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ITG3200.cpp@2:307500c991dd, 2012-04-21 (annotated)

Committer:: higedura
Date:: Sat Apr 21 14:07:27 2012 +0000
Revision:: 2:307500c991dd
Parent:: 0:813b917360ac

Who changed what in which revision?

User	Revision	Line number	New contents of line
higedura	0:813b917360ac	1	/**
higedura	0:813b917360ac	2	* @author Aaron Berk
higedura	0:813b917360ac	3	*
higedura	0:813b917360ac	4	* @section LICENSE
higedura	0:813b917360ac	5	*
higedura	0:813b917360ac	6	* Copyright (c) 2010 ARM Limited
higedura	0:813b917360ac	7	*
higedura	0:813b917360ac	8	* Permission is hereby granted, free of charge, to any person obtaining a copy
higedura	0:813b917360ac	9	* of this software and associated documentation files (the "Software"), to deal
higedura	0:813b917360ac	10	* in the Software without restriction, including without limitation the rights
higedura	0:813b917360ac	11	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
higedura	0:813b917360ac	12	* copies of the Software, and to permit persons to whom the Software is
higedura	0:813b917360ac	13	* furnished to do so, subject to the following conditions:
higedura	0:813b917360ac	14	*
higedura	0:813b917360ac	15	* The above copyright notice and this permission notice shall be included in
higedura	0:813b917360ac	16	* all copies or substantial portions of the Software.
higedura	0:813b917360ac	17	*
higedura	0:813b917360ac	18	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
higedura	0:813b917360ac	19	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
higedura	0:813b917360ac	20	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
higedura	0:813b917360ac	21	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
higedura	0:813b917360ac	22	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
higedura	0:813b917360ac	23	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
higedura	0:813b917360ac	24	* THE SOFTWARE.
higedura	0:813b917360ac	25	*
higedura	0:813b917360ac	26	* @section DESCRIPTION
higedura	0:813b917360ac	27	*
higedura	0:813b917360ac	28	* ITG-3200 triple axis, digital interface, gyroscope.
higedura	0:813b917360ac	29	*
higedura	0:813b917360ac	30	* Datasheet:
higedura	0:813b917360ac	31	*
higedura	0:813b917360ac	32	* http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
higedura	0:813b917360ac	33	*/
higedura	0:813b917360ac	34
higedura	0:813b917360ac	35	/**
higedura	0:813b917360ac	36	* Includes
higedura	0:813b917360ac	37	*/
higedura	0:813b917360ac	38	#include "ITG3200.h"
higedura	0:813b917360ac	39
higedura	0:813b917360ac	40	ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
higedura	0:813b917360ac	41
higedura	0:813b917360ac	42	//400kHz, fast mode.
higedura	0:813b917360ac	43	i2c_.frequency(400000);
higedura	0:813b917360ac	44
higedura	0:813b917360ac	45	//Set FS_SEL to 0x03 for proper operation.
higedura	0:813b917360ac	46	//See datasheet for details.
higedura	0:813b917360ac	47	char tx[2];
higedura	0:813b917360ac	48	tx[0] = DLPF_FS_REG;
higedura	0:813b917360ac	49	//FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
higedura	0:813b917360ac	50	tx[1] = 0x03 << 3;
higedura	0:813b917360ac	51
higedura	0:813b917360ac	52	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:813b917360ac	53
higedura	0:813b917360ac	54	}
higedura	0:813b917360ac	55
higedura	0:813b917360ac	56	char ITG3200::getWhoAmI(void){
higedura	0:813b917360ac	57
higedura	0:813b917360ac	58	//WhoAmI Register address.
higedura	0:813b917360ac	59	char tx = WHO_AM_I_REG;
higedura	0:813b917360ac	60	char rx;
higedura	0:813b917360ac	61
higedura	0:813b917360ac	62	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	63
higedura	0:813b917360ac	64	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:813b917360ac	65
higedura	0:813b917360ac	66	return rx;
higedura	0:813b917360ac	67
higedura	0:813b917360ac	68	}
higedura	0:813b917360ac	69
higedura	0:813b917360ac	70	void ITG3200::setWhoAmI(char address){
higedura	0:813b917360ac	71
higedura	0:813b917360ac	72	char tx[2];
higedura	0:813b917360ac	73	tx[0] = WHO_AM_I_REG;
higedura	0:813b917360ac	74	tx[1] = address;
higedura	0:813b917360ac	75
higedura	0:813b917360ac	76	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:813b917360ac	77
higedura	0:813b917360ac	78	}
higedura	0:813b917360ac	79
higedura	0:813b917360ac	80	char ITG3200::getSampleRateDivider(void){
higedura	0:813b917360ac	81
higedura	0:813b917360ac	82	char tx = SMPLRT_DIV_REG;
higedura	0:813b917360ac	83	char rx;
higedura	0:813b917360ac	84
higedura	0:813b917360ac	85	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	86
higedura	0:813b917360ac	87	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:813b917360ac	88
higedura	0:813b917360ac	89	return rx;
higedura	0:813b917360ac	90
higedura	0:813b917360ac	91	}
higedura	0:813b917360ac	92
higedura	0:813b917360ac	93	void ITG3200::setSampleRateDivider(char divider){
higedura	0:813b917360ac	94
higedura	0:813b917360ac	95	char tx[2];
higedura	0:813b917360ac	96	tx[0] = SMPLRT_DIV_REG;
higedura	0:813b917360ac	97	tx[1] = divider;
higedura	0:813b917360ac	98
higedura	0:813b917360ac	99	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:813b917360ac	100
higedura	0:813b917360ac	101	}
higedura	0:813b917360ac	102
higedura	0:813b917360ac	103	int ITG3200::getInternalSampleRate(void){
higedura	0:813b917360ac	104
higedura	0:813b917360ac	105	char tx = DLPF_FS_REG;
higedura	0:813b917360ac	106	char rx;
higedura	0:813b917360ac	107
higedura	0:813b917360ac	108	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	109
higedura	0:813b917360ac	110	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:813b917360ac	111
higedura	0:813b917360ac	112	//DLPF_CFG == 0 -> sample rate = 8kHz.
higedura	0:813b917360ac	113	if(rx == 0){
higedura	0:813b917360ac	114	return 8;
higedura	0:813b917360ac	115	}
higedura	0:813b917360ac	116	//DLPF_CFG = 1..7 -> sample rate = 1kHz.
higedura	0:813b917360ac	117	else if(rx >= 1 && rx <= 7){
higedura	0:813b917360ac	118	return 1;
higedura	0:813b917360ac	119	}
higedura	0:813b917360ac	120	//DLPF_CFG = anything else -> something's wrong!
higedura	0:813b917360ac	121	else{
higedura	0:813b917360ac	122	return -1;
higedura	0:813b917360ac	123	}
higedura	0:813b917360ac	124
higedura	0:813b917360ac	125	}
higedura	0:813b917360ac	126
higedura	0:813b917360ac	127	void ITG3200::setLpBandwidth(char bandwidth){
higedura	0:813b917360ac	128
higedura	0:813b917360ac	129	char tx[2];
higedura	0:813b917360ac	130	tx[0] = DLPF_FS_REG;
higedura	0:813b917360ac	131	//Bits 4,3 are required to be 0x03 for proper operation.
higedura	0:813b917360ac	132	tx[1] = bandwidth \| (0x03 << 3);
higedura	0:813b917360ac	133
higedura	0:813b917360ac	134	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:813b917360ac	135
higedura	0:813b917360ac	136	}
higedura	0:813b917360ac	137
higedura	0:813b917360ac	138	char ITG3200::getInterruptConfiguration(void){
higedura	0:813b917360ac	139
higedura	0:813b917360ac	140	char tx = INT_CFG_REG;
higedura	0:813b917360ac	141	char rx;
higedura	0:813b917360ac	142
higedura	0:813b917360ac	143	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	144
higedura	0:813b917360ac	145	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:813b917360ac	146
higedura	0:813b917360ac	147	return rx;
higedura	0:813b917360ac	148
higedura	0:813b917360ac	149	}
higedura	0:813b917360ac	150
higedura	0:813b917360ac	151	void ITG3200::setInterruptConfiguration(char config){
higedura	0:813b917360ac	152
higedura	0:813b917360ac	153	char tx[2];
higedura	0:813b917360ac	154	tx[0] = INT_CFG_REG;
higedura	0:813b917360ac	155	tx[1] = config;
higedura	0:813b917360ac	156
higedura	0:813b917360ac	157	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:813b917360ac	158
higedura	0:813b917360ac	159	}
higedura	0:813b917360ac	160
higedura	0:813b917360ac	161	bool ITG3200::isPllReady(void){
higedura	0:813b917360ac	162
higedura	0:813b917360ac	163	char tx = INT_STATUS;
higedura	0:813b917360ac	164	char rx;
higedura	0:813b917360ac	165
higedura	0:813b917360ac	166	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	167
higedura	0:813b917360ac	168	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:813b917360ac	169
higedura	0:813b917360ac	170	//ITG_RDY bit is bit 4 of INT_STATUS register.
higedura	0:813b917360ac	171	if(rx & 0x04){
higedura	0:813b917360ac	172	return true;
higedura	0:813b917360ac	173	}
higedura	0:813b917360ac	174	else{
higedura	0:813b917360ac	175	return false;
higedura	0:813b917360ac	176	}
higedura	0:813b917360ac	177
higedura	0:813b917360ac	178	}
higedura	0:813b917360ac	179
higedura	0:813b917360ac	180	bool ITG3200::isRawDataReady(void){
higedura	0:813b917360ac	181
higedura	0:813b917360ac	182	char tx = INT_STATUS;
higedura	0:813b917360ac	183	char rx;
higedura	0:813b917360ac	184
higedura	0:813b917360ac	185	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	186
higedura	0:813b917360ac	187	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:813b917360ac	188
higedura	0:813b917360ac	189	//RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
higedura	0:813b917360ac	190	if(rx & 0x01){
higedura	0:813b917360ac	191	return true;
higedura	0:813b917360ac	192	}
higedura	0:813b917360ac	193	else{
higedura	0:813b917360ac	194	return false;
higedura	0:813b917360ac	195	}
higedura	0:813b917360ac	196
higedura	0:813b917360ac	197	}
higedura	0:813b917360ac	198
higedura	0:813b917360ac	199	float ITG3200::getTemperature(void){
higedura	0:813b917360ac	200
higedura	0:813b917360ac	201	char tx = TEMP_OUT_H_REG;
higedura	0:813b917360ac	202	char rx[2];
higedura	0:813b917360ac	203
higedura	0:813b917360ac	204	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	205
higedura	0:813b917360ac	206	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
higedura	0:813b917360ac	207
higedura	0:813b917360ac	208	int16_t temperature = ((int) rx[0] << 8) \| ((int) rx[1]);
higedura	0:813b917360ac	209	//Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
higedura	0:813b917360ac	210	return 35.0 + ((temperature + 13200)/280.0);
higedura	0:813b917360ac	211
higedura	0:813b917360ac	212	}
higedura	0:813b917360ac	213
higedura	0:813b917360ac	214	int ITG3200::getGyroX(void){
higedura	0:813b917360ac	215
higedura	0:813b917360ac	216	char tx = GYRO_XOUT_H_REG;
higedura	0:813b917360ac	217	char rx[2];
higedura	0:813b917360ac	218
higedura	0:813b917360ac	219	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	220
higedura	0:813b917360ac	221	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
higedura	0:813b917360ac	222
higedura	0:813b917360ac	223	int16_t output = ((int) rx[0] << 8) \| ((int) rx[1]);
higedura	0:813b917360ac	224
higedura	0:813b917360ac	225	return output;
higedura	0:813b917360ac	226
higedura	0:813b917360ac	227	}
higedura	0:813b917360ac	228
higedura	0:813b917360ac	229	int ITG3200::getGyroY(void){
higedura	0:813b917360ac	230
higedura	0:813b917360ac	231	char tx = GYRO_YOUT_H_REG;
higedura	0:813b917360ac	232	char rx[2];
higedura	0:813b917360ac	233
higedura	0:813b917360ac	234	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	235
higedura	0:813b917360ac	236	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
higedura	0:813b917360ac	237
higedura	0:813b917360ac	238	int16_t output = ((int) rx[0] << 8) \| ((int) rx[1]);
higedura	0:813b917360ac	239
higedura	0:813b917360ac	240	return output;
higedura	0:813b917360ac	241
higedura	0:813b917360ac	242	}
higedura	0:813b917360ac	243
higedura	0:813b917360ac	244	int ITG3200::getGyroZ(void){
higedura	0:813b917360ac	245
higedura	0:813b917360ac	246	char tx = GYRO_ZOUT_H_REG;
higedura	0:813b917360ac	247	char rx[2];
higedura	0:813b917360ac	248
higedura	0:813b917360ac	249	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	250
higedura	0:813b917360ac	251	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, rx, 2);
higedura	0:813b917360ac	252
higedura	0:813b917360ac	253	int16_t output = ((int) rx[0] << 8) \| ((int) rx[1]);
higedura	0:813b917360ac	254
higedura	0:813b917360ac	255	return output;
higedura	0:813b917360ac	256
higedura	0:813b917360ac	257	}
higedura	0:813b917360ac	258
higedura	0:813b917360ac	259	char ITG3200::getPowerManagement(void){
higedura	0:813b917360ac	260
higedura	0:813b917360ac	261	char tx = PWR_MGM_REG;
higedura	0:813b917360ac	262	char rx;
higedura	0:813b917360ac	263
higedura	0:813b917360ac	264	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura	0:813b917360ac	265
higedura	0:813b917360ac	266	i2c_.read((ITG3200_I2C_ADDRESS << 1) \| 0x01, &rx, 1);
higedura	0:813b917360ac	267
higedura	0:813b917360ac	268	return rx;
higedura	0:813b917360ac	269
higedura	0:813b917360ac	270	}
higedura	0:813b917360ac	271
higedura	0:813b917360ac	272	void ITG3200::setPowerManagement(char config){
higedura	0:813b917360ac	273
higedura	0:813b917360ac	274	char tx[2];
higedura	0:813b917360ac	275	tx[0] = PWR_MGM_REG;
higedura	0:813b917360ac	276	tx[1] = config;
higedura	0:813b917360ac	277
higedura	0:813b917360ac	278	i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura	0:813b917360ac	279
higedura	0:813b917360ac	280	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	02 Apr 2012
Imports:	3
Forks:	0
Commits:	3
Dependents:	0
Dependencies:	2
Followers:	2

ITG3200.cpp@2:307500c991dd, 2012-04-21 (annotated)

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