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ITG3200.cpp@0:f5a5a0e5fefb, 2012-04-23 (annotated)

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

Who changed what in which revision?

User	Revision	Line number	New 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	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 Apr 2012
Imports:	32
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	2
Followers:	2

ITG3200.cpp@0:f5a5a0e5fefb, 2012-04-23 (annotated)

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