i2c driver for ITG3200 gyroscope sensor
Fork of ITG3200 by
ITG3200.cpp@3:2dd53a8427e9, 2015-12-19 (annotated)
- Committer:
- sillevl
- Date:
- Sat Dec 19 10:41:01 2015 +0000
- Revision:
- 3:2dd53a8427e9
- Parent:
- 1:f27e66e954dd
add constructor that accepts I2C object
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
aberk | 0:b098d99dd81e | 1 | /** |
aberk | 0:b098d99dd81e | 2 | * @author Aaron Berk |
aberk | 0:b098d99dd81e | 3 | * |
aberk | 0:b098d99dd81e | 4 | * @section LICENSE |
aberk | 0:b098d99dd81e | 5 | * |
aberk | 0:b098d99dd81e | 6 | * Copyright (c) 2010 ARM Limited |
aberk | 0:b098d99dd81e | 7 | * |
aberk | 0:b098d99dd81e | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
aberk | 0:b098d99dd81e | 9 | * of this software and associated documentation files (the "Software"), to deal |
aberk | 0:b098d99dd81e | 10 | * in the Software without restriction, including without limitation the rights |
aberk | 0:b098d99dd81e | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
aberk | 0:b098d99dd81e | 12 | * copies of the Software, and to permit persons to whom the Software is |
aberk | 0:b098d99dd81e | 13 | * furnished to do so, subject to the following conditions: |
aberk | 0:b098d99dd81e | 14 | * |
aberk | 0:b098d99dd81e | 15 | * The above copyright notice and this permission notice shall be included in |
aberk | 0:b098d99dd81e | 16 | * all copies or substantial portions of the Software. |
aberk | 0:b098d99dd81e | 17 | * |
aberk | 0:b098d99dd81e | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
aberk | 0:b098d99dd81e | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
aberk | 0:b098d99dd81e | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
aberk | 0:b098d99dd81e | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
aberk | 0:b098d99dd81e | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
aberk | 0:b098d99dd81e | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
aberk | 0:b098d99dd81e | 24 | * THE SOFTWARE. |
aberk | 0:b098d99dd81e | 25 | * |
aberk | 0:b098d99dd81e | 26 | * @section DESCRIPTION |
aberk | 0:b098d99dd81e | 27 | * |
aberk | 0:b098d99dd81e | 28 | * ITG-3200 triple axis, digital interface, gyroscope. |
aberk | 0:b098d99dd81e | 29 | * |
aberk | 0:b098d99dd81e | 30 | * Datasheet: |
aberk | 0:b098d99dd81e | 31 | * |
aberk | 0:b098d99dd81e | 32 | * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf |
aberk | 0:b098d99dd81e | 33 | */ |
aberk | 0:b098d99dd81e | 34 | |
aberk | 0:b098d99dd81e | 35 | /** |
aberk | 0:b098d99dd81e | 36 | * Includes |
aberk | 0:b098d99dd81e | 37 | */ |
aberk | 0:b098d99dd81e | 38 | #include "ITG3200.h" |
aberk | 0:b098d99dd81e | 39 | |
sillevl | 3:2dd53a8427e9 | 40 | ITG3200::ITG3200(I2C &i2c) : i2c_(i2c) { |
sillevl | 3:2dd53a8427e9 | 41 | initialize(); |
sillevl | 3:2dd53a8427e9 | 42 | } |
sillevl | 3:2dd53a8427e9 | 43 | |
aberk | 0:b098d99dd81e | 44 | ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) { |
aberk | 0:b098d99dd81e | 45 | //400kHz, fast mode. |
sillevl | 1:f27e66e954dd | 46 | //i2c_.frequency(400000); |
aberk | 0:b098d99dd81e | 47 | |
sillevl | 3:2dd53a8427e9 | 48 | initialize(); |
sillevl | 3:2dd53a8427e9 | 49 | } |
sillevl | 3:2dd53a8427e9 | 50 | |
sillevl | 3:2dd53a8427e9 | 51 | void ITG3200::initialize(){ |
aberk | 0:b098d99dd81e | 52 | //Set FS_SEL to 0x03 for proper operation. |
aberk | 0:b098d99dd81e | 53 | //See datasheet for details. |
aberk | 0:b098d99dd81e | 54 | char tx[2]; |
aberk | 0:b098d99dd81e | 55 | tx[0] = DLPF_FS_REG; |
aberk | 0:b098d99dd81e | 56 | //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register. |
aberk | 0:b098d99dd81e | 57 | tx[1] = 0x03 << 3; |
aberk | 0:b098d99dd81e | 58 | |
sillevl | 3:2dd53a8427e9 | 59 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 60 | } |
aberk | 0:b098d99dd81e | 61 | |
aberk | 0:b098d99dd81e | 62 | char ITG3200::getWhoAmI(void){ |
aberk | 0:b098d99dd81e | 63 | |
aberk | 0:b098d99dd81e | 64 | //WhoAmI Register address. |
aberk | 0:b098d99dd81e | 65 | char tx = WHO_AM_I_REG; |
aberk | 0:b098d99dd81e | 66 | char rx; |
aberk | 0:b098d99dd81e | 67 | |
aberk | 0:b098d99dd81e | 68 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 69 | |
aberk | 0:b098d99dd81e | 70 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 71 | |
aberk | 0:b098d99dd81e | 72 | return rx; |
aberk | 0:b098d99dd81e | 73 | |
aberk | 0:b098d99dd81e | 74 | } |
aberk | 0:b098d99dd81e | 75 | |
aberk | 0:b098d99dd81e | 76 | void ITG3200::setWhoAmI(char address){ |
aberk | 0:b098d99dd81e | 77 | |
aberk | 0:b098d99dd81e | 78 | char tx[2]; |
aberk | 0:b098d99dd81e | 79 | tx[0] = WHO_AM_I_REG; |
aberk | 0:b098d99dd81e | 80 | tx[1] = address; |
aberk | 0:b098d99dd81e | 81 | |
aberk | 0:b098d99dd81e | 82 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 83 | |
aberk | 0:b098d99dd81e | 84 | } |
aberk | 0:b098d99dd81e | 85 | |
aberk | 0:b098d99dd81e | 86 | char ITG3200::getSampleRateDivider(void){ |
aberk | 0:b098d99dd81e | 87 | |
aberk | 0:b098d99dd81e | 88 | char tx = SMPLRT_DIV_REG; |
aberk | 0:b098d99dd81e | 89 | char rx; |
aberk | 0:b098d99dd81e | 90 | |
aberk | 0:b098d99dd81e | 91 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 92 | |
aberk | 0:b098d99dd81e | 93 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 94 | |
aberk | 0:b098d99dd81e | 95 | return rx; |
aberk | 0:b098d99dd81e | 96 | |
aberk | 0:b098d99dd81e | 97 | } |
aberk | 0:b098d99dd81e | 98 | |
aberk | 0:b098d99dd81e | 99 | void ITG3200::setSampleRateDivider(char divider){ |
aberk | 0:b098d99dd81e | 100 | |
aberk | 0:b098d99dd81e | 101 | char tx[2]; |
aberk | 0:b098d99dd81e | 102 | tx[0] = SMPLRT_DIV_REG; |
aberk | 0:b098d99dd81e | 103 | tx[1] = divider; |
aberk | 0:b098d99dd81e | 104 | |
aberk | 0:b098d99dd81e | 105 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 106 | |
aberk | 0:b098d99dd81e | 107 | } |
aberk | 0:b098d99dd81e | 108 | |
aberk | 0:b098d99dd81e | 109 | int ITG3200::getInternalSampleRate(void){ |
aberk | 0:b098d99dd81e | 110 | |
aberk | 0:b098d99dd81e | 111 | char tx = DLPF_FS_REG; |
aberk | 0:b098d99dd81e | 112 | char rx; |
aberk | 0:b098d99dd81e | 113 | |
aberk | 0:b098d99dd81e | 114 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 115 | |
aberk | 0:b098d99dd81e | 116 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 117 | |
aberk | 0:b098d99dd81e | 118 | //DLPF_CFG == 0 -> sample rate = 8kHz. |
aberk | 0:b098d99dd81e | 119 | if(rx == 0){ |
aberk | 0:b098d99dd81e | 120 | return 8; |
aberk | 0:b098d99dd81e | 121 | } |
aberk | 0:b098d99dd81e | 122 | //DLPF_CFG = 1..7 -> sample rate = 1kHz. |
aberk | 0:b098d99dd81e | 123 | else if(rx >= 1 && rx <= 7){ |
aberk | 0:b098d99dd81e | 124 | return 1; |
aberk | 0:b098d99dd81e | 125 | } |
aberk | 0:b098d99dd81e | 126 | //DLPF_CFG = anything else -> something's wrong! |
aberk | 0:b098d99dd81e | 127 | else{ |
aberk | 0:b098d99dd81e | 128 | return -1; |
aberk | 0:b098d99dd81e | 129 | } |
aberk | 0:b098d99dd81e | 130 | |
aberk | 0:b098d99dd81e | 131 | } |
aberk | 0:b098d99dd81e | 132 | |
aberk | 0:b098d99dd81e | 133 | void ITG3200::setLpBandwidth(char bandwidth){ |
aberk | 0:b098d99dd81e | 134 | |
aberk | 0:b098d99dd81e | 135 | char tx[2]; |
aberk | 0:b098d99dd81e | 136 | tx[0] = DLPF_FS_REG; |
aberk | 0:b098d99dd81e | 137 | //Bits 4,3 are required to be 0x03 for proper operation. |
aberk | 0:b098d99dd81e | 138 | tx[1] = bandwidth | (0x03 << 3); |
aberk | 0:b098d99dd81e | 139 | |
aberk | 0:b098d99dd81e | 140 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 141 | |
aberk | 0:b098d99dd81e | 142 | } |
aberk | 0:b098d99dd81e | 143 | |
aberk | 0:b098d99dd81e | 144 | char ITG3200::getInterruptConfiguration(void){ |
aberk | 0:b098d99dd81e | 145 | |
aberk | 0:b098d99dd81e | 146 | char tx = INT_CFG_REG; |
aberk | 0:b098d99dd81e | 147 | char rx; |
aberk | 0:b098d99dd81e | 148 | |
aberk | 0:b098d99dd81e | 149 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 150 | |
aberk | 0:b098d99dd81e | 151 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 152 | |
aberk | 0:b098d99dd81e | 153 | return rx; |
aberk | 0:b098d99dd81e | 154 | |
aberk | 0:b098d99dd81e | 155 | } |
aberk | 0:b098d99dd81e | 156 | |
aberk | 0:b098d99dd81e | 157 | void ITG3200::setInterruptConfiguration(char config){ |
aberk | 0:b098d99dd81e | 158 | |
aberk | 0:b098d99dd81e | 159 | char tx[2]; |
aberk | 0:b098d99dd81e | 160 | tx[0] = INT_CFG_REG; |
aberk | 0:b098d99dd81e | 161 | tx[1] = config; |
aberk | 0:b098d99dd81e | 162 | |
aberk | 0:b098d99dd81e | 163 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 164 | |
aberk | 0:b098d99dd81e | 165 | } |
aberk | 0:b098d99dd81e | 166 | |
aberk | 0:b098d99dd81e | 167 | bool ITG3200::isPllReady(void){ |
aberk | 0:b098d99dd81e | 168 | |
aberk | 0:b098d99dd81e | 169 | char tx = INT_STATUS; |
aberk | 0:b098d99dd81e | 170 | char rx; |
aberk | 0:b098d99dd81e | 171 | |
aberk | 0:b098d99dd81e | 172 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 173 | |
aberk | 0:b098d99dd81e | 174 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 175 | |
aberk | 0:b098d99dd81e | 176 | //ITG_RDY bit is bit 4 of INT_STATUS register. |
aberk | 0:b098d99dd81e | 177 | if(rx & 0x04){ |
aberk | 0:b098d99dd81e | 178 | return true; |
aberk | 0:b098d99dd81e | 179 | } |
aberk | 0:b098d99dd81e | 180 | else{ |
aberk | 0:b098d99dd81e | 181 | return false; |
aberk | 0:b098d99dd81e | 182 | } |
aberk | 0:b098d99dd81e | 183 | |
aberk | 0:b098d99dd81e | 184 | } |
aberk | 0:b098d99dd81e | 185 | |
aberk | 0:b098d99dd81e | 186 | bool ITG3200::isRawDataReady(void){ |
aberk | 0:b098d99dd81e | 187 | |
aberk | 0:b098d99dd81e | 188 | char tx = INT_STATUS; |
aberk | 0:b098d99dd81e | 189 | char rx; |
aberk | 0:b098d99dd81e | 190 | |
aberk | 0:b098d99dd81e | 191 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 192 | |
aberk | 0:b098d99dd81e | 193 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 194 | |
aberk | 0:b098d99dd81e | 195 | //RAW_DATA_RDY bit is bit 1 of INT_STATUS register. |
aberk | 0:b098d99dd81e | 196 | if(rx & 0x01){ |
aberk | 0:b098d99dd81e | 197 | return true; |
aberk | 0:b098d99dd81e | 198 | } |
aberk | 0:b098d99dd81e | 199 | else{ |
aberk | 0:b098d99dd81e | 200 | return false; |
aberk | 0:b098d99dd81e | 201 | } |
aberk | 0:b098d99dd81e | 202 | |
aberk | 0:b098d99dd81e | 203 | } |
aberk | 0:b098d99dd81e | 204 | |
aberk | 0:b098d99dd81e | 205 | float ITG3200::getTemperature(void){ |
aberk | 0:b098d99dd81e | 206 | |
aberk | 0:b098d99dd81e | 207 | char tx = TEMP_OUT_H_REG; |
aberk | 0:b098d99dd81e | 208 | char rx[2]; |
aberk | 0:b098d99dd81e | 209 | |
aberk | 0:b098d99dd81e | 210 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 211 | |
aberk | 0:b098d99dd81e | 212 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
aberk | 0:b098d99dd81e | 213 | |
aberk | 0:b098d99dd81e | 214 | int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]); |
aberk | 0:b098d99dd81e | 215 | //Offset = -35 degrees, 13200 counts. 280 counts/degrees C. |
aberk | 0:b098d99dd81e | 216 | return 35.0 + ((temperature + 13200)/280.0); |
aberk | 0:b098d99dd81e | 217 | |
aberk | 0:b098d99dd81e | 218 | } |
aberk | 0:b098d99dd81e | 219 | |
aberk | 0:b098d99dd81e | 220 | int ITG3200::getGyroX(void){ |
aberk | 0:b098d99dd81e | 221 | |
aberk | 0:b098d99dd81e | 222 | char tx = GYRO_XOUT_H_REG; |
aberk | 0:b098d99dd81e | 223 | char rx[2]; |
aberk | 0:b098d99dd81e | 224 | |
aberk | 0:b098d99dd81e | 225 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 226 | |
aberk | 0:b098d99dd81e | 227 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
aberk | 0:b098d99dd81e | 228 | |
aberk | 0:b098d99dd81e | 229 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
aberk | 0:b098d99dd81e | 230 | |
aberk | 0:b098d99dd81e | 231 | return output; |
aberk | 0:b098d99dd81e | 232 | |
aberk | 0:b098d99dd81e | 233 | } |
aberk | 0:b098d99dd81e | 234 | |
aberk | 0:b098d99dd81e | 235 | int ITG3200::getGyroY(void){ |
aberk | 0:b098d99dd81e | 236 | |
aberk | 0:b098d99dd81e | 237 | char tx = GYRO_YOUT_H_REG; |
aberk | 0:b098d99dd81e | 238 | char rx[2]; |
aberk | 0:b098d99dd81e | 239 | |
aberk | 0:b098d99dd81e | 240 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 241 | |
aberk | 0:b098d99dd81e | 242 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
aberk | 0:b098d99dd81e | 243 | |
aberk | 0:b098d99dd81e | 244 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
aberk | 0:b098d99dd81e | 245 | |
aberk | 0:b098d99dd81e | 246 | return output; |
aberk | 0:b098d99dd81e | 247 | |
aberk | 0:b098d99dd81e | 248 | } |
aberk | 0:b098d99dd81e | 249 | |
aberk | 0:b098d99dd81e | 250 | int ITG3200::getGyroZ(void){ |
aberk | 0:b098d99dd81e | 251 | |
aberk | 0:b098d99dd81e | 252 | char tx = GYRO_ZOUT_H_REG; |
aberk | 0:b098d99dd81e | 253 | char rx[2]; |
aberk | 0:b098d99dd81e | 254 | |
aberk | 0:b098d99dd81e | 255 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 256 | |
aberk | 0:b098d99dd81e | 257 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2); |
aberk | 0:b098d99dd81e | 258 | |
aberk | 0:b098d99dd81e | 259 | int16_t output = ((int) rx[0] << 8) | ((int) rx[1]); |
aberk | 0:b098d99dd81e | 260 | |
aberk | 0:b098d99dd81e | 261 | return output; |
aberk | 0:b098d99dd81e | 262 | |
aberk | 0:b098d99dd81e | 263 | } |
aberk | 0:b098d99dd81e | 264 | |
aberk | 0:b098d99dd81e | 265 | char ITG3200::getPowerManagement(void){ |
aberk | 0:b098d99dd81e | 266 | |
aberk | 0:b098d99dd81e | 267 | char tx = PWR_MGM_REG; |
aberk | 0:b098d99dd81e | 268 | char rx; |
aberk | 0:b098d99dd81e | 269 | |
aberk | 0:b098d99dd81e | 270 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1); |
aberk | 0:b098d99dd81e | 271 | |
aberk | 0:b098d99dd81e | 272 | i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1); |
aberk | 0:b098d99dd81e | 273 | |
aberk | 0:b098d99dd81e | 274 | return rx; |
aberk | 0:b098d99dd81e | 275 | |
aberk | 0:b098d99dd81e | 276 | } |
aberk | 0:b098d99dd81e | 277 | |
aberk | 0:b098d99dd81e | 278 | void ITG3200::setPowerManagement(char config){ |
aberk | 0:b098d99dd81e | 279 | |
aberk | 0:b098d99dd81e | 280 | char tx[2]; |
aberk | 0:b098d99dd81e | 281 | tx[0] = PWR_MGM_REG; |
aberk | 0:b098d99dd81e | 282 | tx[1] = config; |
aberk | 0:b098d99dd81e | 283 | |
aberk | 0:b098d99dd81e | 284 | i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2); |
aberk | 0:b098d99dd81e | 285 | |
aberk | 0:b098d99dd81e | 286 | } |