ITG3200.cpp

00001 /**
00002  * @author Aaron Berk
00003  *
00004  * @section LICENSE
00005  *
00006  * Copyright (c) 2010 ARM Limited
00007  *
00008  * Permission is hereby granted, free of charge, to any person obtaining a copy
00009  * of this software and associated documentation files (the "Software"), to deal
00010  * in the Software without restriction, including without limitation the rights
00011  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00012  * copies of the Software, and to permit persons to whom the Software is
00013  * furnished to do so, subject to the following conditions:
00014  *
00015  * The above copyright notice and this permission notice shall be included in
00016  * all copies or substantial portions of the Software.
00017  *
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00019  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00020  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00021  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00022  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00023  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00024  * THE SOFTWARE.
00025  *
00026  * @section DESCRIPTION
00027  *
00028  * ITG-3200 triple axis, digital interface, gyroscope.
00029  *
00030  * Datasheet:
00031  *
00032  * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
00033  */
00034 
00035 /**
00036  * Includes
00037  */
00038 #include "ITG3200.h"
00039 
00040 ITG3200::ITG3200(I2C &i2c) : i2c_(i2c) {
00041     initialize();
00042 }
00043 
00044 ITG3200::ITG3200(PinName sda, PinName scl) : i2c_(sda, scl) {
00045     //400kHz, fast mode.
00046     //i2c_.frequency(400000);
00047     
00048     initialize();
00049 }
00050 
00051 void ITG3200::initialize(){  
00052     //Set FS_SEL to 0x03 for proper operation.
00053     //See datasheet for details.
00054     char tx[2];
00055     tx[0] = DLPF_FS_REG;
00056     //FS_SEL bits sit in bits 4 and 3 of DLPF_FS register.
00057     tx[1] = 0x03 << 3;
00058     
00059     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);   
00060 }
00061 
00062 char ITG3200::getWhoAmI(void){
00063 
00064     //WhoAmI Register address.
00065     char tx = WHO_AM_I_REG;
00066     char rx;
00067     
00068     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00069     
00070     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00071     
00072     return rx;
00073 
00074 }
00075 
00076 void ITG3200::setWhoAmI(char address){
00077 
00078     char tx[2];
00079     tx[0] = WHO_AM_I_REG;
00080     tx[1] = address;
00081     
00082     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00083 
00084 }
00085 
00086 char ITG3200::getSampleRateDivider(void){
00087 
00088     char tx = SMPLRT_DIV_REG;
00089     char rx;
00090     
00091     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00092     
00093     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00094 
00095     return rx;
00096 
00097 }
00098 
00099 void ITG3200::setSampleRateDivider(char divider){
00100 
00101     char tx[2];
00102     tx[0] = SMPLRT_DIV_REG;
00103     tx[1] = divider;
00104 
00105     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00106 
00107 }
00108 
00109 int ITG3200::getInternalSampleRate(void){
00110 
00111     char tx = DLPF_FS_REG;
00112     char rx;
00113     
00114     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00115     
00116     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00117     
00118     //DLPF_CFG == 0 -> sample rate = 8kHz.
00119     if(rx == 0){
00120         return 8;
00121     } 
00122     //DLPF_CFG = 1..7 -> sample rate = 1kHz.
00123     else if(rx >= 1 && rx <= 7){
00124         return 1;
00125     }
00126     //DLPF_CFG = anything else -> something's wrong!
00127     else{
00128         return -1;
00129     }
00130     
00131 }
00132 
00133 void ITG3200::setLpBandwidth(char bandwidth){
00134 
00135     char tx[2];
00136     tx[0] = DLPF_FS_REG;
00137     //Bits 4,3 are required to be 0x03 for proper operation.
00138     tx[1] = bandwidth | (0x03 << 3);
00139     
00140     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00141 
00142 }
00143 
00144 char ITG3200::getInterruptConfiguration(void){
00145 
00146     char tx = INT_CFG_REG;
00147     char rx;
00148     
00149     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00150     
00151     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00152     
00153     return rx;
00154 
00155 }
00156 
00157 void ITG3200::setInterruptConfiguration(char config){
00158 
00159     char tx[2];
00160     tx[0] = INT_CFG_REG;
00161     tx[1] = config;
00162     
00163     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00164 
00165 }
00166 
00167 bool ITG3200::isPllReady(void){
00168 
00169     char tx = INT_STATUS;
00170     char rx;
00171     
00172     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00173     
00174     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00175     
00176     //ITG_RDY bit is bit 4 of INT_STATUS register.
00177     if(rx & 0x04){
00178         return true;
00179     }
00180     else{
00181         return false;
00182     }
00183     
00184 }
00185 
00186 bool ITG3200::isRawDataReady(void){
00187 
00188     char tx = INT_STATUS;
00189     char rx;
00190     
00191     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00192     
00193     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00194     
00195     //RAW_DATA_RDY bit is bit 1 of INT_STATUS register.
00196     if(rx & 0x01){
00197         return true;
00198     }
00199     else{
00200         return false;
00201     }
00202     
00203 }
00204 
00205 float ITG3200::getTemperature(void){
00206 
00207     char tx = TEMP_OUT_H_REG;
00208     char rx[2];
00209     
00210     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00211     
00212     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
00213     
00214     int16_t temperature = ((int) rx[0] << 8) | ((int) rx[1]);
00215     //Offset = -35 degrees, 13200 counts. 280 counts/degrees C.
00216     return 35.0 + ((temperature + 13200)/280.0);
00217     
00218 }
00219 
00220 int ITG3200::getGyroX(void){
00221 
00222     char tx = GYRO_XOUT_H_REG;
00223     char rx[2];
00224     
00225     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00226     
00227     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
00228     
00229     int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
00230 
00231     return output;
00232 
00233 }
00234 
00235 int ITG3200::getGyroY(void){
00236 
00237     char tx = GYRO_YOUT_H_REG;
00238     char rx[2];
00239     
00240     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00241     
00242     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
00243     
00244     int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
00245 
00246     return output;
00247 
00248 }
00249 
00250 int ITG3200::getGyroZ(void){
00251 
00252     char tx = GYRO_ZOUT_H_REG;
00253     char rx[2];
00254     
00255     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00256     
00257     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, rx, 2);
00258     
00259     int16_t output = ((int) rx[0] << 8) | ((int) rx[1]);
00260 
00261     return output;
00262     
00263 }
00264 
00265 char ITG3200::getPowerManagement(void){
00266 
00267     char tx = PWR_MGM_REG;
00268     char rx;
00269     
00270     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, &tx, 1);
00271     
00272     i2c_.read((ITG3200_I2C_ADDRESS << 1) | 0x01, &rx, 1);
00273     
00274     return rx;
00275 
00276 }
00277 
00278 void ITG3200::setPowerManagement(char config){
00279 
00280     char tx[2];
00281     tx[0] = PWR_MGM_REG;
00282     tx[1] = config;
00283 
00284     i2c_.write((ITG3200_I2C_ADDRESS << 1) & 0xFE, tx, 2);
00285 
00286 }