higedura 0:f5a5a0e5fefb 25 *
higedura 0:f5a5a0e5fefb 26 * @section DESCRIPTION
higedura 0:f5a5a0e5fefb 27 *
higedura 0:f5a5a0e5fefb 28 * ITG-3200 triple axis, digital interface, gyroscope.
higedura 0:f5a5a0e5fefb 29 *
higedura 0:f5a5a0e5fefb 30 * Datasheet:
higedura 0:f5a5a0e5fefb 31 *
higedura 0:f5a5a0e5fefb 32 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
higedura 0:f5a5a0e5fefb 33 */
higedura 0:f5a5a0e5fefb 34
higedura 0:f5a5a0e5fefb 35 /**
higedura 0:f5a5a0e5fefb 36 * Includes
higedura 0:f5a5a0e5fefb 37 */
higedura 0:f5a5a0e5fefb 38 #include "ITG3200.h"
higedura 0:f5a5a0e5fefb 39
higedura 0:f5a5a0e5fefb 40 ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
higedura 0:f5a5a0e5fefb 41
higedura 0:f5a5a0e5fefb 42 //400kHz, fast mode.
higedura 0:f5a5a0e5fefb 43 i2c_.frequency(400000);
higedura 0:f5a5a0e5fefb 44
higedura 0:f5a5a0e5fefb 45 //Set FS_SEL to 0x03 for proper operation.
higedura 0:f5a5a0e5fefb 46 //See datasheet for details.
higedura 0:f5a5a0e5fefb 47 char tx[2];
higedura 0:f5a5a0e5fefb 48 tx[0] = DLPF_FS_REG;
higedura 0:f5a5a0e5fefb 49 //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
higedura 0:f5a5a0e5fefb 50 tx[1] = 0x03 << 3;
higedura 0:f5a5a0e5fefb 51
higedura 0:f5a5a0e5fefb 52 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:f5a5a0e5fefb 53
higedura 0:f5a5a0e5fefb 54 }
higedura 0:f5a5a0e5fefb 55
higedura 0:f5a5a0e5fefb 56 char ITG3200::getWhoAmI(void){
higedura 0:f5a5a0e5fefb 57
higedura 0:f5a5a0e5fefb 58 //WhoAmI Register address.
higedura 0:f5a5a0e5fefb 59 char tx = WHO_AM_I_REG;
higedura 0:f5a5a0e5fefb 60 char rx;
higedura 0:f5a5a0e5fefb 61
higedura 0:f5a5a0e5fefb 62 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 63
higedura 0:f5a5a0e5fefb 64 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:f5a5a0e5fefb 65
higedura 0:f5a5a0e5fefb 66 return rx;
higedura 0:f5a5a0e5fefb 67
higedura 0:f5a5a0e5fefb 68 }
higedura 0:f5a5a0e5fefb 69
higedura 0:f5a5a0e5fefb 70 void ITG3200::setWhoAmI(char address){
higedura 0:f5a5a0e5fefb 71
higedura 0:f5a5a0e5fefb 72 char tx[2];
higedura 0:f5a5a0e5fefb 73 tx[0] = WHO_AM_I_REG;
higedura 0:f5a5a0e5fefb 74 tx[1] = address;
higedura 0:f5a5a0e5fefb 75
higedura 0:f5a5a0e5fefb 76 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:f5a5a0e5fefb 77
higedura 0:f5a5a0e5fefb 78 }
higedura 0:f5a5a0e5fefb 79
higedura 0:f5a5a0e5fefb 80 char ITG3200::getSampleRateDivider(void){
higedura 0:f5a5a0e5fefb 81
higedura 0:f5a5a0e5fefb 82 char tx = SMPLRT_DIV_REG;
higedura 0:f5a5a0e5fefb 83 char rx;
higedura 0:f5a5a0e5fefb 84
higedura 0:f5a5a0e5fefb 85 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 86
higedura 0:f5a5a0e5fefb 87 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:f5a5a0e5fefb 88
higedura 0:f5a5a0e5fefb 89 return rx;
higedura 0:f5a5a0e5fefb 90
higedura 0:f5a5a0e5fefb 91 }
higedura 0:f5a5a0e5fefb 92
higedura 0:f5a5a0e5fefb 93 void ITG3200::setSampleRateDivider(char divider){
higedura 0:f5a5a0e5fefb 94
higedura 0:f5a5a0e5fefb 95 char tx[2];
higedura 0:f5a5a0e5fefb 96 tx[0] = SMPLRT_DIV_REG;
higedura 0:f5a5a0e5fefb 97 tx[1] = divider;
higedura 0:f5a5a0e5fefb 98
higedura 0:f5a5a0e5fefb 99 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:f5a5a0e5fefb 100
higedura 0:f5a5a0e5fefb 101 }
higedura 0:f5a5a0e5fefb 102
higedura 0:f5a5a0e5fefb 103 int ITG3200::getInternalSampleRate(void){
higedura 0:f5a5a0e5fefb 104
higedura 0:f5a5a0e5fefb 105 char tx = DLPF_FS_REG;
higedura 0:f5a5a0e5fefb 106 char rx;
higedura 0:f5a5a0e5fefb 107
higedura 0:f5a5a0e5fefb 108 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 109
higedura 0:f5a5a0e5fefb 110 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:f5a5a0e5fefb 111
higedura 0:f5a5a0e5fefb 112 //DLPF_CFG == 0 -> sample rate = 8kHz.
higedura 0:f5a5a0e5fefb 113 if(rx == 0){
higedura 0:f5a5a0e5fefb 114 return 8;
higedura 0:f5a5a0e5fefb 115 }
higedura 0:f5a5a0e5fefb 116 //DLPF_CFG = 1..7 -> sample rate = 1kHz.
higedura 0:f5a5a0e5fefb 117 else if(rx >= 1 && rx <= 7){
higedura 0:f5a5a0e5fefb 118 return 1;
higedura 0:f5a5a0e5fefb 119 }
higedura 0:f5a5a0e5fefb 120 //DLPF_CFG = anything else -> something's wrong!
higedura 0:f5a5a0e5fefb 121 else{
higedura 0:f5a5a0e5fefb 122 return -1;
higedura 0:f5a5a0e5fefb 123 }
higedura 0:f5a5a0e5fefb 124
higedura 0:f5a5a0e5fefb 125 }
higedura 0:f5a5a0e5fefb 126
higedura 0:f5a5a0e5fefb 127 void ITG3200::setLpBandwidth(char bandwidth){
higedura 0:f5a5a0e5fefb 128
higedura 0:f5a5a0e5fefb 129 char tx[2];
higedura 0:f5a5a0e5fefb 130 tx[0] = DLPF_FS_REG;
higedura 0:f5a5a0e5fefb 131 //Bits 4,3 are required to be 0x03 for proper operation.
higedura 0:f5a5a0e5fefb 132 tx[1] = bandwidth | (0x03 << 3);
higedura 0:f5a5a0e5fefb 133
higedura 0:f5a5a0e5fefb 134 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:f5a5a0e5fefb 135
higedura 0:f5a5a0e5fefb 136 }
higedura 0:f5a5a0e5fefb 137
higedura 0:f5a5a0e5fefb 138 char ITG3200::getInterruptConfiguration(void){
higedura 0:f5a5a0e5fefb 139
higedura 0:f5a5a0e5fefb 140 char tx = INT_CFG_REG;
higedura 0:f5a5a0e5fefb 141 char rx;
higedura 0:f5a5a0e5fefb 142
higedura 0:f5a5a0e5fefb 143 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 144
higedura 0:f5a5a0e5fefb 145 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:f5a5a0e5fefb 146
higedura 0:f5a5a0e5fefb 147 return rx;
higedura 0:f5a5a0e5fefb 148
higedura 0:f5a5a0e5fefb 149 }
higedura 0:f5a5a0e5fefb 150
higedura 0:f5a5a0e5fefb 151 void ITG3200::setInterruptConfiguration(char config){
higedura 0:f5a5a0e5fefb 152
higedura 0:f5a5a0e5fefb 153 char tx[2];
higedura 0:f5a5a0e5fefb 154 tx[0] = INT_CFG_REG;
higedura 0:f5a5a0e5fefb 155 tx[1] = config;
higedura 0:f5a5a0e5fefb 156
higedura 0:f5a5a0e5fefb 157 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:f5a5a0e5fefb 158
higedura 0:f5a5a0e5fefb 159 }
higedura 0:f5a5a0e5fefb 160
higedura 0:f5a5a0e5fefb 161 bool ITG3200::isPllReady(void){
higedura 0:f5a5a0e5fefb 162
higedura 0:f5a5a0e5fefb 163 char tx = INT_STATUS;
higedura 0:f5a5a0e5fefb 164 char rx;
higedura 0:f5a5a0e5fefb 165
higedura 0:f5a5a0e5fefb 166 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 167
higedura 0:f5a5a0e5fefb 168 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:f5a5a0e5fefb 169
higedura 0:f5a5a0e5fefb 170 //ITG_RDY bit is bit 4 of INT_STATUS register.
higedura 0:f5a5a0e5fefb 171 if(rx & 0x04){
higedura 0:f5a5a0e5fefb 172 return true;
higedura 0:f5a5a0e5fefb 173 }
higedura 0:f5a5a0e5fefb 174 else{
higedura 0:f5a5a0e5fefb 175 return false;
higedura 0:f5a5a0e5fefb 176 }
higedura 0:f5a5a0e5fefb 177
higedura 0:f5a5a0e5fefb 178 }
higedura 0:f5a5a0e5fefb 179
higedura 0:f5a5a0e5fefb 180 bool ITG3200::isRawDataReady(void){
higedura 0:f5a5a0e5fefb 181
higedura 0:f5a5a0e5fefb 182 char tx = INT_STATUS;
higedura 0:f5a5a0e5fefb 183 char rx;
higedura 0:f5a5a0e5fefb 184
higedura 0:f5a5a0e5fefb 185 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 186
higedura 0:f5a5a0e5fefb 187 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:f5a5a0e5fefb 188
higedura 0:f5a5a0e5fefb 189 //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
higedura 0:f5a5a0e5fefb 190 if(rx & 0x01){
higedura 0:f5a5a0e5fefb 191 return true;
higedura 0:f5a5a0e5fefb 192 }
higedura 0:f5a5a0e5fefb 193 else{
higedura 0:f5a5a0e5fefb 194 return false;
higedura 0:f5a5a0e5fefb 195 }
higedura 0:f5a5a0e5fefb 196
higedura 0:f5a5a0e5fefb 197 }
higedura 0:f5a5a0e5fefb 198
higedura 0:f5a5a0e5fefb 199 float ITG3200::getTemperature(void){
higedura 0:f5a5a0e5fefb 200
higedura 0:f5a5a0e5fefb 201 char tx = TEMP_OUT_H_REG;
higedura 0:f5a5a0e5fefb 202 char rx[2];
higedura 0:f5a5a0e5fefb 203
higedura 0:f5a5a0e5fefb 204 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 205
higedura 0:f5a5a0e5fefb 206 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:f5a5a0e5fefb 207
higedura 0:f5a5a0e5fefb 208 int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:f5a5a0e5fefb 209 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
higedura 0:f5a5a0e5fefb 210 return 35.0 + ((temperature + 13200)/280.0);
higedura 0:f5a5a0e5fefb 211
higedura 0:f5a5a0e5fefb 212 }
higedura 0:f5a5a0e5fefb 213
higedura 0:f5a5a0e5fefb 214 int ITG3200::getGyroX(void){
higedura 0:f5a5a0e5fefb 215
higedura 0:f5a5a0e5fefb 216 char tx = GYRO_XOUT_H_REG;
higedura 0:f5a5a0e5fefb 217 char rx[2];
higedura 0:f5a5a0e5fefb 218
higedura 0:f5a5a0e5fefb 219 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 220
higedura 0:f5a5a0e5fefb 221 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:f5a5a0e5fefb 222
higedura 0:f5a5a0e5fefb 223 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:f5a5a0e5fefb 224
higedura 0:f5a5a0e5fefb 225 return output;
higedura 0:f5a5a0e5fefb 226
higedura 0:f5a5a0e5fefb 227 }
higedura 0:f5a5a0e5fefb 228
higedura 0:f5a5a0e5fefb 229 int ITG3200::getGyroY(void){
higedura 0:f5a5a0e5fefb 230
higedura 0:f5a5a0e5fefb 231 char tx = GYRO_YOUT_H_REG;
higedura 0:f5a5a0e5fefb 232 char rx[2];
higedura 0:f5a5a0e5fefb 233
higedura 0:f5a5a0e5fefb 234 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 235
higedura 0:f5a5a0e5fefb 236 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:f5a5a0e5fefb 237
higedura 0:f5a5a0e5fefb 238 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:f5a5a0e5fefb 239
higedura 0:f5a5a0e5fefb 240 return output;
higedura 0:f5a5a0e5fefb 241
higedura 0:f5a5a0e5fefb 242 }
higedura 0:f5a5a0e5fefb 243
higedura 0:f5a5a0e5fefb 244 int ITG3200::getGyroZ(void){
higedura 0:f5a5a0e5fefb 245
higedura 0:f5a5a0e5fefb 246 char tx = GYRO_ZOUT_H_REG;
higedura 0:f5a5a0e5fefb 247 char rx[2];
higedura 0:f5a5a0e5fefb 248
higedura 0:f5a5a0e5fefb 249 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 250
higedura 0:f5a5a0e5fefb 251 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:f5a5a0e5fefb 252
higedura 0:f5a5a0e5fefb 253 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:f5a5a0e5fefb 254
higedura 0:f5a5a0e5fefb 255 return output;
higedura 0:f5a5a0e5fefb 256
higedura 0:f5a5a0e5fefb 257 }
higedura 0:f5a5a0e5fefb 258
higedura 0:f5a5a0e5fefb 259 char ITG3200::getPowerManagement(void){
higedura 0:f5a5a0e5fefb 260
higedura 0:f5a5a0e5fefb 261 char tx = PWR_MGM_REG;
higedura 0:f5a5a0e5fefb 262 char rx;
higedura 0:f5a5a0e5fefb 263
higedura 0:f5a5a0e5fefb 264 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:f5a5a0e5fefb 265
higedura 0:f5a5a0e5fefb 266 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:f5a5a0e5fefb 267
higedura 0:f5a5a0e5fefb 268 return rx;
higedura 0:f5a5a0e5fefb 269
higedura 0:f5a5a0e5fefb 270 }
higedura 0:f5a5a0e5fefb 271
higedura 0:f5a5a0e5fefb 272 void ITG3200::setPowerManagement(char config){
higedura 0:f5a5a0e5fefb 273
higedura 0:f5a5a0e5fefb 274 char tx[2];
higedura 0:f5a5a0e5fefb 275 tx[0] = PWR_MGM_REG;
higedura 0:f5a5a0e5fefb 276 tx[1] = config;
higedura 0:f5a5a0e5fefb 277
higedura 0:f5a5a0e5fefb 278 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:f5a5a0e5fefb 279
higedura 0:f5a5a0e5fefb 280 }