Dependencies: FatFileSystem mbed
Diff: ITG3200.cpp
- Revision:
- 0:813b917360ac
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ITG3200.cpp Mon Apr 02 12:22:30 2012 +0000 @@ -0,0 +1,280 @@ +/** + * @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); + +}