IMU 10dof MEMS from DR Robot adapted from HK10DOF Changed gyro to ITG3200
Fork of HK10DOF by
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.
Diff: ITG3200.h
- Revision:
- 4:c4db4e2ffdd7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ITG3200.h Tue Nov 18 06:28:56 2014 +0000 @@ -0,0 +1,170 @@ +/** + * @author Larry Littlefield http://kb7kmo.blogspot.com + * lots of copping + * Ported from Pololu L3G4200D library for Arduino by + * @author Michael Shimniok http://bot-thoughts.com + * @author Uwe Gartmann + * @author Used ITG3200 library developed Aaron Berk as template + * + * @section LICENSE + * + * Copyright (c) 2010 ARM Limited + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * @section DESCRIPTION + * + * ITG-3200 triple axis, digital interface, gyroscope. + * + * Datasheet: + * + * http://invensense.com/mems/gyro/documents/PS-ITG-3200-00-01.4.pdf + */ + +#ifndef ITG3200_H +#define ITG3200_H + +/** + * Includes + */ +#include "mbed.h" + +/** Interface library for the ITG3200 3-axis gyro + * + * Ported from Pololu L3G4200D library for Arduino by + * Michael Shimniok http://bot-thoughts.com + * Then ported to ITG3200 by + * Larry Littlefield http://kb7kmo.blogspot.com + * + * testing target: NUCLEO-F401RE + * The reason for port is to make compatable calls so it can replace the + * L3G4200D library in the renamed HK10DOK sensor library + * new lib name is IMU10DOF + * + * @code + * #include "mbed.h" + * #include "ITG3200.h" + * ITG3200 gyro(p28, p27); + * ... + * int g[3]; + * gyro.read(g); + * @endcode + */typedef char byte; +/** + * Defines + */ +#define ITG3200_I2C_ADDRESS 0x68 //7-bit address. + +//----------- +// Registers +//----------- +#define WHO_AM_I_REG 0x00 +#define SMPLRT_DIV_REG 0x15 +#define DLPF_FS_REG 0x16 +#define INT_CFG_REG 0x17 +#define INT_STATUS 0x1A +#define TEMP_OUT_H_REG 0x1B +#define TEMP_OUT_L_REG 0x1C +#define GYRO_XOUT_H_REG 0x1D +#define GYRO_XOUT_L_REG 0x1E +#define GYRO_YOUT_H_REG 0x1F +#define GYRO_YOUT_L_REG 0x20 +#define GYRO_ZOUT_H_REG 0x21 +#define GYRO_ZOUT_L_REG 0x22 +#define PWR_MGM_REG 0x3E + +//---------------------------- +// Low Pass Filter Bandwidths +//---------------------------- +#define LPFBW_256HZ 0x00 +#define LPFBW_188HZ 0x01 +#define LPFBW_98HZ 0x02 +#define LPFBW_42HZ 0x03 +#define LPFBW_20HZ 0x04 +#define LPFBW_10HZ 0x05 +#define LPFBW_5HZ 0x06 + +/** + * ITG-3200 triple axis digital gyroscope. + */ + +class ITG3200 +{ + public: + /** Create a new ITG3200 I2C interface + * @param sda is the pin for the I2C SDA line + * @param scl is the pin for the I2C SCL line + */ + ITG3200(PinName sda, PinName scl); + + /** Read gyro values + * @param g Array containing x, y, and z gyro values + * @return g Array containing x, y, and z gyro values + */ + void init(void); + + void status(byte *s); // read first 4 status registers of ITG3200 into passed array + + /** Read gyro values + * @param g Array containing x, y, and z gyro values + * modifies the g Array containing x, y, and z gyro values + */ + void read(int *g); + + /** Read3 gyro values as integers + * @param int x, y, and z gyro values + * modifies the int x, y, and z gyro values + */ + void read3(int x, int y, int z); + + /** Reads + * @parm unsigned int totSamples with + * @parm unsigned int sampleDelayMS + * then saves the calculated offsetsto private variables + */ + void zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS); + + /** calls read with an array pointer, adds offsets to modify the array + * x,y,z will contain calibrated integer values from the sensor + */ + void readRawCal(int *_GyroXYZ); + + /** calls readRawCal multiplies gains to modify the array + */ + void readFin(float *_GyroXYZ); // includes gain and offset + + private: + volatile float gains[3]; + volatile int offsets[3]; + volatile float polarities[3]; + + void setGains(float _Xgain, float _Ygain, float _Zgain); + void setOffsets(int _Xoffset, int _Yoffset, int _Zoffset); + void setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol); // true = Reversed false = default + + + byte data[6]; + int _rates[3]; + I2C _device; + void writeReg(byte reg, byte value); + byte readReg(byte reg); + void enableDefault(void); +}; + +#endif /* ITG3200_H */