Larry Littlefield / IMU10DOF

IMU 10dof MEMS from DR Robot adapted from HK10DOF Changed gyro to ITG3200

Fork of HK10DOF by Aloïs Wolff

WARNING: This project is not complete, but this library seems ok so far.

I have the module DFRobotics.com 10DOF MEMS IMU. I wanted a concise module for resolving direction and movement.

I found HK10DOF library (http://developer.mbed.org/users/pommzorz/code/HK10DOF/) with quaternions. But it used a different gyro. So I modified that code to use the same higher level calls but use the ITG3200 low level calls.

ITG3200.h@4:c4db4e2ffdd7, 2014-11-18 (annotated)

Committer:
svkatielee
Date:
Tue Nov 18 06:28:56 2014 +0000
Revision:
4:c4db4e2ffdd7
Changed gyro sensor to ITG3200

Who changed what in which revision?

UserRevisionLine numberNew contents of line
svkatielee 4:c4db4e2ffdd7 1 /**
svkatielee 4:c4db4e2ffdd7 2 * @author Larry Littlefield http://kb7kmo.blogspot.com
svkatielee 4:c4db4e2ffdd7 3 * lots of copping
svkatielee 4:c4db4e2ffdd7 4 * Ported from Pololu L3G4200D library for Arduino by
svkatielee 4:c4db4e2ffdd7 5 * @author Michael Shimniok http://bot-thoughts.com
svkatielee 4:c4db4e2ffdd7 6 * @author Uwe Gartmann
svkatielee 4:c4db4e2ffdd7 7 * @author Used ITG3200 library developed Aaron Berk as template
svkatielee 4:c4db4e2ffdd7 8 *
svkatielee 4:c4db4e2ffdd7 9 * @section LICENSE
svkatielee 4:c4db4e2ffdd7 10 *
svkatielee 4:c4db4e2ffdd7 11 * Copyright (c) 2010 ARM Limited
svkatielee 4:c4db4e2ffdd7 12 *
svkatielee 4:c4db4e2ffdd7 13 * Permission is hereby granted, free of charge, to any person obtaining a copy
svkatielee 4:c4db4e2ffdd7 14 * of this software and associated documentation files (the "Software"), to deal
svkatielee 4:c4db4e2ffdd7 15 * in the Software without restriction, including without limitation the rights
svkatielee 4:c4db4e2ffdd7 16 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
svkatielee 4:c4db4e2ffdd7 17 * copies of the Software, and to permit persons to whom the Software is
svkatielee 4:c4db4e2ffdd7 18 * furnished to do so, subject to the following conditions:
svkatielee 4:c4db4e2ffdd7 19 *
svkatielee 4:c4db4e2ffdd7 20 * The above copyright notice and this permission notice shall be included in
svkatielee 4:c4db4e2ffdd7 21 * all copies or substantial portions of the Software.
svkatielee 4:c4db4e2ffdd7 22 *
svkatielee 4:c4db4e2ffdd7 23 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
svkatielee 4:c4db4e2ffdd7 24 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
svkatielee 4:c4db4e2ffdd7 25 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
svkatielee 4:c4db4e2ffdd7 26 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
svkatielee 4:c4db4e2ffdd7 27 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
svkatielee 4:c4db4e2ffdd7 28 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
svkatielee 4:c4db4e2ffdd7 29 * THE SOFTWARE.
svkatielee 4:c4db4e2ffdd7 30 *
svkatielee 4:c4db4e2ffdd7 31 * @section DESCRIPTION
svkatielee 4:c4db4e2ffdd7 32 *
svkatielee 4:c4db4e2ffdd7 33 * ITG-3200 triple axis, digital interface, gyroscope.
svkatielee 4:c4db4e2ffdd7 34 *
svkatielee 4:c4db4e2ffdd7 35 * Datasheet:
svkatielee 4:c4db4e2ffdd7 36 *
svkatielee 4:c4db4e2ffdd7 37 * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf
svkatielee 4:c4db4e2ffdd7 38 */
svkatielee 4:c4db4e2ffdd7 39
svkatielee 4:c4db4e2ffdd7 40 #ifndef ITG3200_H
svkatielee 4:c4db4e2ffdd7 41 #define ITG3200_H
svkatielee 4:c4db4e2ffdd7 42
svkatielee 4:c4db4e2ffdd7 43 /**
svkatielee 4:c4db4e2ffdd7 44 * Includes
svkatielee 4:c4db4e2ffdd7 45 */
svkatielee 4:c4db4e2ffdd7 46 #include "mbed.h"
svkatielee 4:c4db4e2ffdd7 47
svkatielee 4:c4db4e2ffdd7 48 /** Interface library for the ITG3200 3-axis gyro
svkatielee 4:c4db4e2ffdd7 49 *
svkatielee 4:c4db4e2ffdd7 50 * Ported from Pololu L3G4200D library for Arduino by
svkatielee 4:c4db4e2ffdd7 51 * Michael Shimniok http://bot-thoughts.com
svkatielee 4:c4db4e2ffdd7 52 * Then ported to ITG3200 by
svkatielee 4:c4db4e2ffdd7 53 * Larry Littlefield http://kb7kmo.blogspot.com
svkatielee 4:c4db4e2ffdd7 54 *
svkatielee 4:c4db4e2ffdd7 55 * testing target: NUCLEO-F401RE
svkatielee 4:c4db4e2ffdd7 56 * The reason for port is to make compatable calls so it can replace the
svkatielee 4:c4db4e2ffdd7 57 * L3G4200D library in the renamed HK10DOK sensor library
svkatielee 4:c4db4e2ffdd7 58 * new lib name is IMU10DOF
svkatielee 4:c4db4e2ffdd7 59 *
svkatielee 4:c4db4e2ffdd7 60 * @code
svkatielee 4:c4db4e2ffdd7 61 * #include "mbed.h"
svkatielee 4:c4db4e2ffdd7 62 * #include "ITG3200.h"
svkatielee 4:c4db4e2ffdd7 63 * ITG3200 gyro(p28, p27);
svkatielee 4:c4db4e2ffdd7 64 * ...
svkatielee 4:c4db4e2ffdd7 65 * int g[3];
svkatielee 4:c4db4e2ffdd7 66 * gyro.read(g);
svkatielee 4:c4db4e2ffdd7 67 * @endcode
svkatielee 4:c4db4e2ffdd7 68 */typedef char byte;
svkatielee 4:c4db4e2ffdd7 69 /**
svkatielee 4:c4db4e2ffdd7 70 * Defines
svkatielee 4:c4db4e2ffdd7 71 */
svkatielee 4:c4db4e2ffdd7 72 #define ITG3200_I2C_ADDRESS 0x68 //7-bit address.
svkatielee 4:c4db4e2ffdd7 73
svkatielee 4:c4db4e2ffdd7 74 //-----------
svkatielee 4:c4db4e2ffdd7 75 // Registers
svkatielee 4:c4db4e2ffdd7 76 //-----------
svkatielee 4:c4db4e2ffdd7 77 #define WHO_AM_I_REG 0x00
svkatielee 4:c4db4e2ffdd7 78 #define SMPLRT_DIV_REG 0x15
svkatielee 4:c4db4e2ffdd7 79 #define DLPF_FS_REG 0x16
svkatielee 4:c4db4e2ffdd7 80 #define INT_CFG_REG 0x17
svkatielee 4:c4db4e2ffdd7 81 #define INT_STATUS 0x1A
svkatielee 4:c4db4e2ffdd7 82 #define TEMP_OUT_H_REG 0x1B
svkatielee 4:c4db4e2ffdd7 83 #define TEMP_OUT_L_REG 0x1C
svkatielee 4:c4db4e2ffdd7 84 #define GYRO_XOUT_H_REG 0x1D
svkatielee 4:c4db4e2ffdd7 85 #define GYRO_XOUT_L_REG 0x1E
svkatielee 4:c4db4e2ffdd7 86 #define GYRO_YOUT_H_REG 0x1F
svkatielee 4:c4db4e2ffdd7 87 #define GYRO_YOUT_L_REG 0x20
svkatielee 4:c4db4e2ffdd7 88 #define GYRO_ZOUT_H_REG 0x21
svkatielee 4:c4db4e2ffdd7 89 #define GYRO_ZOUT_L_REG 0x22
svkatielee 4:c4db4e2ffdd7 90 #define PWR_MGM_REG 0x3E
svkatielee 4:c4db4e2ffdd7 91
svkatielee 4:c4db4e2ffdd7 92 //----------------------------
svkatielee 4:c4db4e2ffdd7 93 // Low Pass Filter Bandwidths
svkatielee 4:c4db4e2ffdd7 94 //----------------------------
svkatielee 4:c4db4e2ffdd7 95 #define LPFBW_256HZ 0x00
svkatielee 4:c4db4e2ffdd7 96 #define LPFBW_188HZ 0x01
svkatielee 4:c4db4e2ffdd7 97 #define LPFBW_98HZ 0x02
svkatielee 4:c4db4e2ffdd7 98 #define LPFBW_42HZ 0x03
svkatielee 4:c4db4e2ffdd7 99 #define LPFBW_20HZ 0x04
svkatielee 4:c4db4e2ffdd7 100 #define LPFBW_10HZ 0x05
svkatielee 4:c4db4e2ffdd7 101 #define LPFBW_5HZ 0x06
svkatielee 4:c4db4e2ffdd7 102
svkatielee 4:c4db4e2ffdd7 103 /**
svkatielee 4:c4db4e2ffdd7 104 * ITG-3200 triple axis digital gyroscope.
svkatielee 4:c4db4e2ffdd7 105 */
svkatielee 4:c4db4e2ffdd7 106
svkatielee 4:c4db4e2ffdd7 107 class ITG3200
svkatielee 4:c4db4e2ffdd7 108 {
svkatielee 4:c4db4e2ffdd7 109 public:
svkatielee 4:c4db4e2ffdd7 110 /** Create a new ITG3200 I2C interface
svkatielee 4:c4db4e2ffdd7 111 * @param sda is the pin for the I2C SDA line
svkatielee 4:c4db4e2ffdd7 112 * @param scl is the pin for the I2C SCL line
svkatielee 4:c4db4e2ffdd7 113 */
svkatielee 4:c4db4e2ffdd7 114 ITG3200(PinName sda, PinName scl);
svkatielee 4:c4db4e2ffdd7 115
svkatielee 4:c4db4e2ffdd7 116 /** Read gyro values
svkatielee 4:c4db4e2ffdd7 117 * @param g Array containing x, y, and z gyro values
svkatielee 4:c4db4e2ffdd7 118 * @return g Array containing x, y, and z gyro values
svkatielee 4:c4db4e2ffdd7 119 */
svkatielee 4:c4db4e2ffdd7 120 void init(void);
svkatielee 4:c4db4e2ffdd7 121
svkatielee 4:c4db4e2ffdd7 122 void status(byte *s); // read first 4 status registers of ITG3200 into passed array
svkatielee 4:c4db4e2ffdd7 123
svkatielee 4:c4db4e2ffdd7 124 /** Read gyro values
svkatielee 4:c4db4e2ffdd7 125 * @param g Array containing x, y, and z gyro values
svkatielee 4:c4db4e2ffdd7 126 * modifies the g Array containing x, y, and z gyro values
svkatielee 4:c4db4e2ffdd7 127 */
svkatielee 4:c4db4e2ffdd7 128 void read(int *g);
svkatielee 4:c4db4e2ffdd7 129
svkatielee 4:c4db4e2ffdd7 130 /** Read3 gyro values as integers
svkatielee 4:c4db4e2ffdd7 131 * @param int x, y, and z gyro values
svkatielee 4:c4db4e2ffdd7 132 * modifies the int x, y, and z gyro values
svkatielee 4:c4db4e2ffdd7 133 */
svkatielee 4:c4db4e2ffdd7 134 void read3(int x, int y, int z);
svkatielee 4:c4db4e2ffdd7 135
svkatielee 4:c4db4e2ffdd7 136 /** Reads
svkatielee 4:c4db4e2ffdd7 137 * @parm unsigned int totSamples with
svkatielee 4:c4db4e2ffdd7 138 * @parm unsigned int sampleDelayMS
svkatielee 4:c4db4e2ffdd7 139 * then saves the calculated offsetsto private variables
svkatielee 4:c4db4e2ffdd7 140 */
svkatielee 4:c4db4e2ffdd7 141 void zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS);
svkatielee 4:c4db4e2ffdd7 142
svkatielee 4:c4db4e2ffdd7 143 /** calls read with an array pointer, adds offsets to modify the array
svkatielee 4:c4db4e2ffdd7 144 * x,y,z will contain calibrated integer values from the sensor
svkatielee 4:c4db4e2ffdd7 145 */
svkatielee 4:c4db4e2ffdd7 146 void readRawCal(int *_GyroXYZ);
svkatielee 4:c4db4e2ffdd7 147
svkatielee 4:c4db4e2ffdd7 148 /** calls readRawCal multiplies gains to modify the array
svkatielee 4:c4db4e2ffdd7 149 */
svkatielee 4:c4db4e2ffdd7 150 void readFin(float *_GyroXYZ); // includes gain and offset
svkatielee 4:c4db4e2ffdd7 151
svkatielee 4:c4db4e2ffdd7 152 private:
svkatielee 4:c4db4e2ffdd7 153 volatile float gains[3];
svkatielee 4:c4db4e2ffdd7 154 volatile int offsets[3];
svkatielee 4:c4db4e2ffdd7 155 volatile float polarities[3];
svkatielee 4:c4db4e2ffdd7 156
svkatielee 4:c4db4e2ffdd7 157 void setGains(float _Xgain, float _Ygain, float _Zgain);
svkatielee 4:c4db4e2ffdd7 158 void setOffsets(int _Xoffset, int _Yoffset, int _Zoffset);
svkatielee 4:c4db4e2ffdd7 159 void setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol); // true = Reversed false = default
svkatielee 4:c4db4e2ffdd7 160
svkatielee 4:c4db4e2ffdd7 161
svkatielee 4:c4db4e2ffdd7 162 byte data[6];
svkatielee 4:c4db4e2ffdd7 163 int _rates[3];
svkatielee 4:c4db4e2ffdd7 164 I2C _device;
svkatielee 4:c4db4e2ffdd7 165 void writeReg(byte reg, byte value);
svkatielee 4:c4db4e2ffdd7 166 byte readReg(byte reg);
svkatielee 4:c4db4e2ffdd7 167 void enableDefault(void);
svkatielee 4:c4db4e2ffdd7 168 };
svkatielee 4:c4db4e2ffdd7 169
svkatielee 4:c4db4e2ffdd7 170 #endif /* ITG3200_H */