Dependencies: FatFileSystem mbed
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 | } |