ryosuke yumoto / Mbed 2 deprecated ITG3200_HelloWorld

test

Dependencies:   mbed

Fork of ITG3200_HelloWorld by Aaron Berk

ITG3200.cpp@2:6ab9a5b039d1, 2014-04-30 (annotated)

Committer:
ryosuke
Date:
Wed Apr 30 10:03:16 2014 +0000
Revision:
2:6ab9a5b039d1
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryosuke 2:6ab9a5b039d1 1 /**
ryosuke 2:6ab9a5b039d1 2 * @author Aaron Berk
ryosuke 2:6ab9a5b039d1 3 *
ryosuke 2:6ab9a5b039d1 4 * @section LICENSE
ryosuke 2:6ab9a5b039d1 5 *
ryosuke 2:6ab9a5b039d1 6 * Copyright (c) 2010 ARM Limited
ryosuke 2:6ab9a5b039d1 7 *
ryosuke 2:6ab9a5b039d1 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
ryosuke 2:6ab9a5b039d1 9 * of this software and associated documentation files (the "Software"), to deal
ryosuke 2:6ab9a5b039d1 10 * in the Software without restriction, including without limitation the rights
ryosuke 2:6ab9a5b039d1 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
ryosuke 2:6ab9a5b039d1 12 * copies of the Software, and to permit persons to whom the Software is
ryosuke 2:6ab9a5b039d1 13 * furnished to do so, subject to the following conditions:
ryosuke 2:6ab9a5b039d1 14 *
ryosuke 2:6ab9a5b039d1 15 * The above copyright notice and this permission notice shall be included in
ryosuke 2:6ab9a5b039d1 16 * all copies or substantial portions of the Software.
ryosuke 2:6ab9a5b039d1 17 *
ryosuke 2:6ab9a5b039d1 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
ryosuke 2:6ab9a5b039d1 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
ryosuke 2:6ab9a5b039d1 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
ryosuke 2:6ab9a5b039d1 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
ryosuke 2:6ab9a5b039d1 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ryosuke 2:6ab9a5b039d1 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
ryosuke 2:6ab9a5b039d1 24 * THE SOFTWARE.
ryosuke 2:6ab9a5b039d1 25 *
ryosuke 2:6ab9a5b039d1 26 * @section DESCRIPTION
ryosuke 2:6ab9a5b039d1 27 *
ryosuke 2:6ab9a5b039d1 28 * ITG-3200 triple axis, digital interface, gyroscope.
ryosuke 2:6ab9a5b039d1 29 *
ryosuke 2:6ab9a5b039d1 30 * Datasheet:
ryosuke 2:6ab9a5b039d1 31 *
ryosuke 2:6ab9a5b039d1 32 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
ryosuke 2:6ab9a5b039d1 33 */
ryosuke 2:6ab9a5b039d1 34
ryosuke 2:6ab9a5b039d1 35 /**
ryosuke 2:6ab9a5b039d1 36 * Includes
ryosuke 2:6ab9a5b039d1 37 */
ryosuke 2:6ab9a5b039d1 38 #include "ITG3200.h"
ryosuke 2:6ab9a5b039d1 39
ryosuke 2:6ab9a5b039d1 40 ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
ryosuke 2:6ab9a5b039d1 41
ryosuke 2:6ab9a5b039d1 42 //400kHz, fast mode.
ryosuke 2:6ab9a5b039d1 43 i2c_.frequency(400000);
ryosuke 2:6ab9a5b039d1 44
ryosuke 2:6ab9a5b039d1 45 //Set FS_SEL to 0x03 for proper operation.
ryosuke 2:6ab9a5b039d1 46 //See datasheet for details.
ryosuke 2:6ab9a5b039d1 47 char tx[2];
ryosuke 2:6ab9a5b039d1 48 tx[0] = DLPF_FS_REG;
ryosuke 2:6ab9a5b039d1 49 //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
ryosuke 2:6ab9a5b039d1 50 tx[1] = 0x03 << 3;
ryosuke 2:6ab9a5b039d1 51
ryosuke 2:6ab9a5b039d1 52 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
ryosuke 2:6ab9a5b039d1 53
ryosuke 2:6ab9a5b039d1 54 }
ryosuke 2:6ab9a5b039d1 55
ryosuke 2:6ab9a5b039d1 56 char ITG3200::getWhoAmI(void){
ryosuke 2:6ab9a5b039d1 57
ryosuke 2:6ab9a5b039d1 58 //WhoAmI Register address.
ryosuke 2:6ab9a5b039d1 59 char tx = WHO_AM_I_REG;
ryosuke 2:6ab9a5b039d1 60 char rx;
ryosuke 2:6ab9a5b039d1 61
ryosuke 2:6ab9a5b039d1 62 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 63
ryosuke 2:6ab9a5b039d1 64 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
ryosuke 2:6ab9a5b039d1 65
ryosuke 2:6ab9a5b039d1 66 return rx;
ryosuke 2:6ab9a5b039d1 67
ryosuke 2:6ab9a5b039d1 68 }
ryosuke 2:6ab9a5b039d1 69
ryosuke 2:6ab9a5b039d1 70 void ITG3200::setWhoAmI(char address){
ryosuke 2:6ab9a5b039d1 71
ryosuke 2:6ab9a5b039d1 72 char tx[2];
ryosuke 2:6ab9a5b039d1 73 tx[0] = WHO_AM_I_REG;
ryosuke 2:6ab9a5b039d1 74 tx[1] = address;
ryosuke 2:6ab9a5b039d1 75
ryosuke 2:6ab9a5b039d1 76 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
ryosuke 2:6ab9a5b039d1 77
ryosuke 2:6ab9a5b039d1 78 }
ryosuke 2:6ab9a5b039d1 79
ryosuke 2:6ab9a5b039d1 80 char ITG3200::getSampleRateDivider(void){
ryosuke 2:6ab9a5b039d1 81
ryosuke 2:6ab9a5b039d1 82 char tx = SMPLRT_DIV_REG;
ryosuke 2:6ab9a5b039d1 83 char rx;
ryosuke 2:6ab9a5b039d1 84
ryosuke 2:6ab9a5b039d1 85 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 86
ryosuke 2:6ab9a5b039d1 87 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
ryosuke 2:6ab9a5b039d1 88
ryosuke 2:6ab9a5b039d1 89 return rx;
ryosuke 2:6ab9a5b039d1 90
ryosuke 2:6ab9a5b039d1 91 }
ryosuke 2:6ab9a5b039d1 92
ryosuke 2:6ab9a5b039d1 93 void ITG3200::setSampleRateDivider(char divider){
ryosuke 2:6ab9a5b039d1 94
ryosuke 2:6ab9a5b039d1 95 char tx[2];
ryosuke 2:6ab9a5b039d1 96 tx[0] = SMPLRT_DIV_REG;
ryosuke 2:6ab9a5b039d1 97 tx[1] = divider;
ryosuke 2:6ab9a5b039d1 98
ryosuke 2:6ab9a5b039d1 99 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
ryosuke 2:6ab9a5b039d1 100
ryosuke 2:6ab9a5b039d1 101 }
ryosuke 2:6ab9a5b039d1 102
ryosuke 2:6ab9a5b039d1 103 int ITG3200::getInternalSampleRate(void){
ryosuke 2:6ab9a5b039d1 104
ryosuke 2:6ab9a5b039d1 105 char tx = DLPF_FS_REG;
ryosuke 2:6ab9a5b039d1 106 char rx;
ryosuke 2:6ab9a5b039d1 107
ryosuke 2:6ab9a5b039d1 108 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 109
ryosuke 2:6ab9a5b039d1 110 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
ryosuke 2:6ab9a5b039d1 111
ryosuke 2:6ab9a5b039d1 112 //DLPF_CFG == 0 -> sample rate = 8kHz.
ryosuke 2:6ab9a5b039d1 113 if(rx == 0){
ryosuke 2:6ab9a5b039d1 114 return 8;
ryosuke 2:6ab9a5b039d1 115 }
ryosuke 2:6ab9a5b039d1 116 //DLPF_CFG = 1..7 -> sample rate = 1kHz.
ryosuke 2:6ab9a5b039d1 117 else if(rx >= 1 && rx <= 7){
ryosuke 2:6ab9a5b039d1 118 return 1;
ryosuke 2:6ab9a5b039d1 119 }
ryosuke 2:6ab9a5b039d1 120 //DLPF_CFG = anything else -> something's wrong!
ryosuke 2:6ab9a5b039d1 121 else{
ryosuke 2:6ab9a5b039d1 122 return -1;
ryosuke 2:6ab9a5b039d1 123 }
ryosuke 2:6ab9a5b039d1 124
ryosuke 2:6ab9a5b039d1 125 }
ryosuke 2:6ab9a5b039d1 126
ryosuke 2:6ab9a5b039d1 127 void ITG3200::setLpBandwidth(char bandwidth){
ryosuke 2:6ab9a5b039d1 128
ryosuke 2:6ab9a5b039d1 129 char tx[2];
ryosuke 2:6ab9a5b039d1 130 tx[0] = DLPF_FS_REG;
ryosuke 2:6ab9a5b039d1 131 //Bits 4,3 are required to be 0x03 for proper operation.
ryosuke 2:6ab9a5b039d1 132 tx[1] = bandwidth | (0x03 << 3);
ryosuke 2:6ab9a5b039d1 133
ryosuke 2:6ab9a5b039d1 134 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
ryosuke 2:6ab9a5b039d1 135
ryosuke 2:6ab9a5b039d1 136 }
ryosuke 2:6ab9a5b039d1 137
ryosuke 2:6ab9a5b039d1 138 char ITG3200::getInterruptConfiguration(void){
ryosuke 2:6ab9a5b039d1 139
ryosuke 2:6ab9a5b039d1 140 char tx = INT_CFG_REG;
ryosuke 2:6ab9a5b039d1 141 char rx;
ryosuke 2:6ab9a5b039d1 142
ryosuke 2:6ab9a5b039d1 143 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 144
ryosuke 2:6ab9a5b039d1 145 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
ryosuke 2:6ab9a5b039d1 146
ryosuke 2:6ab9a5b039d1 147 return rx;
ryosuke 2:6ab9a5b039d1 148
ryosuke 2:6ab9a5b039d1 149 }
ryosuke 2:6ab9a5b039d1 150
ryosuke 2:6ab9a5b039d1 151 void ITG3200::setInterruptConfiguration(char config){
ryosuke 2:6ab9a5b039d1 152
ryosuke 2:6ab9a5b039d1 153 char tx[2];
ryosuke 2:6ab9a5b039d1 154 tx[0] = INT_CFG_REG;
ryosuke 2:6ab9a5b039d1 155 tx[1] = config;
ryosuke 2:6ab9a5b039d1 156
ryosuke 2:6ab9a5b039d1 157 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
ryosuke 2:6ab9a5b039d1 158
ryosuke 2:6ab9a5b039d1 159 }
ryosuke 2:6ab9a5b039d1 160
ryosuke 2:6ab9a5b039d1 161 bool ITG3200::isPllReady(void){
ryosuke 2:6ab9a5b039d1 162
ryosuke 2:6ab9a5b039d1 163 char tx = INT_STATUS;
ryosuke 2:6ab9a5b039d1 164 char rx;
ryosuke 2:6ab9a5b039d1 165
ryosuke 2:6ab9a5b039d1 166 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 167
ryosuke 2:6ab9a5b039d1 168 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
ryosuke 2:6ab9a5b039d1 169
ryosuke 2:6ab9a5b039d1 170 //ITG_RDY bit is bit 4 of INT_STATUS register.
ryosuke 2:6ab9a5b039d1 171 if(rx & 0x04){
ryosuke 2:6ab9a5b039d1 172 return true;
ryosuke 2:6ab9a5b039d1 173 }
ryosuke 2:6ab9a5b039d1 174 else{
ryosuke 2:6ab9a5b039d1 175 return false;
ryosuke 2:6ab9a5b039d1 176 }
ryosuke 2:6ab9a5b039d1 177
ryosuke 2:6ab9a5b039d1 178 }
ryosuke 2:6ab9a5b039d1 179
ryosuke 2:6ab9a5b039d1 180 bool ITG3200::isRawDataReady(void){
ryosuke 2:6ab9a5b039d1 181
ryosuke 2:6ab9a5b039d1 182 char tx = INT_STATUS;
ryosuke 2:6ab9a5b039d1 183 char rx;
ryosuke 2:6ab9a5b039d1 184
ryosuke 2:6ab9a5b039d1 185 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 186
ryosuke 2:6ab9a5b039d1 187 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
ryosuke 2:6ab9a5b039d1 188
ryosuke 2:6ab9a5b039d1 189 //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
ryosuke 2:6ab9a5b039d1 190 if(rx & 0x01){
ryosuke 2:6ab9a5b039d1 191 return true;
ryosuke 2:6ab9a5b039d1 192 }
ryosuke 2:6ab9a5b039d1 193 else{
ryosuke 2:6ab9a5b039d1 194 return false;
ryosuke 2:6ab9a5b039d1 195 }
ryosuke 2:6ab9a5b039d1 196
ryosuke 2:6ab9a5b039d1 197 }
ryosuke 2:6ab9a5b039d1 198
ryosuke 2:6ab9a5b039d1 199 float ITG3200::getTemperature(void){
ryosuke 2:6ab9a5b039d1 200
ryosuke 2:6ab9a5b039d1 201 char tx = TEMP_OUT_H_REG;
ryosuke 2:6ab9a5b039d1 202 char rx[2];
ryosuke 2:6ab9a5b039d1 203
ryosuke 2:6ab9a5b039d1 204 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 205
ryosuke 2:6ab9a5b039d1 206 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
ryosuke 2:6ab9a5b039d1 207
ryosuke 2:6ab9a5b039d1 208 int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]);
ryosuke 2:6ab9a5b039d1 209 //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
ryosuke 2:6ab9a5b039d1 210 return 35.0 + ((temperature + 13200)/280.0);
ryosuke 2:6ab9a5b039d1 211
ryosuke 2:6ab9a5b039d1 212 }
ryosuke 2:6ab9a5b039d1 213
ryosuke 2:6ab9a5b039d1 214 int ITG3200::getGyroX(void){
ryosuke 2:6ab9a5b039d1 215
ryosuke 2:6ab9a5b039d1 216 char tx = GYRO_XOUT_H_REG;
ryosuke 2:6ab9a5b039d1 217 char rx[2];
ryosuke 2:6ab9a5b039d1 218
ryosuke 2:6ab9a5b039d1 219 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 220
ryosuke 2:6ab9a5b039d1 221 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
ryosuke 2:6ab9a5b039d1 222
ryosuke 2:6ab9a5b039d1 223 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
ryosuke 2:6ab9a5b039d1 224
ryosuke 2:6ab9a5b039d1 225 return output;
ryosuke 2:6ab9a5b039d1 226
ryosuke 2:6ab9a5b039d1 227 }
ryosuke 2:6ab9a5b039d1 228
ryosuke 2:6ab9a5b039d1 229 int ITG3200::getGyroY(void){
ryosuke 2:6ab9a5b039d1 230
ryosuke 2:6ab9a5b039d1 231 char tx = GYRO_YOUT_H_REG;
ryosuke 2:6ab9a5b039d1 232 char rx[2];
ryosuke 2:6ab9a5b039d1 233
ryosuke 2:6ab9a5b039d1 234 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 235
ryosuke 2:6ab9a5b039d1 236 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
ryosuke 2:6ab9a5b039d1 237
ryosuke 2:6ab9a5b039d1 238 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
ryosuke 2:6ab9a5b039d1 239
ryosuke 2:6ab9a5b039d1 240 return output;
ryosuke 2:6ab9a5b039d1 241
ryosuke 2:6ab9a5b039d1 242 }
ryosuke 2:6ab9a5b039d1 243
ryosuke 2:6ab9a5b039d1 244 int ITG3200::getGyroZ(void){
ryosuke 2:6ab9a5b039d1 245
ryosuke 2:6ab9a5b039d1 246 char tx = GYRO_ZOUT_H_REG;
ryosuke 2:6ab9a5b039d1 247 char rx[2];
ryosuke 2:6ab9a5b039d1 248
ryosuke 2:6ab9a5b039d1 249 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 250
ryosuke 2:6ab9a5b039d1 251 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
ryosuke 2:6ab9a5b039d1 252
ryosuke 2:6ab9a5b039d1 253 int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
ryosuke 2:6ab9a5b039d1 254
ryosuke 2:6ab9a5b039d1 255 return output;
ryosuke 2:6ab9a5b039d1 256
ryosuke 2:6ab9a5b039d1 257 }
ryosuke 2:6ab9a5b039d1 258
ryosuke 2:6ab9a5b039d1 259 char ITG3200::getPowerManagement(void){
ryosuke 2:6ab9a5b039d1 260
ryosuke 2:6ab9a5b039d1 261 char tx = PWR_MGM_REG;
ryosuke 2:6ab9a5b039d1 262 char rx;
ryosuke 2:6ab9a5b039d1 263
ryosuke 2:6ab9a5b039d1 264 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
ryosuke 2:6ab9a5b039d1 265
ryosuke 2:6ab9a5b039d1 266 i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
ryosuke 2:6ab9a5b039d1 267
ryosuke 2:6ab9a5b039d1 268 return rx;
ryosuke 2:6ab9a5b039d1 269
ryosuke 2:6ab9a5b039d1 270 }
ryosuke 2:6ab9a5b039d1 271
ryosuke 2:6ab9a5b039d1 272 void ITG3200::setPowerManagement(char config){
ryosuke 2:6ab9a5b039d1 273
ryosuke 2:6ab9a5b039d1 274 char tx[2];
ryosuke 2:6ab9a5b039d1 275 tx[0] = PWR_MGM_REG;
ryosuke 2:6ab9a5b039d1 276 tx[1] = config;
ryosuke 2:6ab9a5b039d1 277
ryosuke 2:6ab9a5b039d1 278 i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
ryosuke 2:6ab9a5b039d1 279
ryosuke 2:6ab9a5b039d1 280 }