hige dura / Mbed 2 deprecated dotHR_EKF_phithe

Dependencies:   mbed FatFileSystem

ITG3200.cpp@1:0c42db451cb9, 2012-09-17 (annotated)

Committer:
higedura
Date:
Mon Sep 17 09:39:54 2012 +0000
Revision:
1:0c42db451cb9
Parent:
0:75227c386257 
dotHR_phothe

Who changed what in which revision?

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higedura 0:75227c386257 1 /**
higedura 0:75227c386257 2 * @author Aaron Berk
higedura 0:75227c386257 3 *
higedura 0:75227c386257 4 * @section LICENSE
higedura 0:75227c386257 5 *
higedura 0:75227c386257 6 * Copyright (c) 2010 ARM Limited
higedura 0:75227c386257 7 *
higedura 0:75227c386257 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
higedura 0:75227c386257 9 * of this software and associated documentation files (the "Software"), to deal
higedura 0:75227c386257 10 * in the Software without restriction, including without limitation the rights
higedura 0:75227c386257 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
higedura 0:75227c386257 12 * copies of the Software, and to permit persons to whom the Software is
higedura 0:75227c386257 13 * furnished to do so, subject to the following conditions:
higedura 0:75227c386257 14 *
higedura 0:75227c386257 15 * The above copyright notice and this permission notice shall be included in
higedura 0:75227c386257 16 * all copies or substantial portions of the Software.
higedura 0:75227c386257 17 *
higedura 0:75227c386257 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
higedura 0:75227c386257 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
higedura 0:75227c386257 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
higedura 0:75227c386257 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
higedura 0:75227c386257 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
higedura 0:75227c386257 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
higedura 0:75227c386257 24 * THE SOFTWARE.
higedura 0:75227c386257 25 *
higedura 0:75227c386257 26 * @section DESCRIPTION
higedura 0:75227c386257 27 *
higedura 0:75227c386257 28 * ITG-3200 triple axis, digital interface, gyroscope.
higedura 0:75227c386257 29 *
higedura 0:75227c386257 30 * Datasheet:
higedura 0:75227c386257 31 *
higedura 0:75227c386257 32 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
higedura 0:75227c386257 33 */
higedura 0:75227c386257 34
higedura 0:75227c386257 35 /**
higedura 0:75227c386257 36 * Includes
higedura 0:75227c386257 37 */
higedura 0:75227c386257 38 #include "ITG3200.h"
higedura 0:75227c386257 39
higedura 0:75227c386257 40 ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
higedura 0:75227c386257 41
higedura 0:75227c386257 42 //400kHz, fast mode.
higedura 0:75227c386257 43 i2c_.frequency(400000);
higedura 0:75227c386257 44
higedura 0:75227c386257 45 //Set FS_SEL to 0x03 for proper operation.
higedura 0:75227c386257 46 //See datasheet for details.
higedura 0:75227c386257 47 char tx[2];
higedura 0:75227c386257 48 tx[0] = DLPF_FS_REG;
higedura 0:75227c386257 49 //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
higedura 0:75227c386257 50 tx[1] = 0x03 << 3;
higedura 0:75227c386257 51
higedura 0:75227c386257 52 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:75227c386257 53
higedura 0:75227c386257 54 }
higedura 0:75227c386257 55
higedura 0:75227c386257 56 char ITG3200::getWhoAmI(void){
higedura 0:75227c386257 57
higedura 0:75227c386257 58 //WhoAmI Register address.
higedura 0:75227c386257 59 char tx = WHO_AM_I_REG;
higedura 0:75227c386257 60 char rx;
higedura 0:75227c386257 61
higedura 0:75227c386257 62 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 63
higedura 0:75227c386257 64 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:75227c386257 65
higedura 0:75227c386257 66 return rx;
higedura 0:75227c386257 67
higedura 0:75227c386257 68 }
higedura 0:75227c386257 69
higedura 0:75227c386257 70 void ITG3200::setWhoAmI(char address){
higedura 0:75227c386257 71
higedura 0:75227c386257 72 char tx[2];
higedura 0:75227c386257 73 tx[0] = WHO_AM_I_REG;
higedura 0:75227c386257 74 tx[1] = address;
higedura 0:75227c386257 75
higedura 0:75227c386257 76 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:75227c386257 77
higedura 0:75227c386257 78 }
higedura 0:75227c386257 79
higedura 0:75227c386257 80 char ITG3200::getSampleRateDivider(void){
higedura 0:75227c386257 81
higedura 0:75227c386257 82 char tx = SMPLRT_DIV_REG;
higedura 0:75227c386257 83 char rx;
higedura 0:75227c386257 84
higedura 0:75227c386257 85 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 86
higedura 0:75227c386257 87 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:75227c386257 88
higedura 0:75227c386257 89 return rx;
higedura 0:75227c386257 90
higedura 0:75227c386257 91 }
higedura 0:75227c386257 92
higedura 0:75227c386257 93 void ITG3200::setSampleRateDivider(char divider){
higedura 0:75227c386257 94
higedura 0:75227c386257 95 char tx[2];
higedura 0:75227c386257 96 tx[0] = SMPLRT_DIV_REG;
higedura 0:75227c386257 97 tx[1] = divider;
higedura 0:75227c386257 98
higedura 0:75227c386257 99 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:75227c386257 100
higedura 0:75227c386257 101 }
higedura 0:75227c386257 102
higedura 0:75227c386257 103 int ITG3200::getInternalSampleRate(void){
higedura 0:75227c386257 104
higedura 0:75227c386257 105 char tx = DLPF_FS_REG;
higedura 0:75227c386257 106 char rx;
higedura 0:75227c386257 107
higedura 0:75227c386257 108 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 109
higedura 0:75227c386257 110 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:75227c386257 111
higedura 0:75227c386257 112 //DLPF_CFG == 0 -> sample rate = 8kHz.
higedura 0:75227c386257 113 if(rx == 0){
higedura 0:75227c386257 114 return 8;
higedura 0:75227c386257 115 }
higedura 0:75227c386257 116 //DLPF_CFG = 1..7 -> sample rate = 1kHz.
higedura 0:75227c386257 117 else if(rx >= 1 && rx <= 7){
higedura 0:75227c386257 118 return 1;
higedura 0:75227c386257 119 }
higedura 0:75227c386257 120 //DLPF_CFG = anything else -> something's wrong!
higedura 0:75227c386257 121 else{
higedura 0:75227c386257 122 return -1;
higedura 0:75227c386257 123 }
higedura 0:75227c386257 124
higedura 0:75227c386257 125 }
higedura 0:75227c386257 126
higedura 0:75227c386257 127 void ITG3200::setLpBandwidth(char bandwidth){
higedura 0:75227c386257 128
higedura 0:75227c386257 129 char tx[2];
higedura 0:75227c386257 130 tx[0] = DLPF_FS_REG;
higedura 0:75227c386257 131 //Bits 4,3 are required to be 0x03 for proper operation.
higedura 0:75227c386257 132 tx[1] = bandwidth | (0x03 << 3);
higedura 0:75227c386257 133
higedura 0:75227c386257 134 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:75227c386257 135
higedura 0:75227c386257 136 }
higedura 0:75227c386257 137
higedura 0:75227c386257 138 char ITG3200::getInterruptConfiguration(void){
higedura 0:75227c386257 139
higedura 0:75227c386257 140 char tx = INT_CFG_REG;
higedura 0:75227c386257 141 char rx;
higedura 0:75227c386257 142
higedura 0:75227c386257 143 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 144
higedura 0:75227c386257 145 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:75227c386257 146
higedura 0:75227c386257 147 return rx;
higedura 0:75227c386257 148
higedura 0:75227c386257 149 }
higedura 0:75227c386257 150
higedura 0:75227c386257 151 void ITG3200::setInterruptConfiguration(char config){
higedura 0:75227c386257 152
higedura 0:75227c386257 153 char tx[2];
higedura 0:75227c386257 154 tx[0] = INT_CFG_REG;
higedura 0:75227c386257 155 tx[1] = config;
higedura 0:75227c386257 156
higedura 0:75227c386257 157 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:75227c386257 158
higedura 0:75227c386257 159 }
higedura 0:75227c386257 160
higedura 0:75227c386257 161 bool ITG3200::isPllReady(void){
higedura 0:75227c386257 162
higedura 0:75227c386257 163 char tx = INT_STATUS;
higedura 0:75227c386257 164 char rx;
higedura 0:75227c386257 165
higedura 0:75227c386257 166 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 167
higedura 0:75227c386257 168 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:75227c386257 169
higedura 0:75227c386257 170 //ITG_RDY bit is bit 4 of INT_STATUS register.
higedura 0:75227c386257 171 if(rx & 0x04){
higedura 0:75227c386257 172 return true;
higedura 0:75227c386257 173 }
higedura 0:75227c386257 174 else{
higedura 0:75227c386257 175 return false;
higedura 0:75227c386257 176 }
higedura 0:75227c386257 177
higedura 0:75227c386257 178 }
higedura 0:75227c386257 179
higedura 0:75227c386257 180 bool ITG3200::isRawDataReady(void){
higedura 0:75227c386257 181
higedura 0:75227c386257 182 char tx = INT_STATUS;
higedura 0:75227c386257 183 char rx;
higedura 0:75227c386257 184
higedura 0:75227c386257 185 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 186
higedura 0:75227c386257 187 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:75227c386257 188
higedura 0:75227c386257 189 //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
higedura 0:75227c386257 190 if(rx & 0x01){
higedura 0:75227c386257 191 return true;
higedura 0:75227c386257 192 }
higedura 0:75227c386257 193 else{
higedura 0:75227c386257 194 return false;
higedura 0:75227c386257 195 }
higedura 0:75227c386257 196
higedura 0:75227c386257 197 }
higedura 0:75227c386257 198
higedura 0:75227c386257 199 float ITG3200::getTemperature(void){
higedura 0:75227c386257 200
higedura 0:75227c386257 201 char tx = TEMP_OUT_H_REG;
higedura 0:75227c386257 202 char rx[2];
higedura 0:75227c386257 203
higedura 0:75227c386257 204 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 205
higedura 0:75227c386257 206 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:75227c386257 207
higedura 0:75227c386257 208 int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:75227c386257 209 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
higedura 0:75227c386257 210 return 35.0 + ((temperature + 13200)/280.0);
higedura 0:75227c386257 211
higedura 0:75227c386257 212 }
higedura 0:75227c386257 213
higedura 0:75227c386257 214 int ITG3200::getGyroX(void){
higedura 0:75227c386257 215
higedura 0:75227c386257 216 char tx = GYRO_XOUT_H_REG;
higedura 0:75227c386257 217 char rx[2];
higedura 0:75227c386257 218
higedura 0:75227c386257 219 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 220
higedura 0:75227c386257 221 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:75227c386257 222
higedura 0:75227c386257 223 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:75227c386257 224
higedura 0:75227c386257 225 return output;
higedura 0:75227c386257 226
higedura 0:75227c386257 227 }
higedura 0:75227c386257 228
higedura 0:75227c386257 229 int ITG3200::getGyroY(void){
higedura 0:75227c386257 230
higedura 0:75227c386257 231 char tx = GYRO_YOUT_H_REG;
higedura 0:75227c386257 232 char rx[2];
higedura 0:75227c386257 233
higedura 0:75227c386257 234 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 235
higedura 0:75227c386257 236 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:75227c386257 237
higedura 0:75227c386257 238 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:75227c386257 239
higedura 0:75227c386257 240 return output;
higedura 0:75227c386257 241
higedura 0:75227c386257 242 }
higedura 0:75227c386257 243
higedura 0:75227c386257 244 int ITG3200::getGyroZ(void){
higedura 0:75227c386257 245
higedura 0:75227c386257 246 char tx = GYRO_ZOUT_H_REG;
higedura 0:75227c386257 247 char rx[2];
higedura 0:75227c386257 248
higedura 0:75227c386257 249 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 250
higedura 0:75227c386257 251 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
higedura 0:75227c386257 252
higedura 0:75227c386257 253 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
higedura 0:75227c386257 254
higedura 0:75227c386257 255 return output;
higedura 0:75227c386257 256
higedura 0:75227c386257 257 }
higedura 0:75227c386257 258
higedura 0:75227c386257 259 char ITG3200::getPowerManagement(void){
higedura 0:75227c386257 260
higedura 0:75227c386257 261 char tx = PWR_MGM_REG;
higedura 0:75227c386257 262 char rx;
higedura 0:75227c386257 263
higedura 0:75227c386257 264 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
higedura 0:75227c386257 265
higedura 0:75227c386257 266 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
higedura 0:75227c386257 267
higedura 0:75227c386257 268 return rx;
higedura 0:75227c386257 269
higedura 0:75227c386257 270 }
higedura 0:75227c386257 271
higedura 0:75227c386257 272 void ITG3200::setPowerManagement(char config){
higedura 0:75227c386257 273
higedura 0:75227c386257 274 char tx[2];
higedura 0:75227c386257 275 tx[0] = PWR_MGM_REG;
higedura 0:75227c386257 276 tx[1] = config;
higedura 0:75227c386257 277
higedura 0:75227c386257 278 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
higedura 0:75227c386257 279
higedura 0:75227c386257 280 }