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.
ITG3200.cpp
- Committer:
- svkatielee
- Date:
- 2014-11-18
- Revision:
- 4:c4db4e2ffdd7
File content as of revision 4:c4db4e2ffdd7:
/** * Copyright (c) 2011 Pololu Corporation. For more information, see * * http://www.pololu.com/ * http://forum.pololu.com/ * * 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. */ #include "mbed.h" #include "ITG3200.h" #include <math.h> // Defines //////////////////////////////////////////////////////////////// // The Arduino two-wire interface uses a 7-bit number for the address, // and sets the last bit correctly based on reads and writes // mbed I2C libraries take the 7-bit address shifted left 1 bit // #define GYR_ADDRESS (0xD2 >> 1) #define GYR_ADDRESS (0x68 << 1) //ITG3200 // Public Methods ////////////////////////////////////////////////////////////// // Constructor ITG3200::ITG3200(PinName sda, PinName scl): _device(sda, scl) { _device.frequency(50000); //Set FS_SEL to 0x03 for proper operation. writeReg(SMPLRT_DIV_REG, 0x07); // samplr rte 1000hz 7sample low pass filter writeReg(DLPF_FS_REG, 0x03 << 3); // writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale default for ITG3200 writeReg(PWR_MGM_REG, 0x01); // CLK_SEL to x gyro setGains(2.0,2.0,2.0); setOffsets(0.0,0.0,0.0); } // Initialize gyro again void ITG3200::init(void) { //Set FS_SEL to 0x03 for proper operation. writeReg(SMPLRT_DIV_REG, 0x07); // samplr rte 1000hz 7sample low pass filter writeReg(DLPF_FS_REG, 0x03 << 3); // writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale default for ITG3200 writeReg(PWR_MGM_REG, 0x01); // CLK_SEL to x gyro // initialize varaibles setRevPolarity(false, false, false); setGains(1.0,1.0,1.0); setOffsets(0.0,0.0,0.0); } // read status registers of ITG3200 void ITG3200::status(byte *s) { s[0]=readReg(WHO_AM_I_REG); s[1]=readReg(SMPLRT_DIV_REG); s[2]=readReg(DLPF_FS_REG); s[3]=readReg(PWR_MGM_REG); } // Writes a gyro register void ITG3200::writeReg(byte reg, byte value) { data[0] = reg; data[1] = value; _device.write(GYR_ADDRESS, data, 2); } // Reads a gyro register byte ITG3200::readReg(byte reg) { byte value = 0; _device.write(GYR_ADDRESS, ®, 1); _device.read(GYR_ADDRESS, &value, 1); return value; } void ITG3200::setGains(float _Xgain, float _Ygain, float _Zgain) { gains[0] = _Xgain; gains[1] = _Ygain; gains[2] = _Zgain; } void ITG3200::setOffsets(int _Xoffset, int _Yoffset, int _Zoffset) { offsets[0] = _Xoffset; offsets[1] = _Yoffset; offsets[2] = _Zoffset; } void ITG3200::setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol) { polarities[0] = _Xpol ? -1 : 1; polarities[1] = _Ypol ? -1 : 1; polarities[2] = _Zpol ? -1 : 1; } void ITG3200::zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS) { int xyz[3]; float tmpOffsets[] = {0,0,0}; for (unsigned int i = 0;i < totSamples;i++){ wait_ms(sampleDelayMS); read(xyz); tmpOffsets[0] += xyz[0]; tmpOffsets[1] += xyz[1]; tmpOffsets[2] += xyz[2]; } setOffsets(-tmpOffsets[0] / totSamples, -tmpOffsets[1] / totSamples, -tmpOffsets[2] / totSamples); } // Reads the 3 gyro channels and stores them in vector g void ITG3200::read(int *g) { // assert the MSB of the address to get the gyro // to do slave-transmit subaddress updating. (ITG default) data[0] = GYRO_XOUT_H_REG; _device.write(GYR_ADDRESS, data, 1); // Wire.requestFrom(GYR_ADDRESS, 6); // while (Wire.available() < 6); _device.read(GYR_ADDRESS, data, 6); uint8_t xha = data[0]; uint8_t xla = data[1]; uint8_t yha = data[2]; uint8_t yla = data[3]; uint8_t zha = data[4]; uint8_t zla = data[5]; g[0] = (short) (yha << 8 | yla); g[1] = (short) (xha << 8 | xla); g[2] = (short) (zha << 8 | zla); } void ITG3200::readRawCal(int *_GyroXYZ) { read(_GyroXYZ); _GyroXYZ[0] += offsets[0]; _GyroXYZ[1] += offsets[1]; _GyroXYZ[2] += offsets[2]; } void ITG3200::read3(int x, int y, int z) { int* r2; //readings[0]=0; //readings[1]=0; //readings[2]=0; read(r2); x = r2[0]; y = r2[1]; z = r2[2]; } void ITG3200::readFin(float *_GyroXYZ){ int xyz[3]; readRawCal(xyz); // x,y,z will contain calibrated integer values from the sensor _GyroXYZ[0] = (float)(xyz[0]) / (14.375 * polarities[0] * gains[0]); _GyroXYZ[1] = (float)(xyz[1]) / (14.375 * polarities[1] * gains[1]); _GyroXYZ[2] = (float)(xyz[2]) / (14.375 * polarities[2] * gains[2]); }