Ported to have same calls as L3G4200D lib so it can be substituted in HK10dof library ( which is being modified to use this and renamed IMU10DOF) platform NUCLEO-F401
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 consise 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@0:13648b72bdf8, 2014-11-17 (annotated)
- Committer:
- svkatielee
- Date:
- Mon Nov 17 11:05:55 2014 +0000
- Revision:
- 0:13648b72bdf8
Modified the L3G4200D gyro lib to be ITG3200 with the same calls so it can be substituted in HK10DOF MEMS library.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
svkatielee | 0:13648b72bdf8 | 1 | /** |
svkatielee | 0:13648b72bdf8 | 2 | * Copyright (c) 2011 Pololu Corporation. For more information, see |
svkatielee | 0:13648b72bdf8 | 3 | * |
svkatielee | 0:13648b72bdf8 | 4 | * http://www.pololu.com/ |
svkatielee | 0:13648b72bdf8 | 5 | * http://forum.pololu.com/ |
svkatielee | 0:13648b72bdf8 | 6 | * |
svkatielee | 0:13648b72bdf8 | 7 | * Permission is hereby granted, free of charge, to any person |
svkatielee | 0:13648b72bdf8 | 8 | * obtaining a copy of this software and associated documentation |
svkatielee | 0:13648b72bdf8 | 9 | * files (the "Software"), to deal in the Software without |
svkatielee | 0:13648b72bdf8 | 10 | * restriction, including without limitation the rights to use, |
svkatielee | 0:13648b72bdf8 | 11 | * copy, modify, merge, publish, distribute, sublicense, and/or sell |
svkatielee | 0:13648b72bdf8 | 12 | * copies of the Software, and to permit persons to whom the |
svkatielee | 0:13648b72bdf8 | 13 | * Software is furnished to do so, subject to the following |
svkatielee | 0:13648b72bdf8 | 14 | * conditions: |
svkatielee | 0:13648b72bdf8 | 15 | * |
svkatielee | 0:13648b72bdf8 | 16 | * The above copyright notice and this permission notice shall be |
svkatielee | 0:13648b72bdf8 | 17 | * included in all copies or substantial portions of the Software. |
svkatielee | 0:13648b72bdf8 | 18 | * |
svkatielee | 0:13648b72bdf8 | 19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
svkatielee | 0:13648b72bdf8 | 20 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
svkatielee | 0:13648b72bdf8 | 21 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
svkatielee | 0:13648b72bdf8 | 22 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
svkatielee | 0:13648b72bdf8 | 23 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
svkatielee | 0:13648b72bdf8 | 24 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
svkatielee | 0:13648b72bdf8 | 25 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
svkatielee | 0:13648b72bdf8 | 26 | * OTHER DEALINGS IN THE SOFTWARE. |
svkatielee | 0:13648b72bdf8 | 27 | */ |
svkatielee | 0:13648b72bdf8 | 28 | |
svkatielee | 0:13648b72bdf8 | 29 | #include "mbed.h" |
svkatielee | 0:13648b72bdf8 | 30 | #include "ITG3200.h" |
svkatielee | 0:13648b72bdf8 | 31 | #include <math.h> |
svkatielee | 0:13648b72bdf8 | 32 | |
svkatielee | 0:13648b72bdf8 | 33 | // Defines //////////////////////////////////////////////////////////////// |
svkatielee | 0:13648b72bdf8 | 34 | |
svkatielee | 0:13648b72bdf8 | 35 | // The Arduino two-wire interface uses a 7-bit number for the address, |
svkatielee | 0:13648b72bdf8 | 36 | // and sets the last bit correctly based on reads and writes |
svkatielee | 0:13648b72bdf8 | 37 | // mbed I2C libraries take the 7-bit address shifted left 1 bit |
svkatielee | 0:13648b72bdf8 | 38 | // #define GYR_ADDRESS (0xD2 >> 1) |
svkatielee | 0:13648b72bdf8 | 39 | #define GYR_ADDRESS (0x68 << 1) //ITG3200 |
svkatielee | 0:13648b72bdf8 | 40 | |
svkatielee | 0:13648b72bdf8 | 41 | // Public Methods ////////////////////////////////////////////////////////////// |
svkatielee | 0:13648b72bdf8 | 42 | |
svkatielee | 0:13648b72bdf8 | 43 | // Constructor |
svkatielee | 0:13648b72bdf8 | 44 | ITG3200::ITG3200(PinName sda, PinName scl): |
svkatielee | 0:13648b72bdf8 | 45 | _device(sda, scl) |
svkatielee | 0:13648b72bdf8 | 46 | { |
svkatielee | 0:13648b72bdf8 | 47 | _device.frequency(50000); |
svkatielee | 0:13648b72bdf8 | 48 | |
svkatielee | 0:13648b72bdf8 | 49 | //Set FS_SEL to 0x03 for proper operation. |
svkatielee | 0:13648b72bdf8 | 50 | writeReg(SMPLRT_DIV_REG, 0x07); // samplr rte 1000hz 7sample low pass filter |
svkatielee | 0:13648b72bdf8 | 51 | writeReg(DLPF_FS_REG, 0x03 << 3); |
svkatielee | 0:13648b72bdf8 | 52 | // writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale default for ITG3200 |
svkatielee | 0:13648b72bdf8 | 53 | writeReg(PWR_MGM_REG, 0x01); // CLK_SEL to x gyro |
svkatielee | 0:13648b72bdf8 | 54 | |
svkatielee | 0:13648b72bdf8 | 55 | setGains(2.0,2.0,2.0); |
svkatielee | 0:13648b72bdf8 | 56 | setOffsets(0.0,0.0,0.0); |
svkatielee | 0:13648b72bdf8 | 57 | |
svkatielee | 0:13648b72bdf8 | 58 | } |
svkatielee | 0:13648b72bdf8 | 59 | |
svkatielee | 0:13648b72bdf8 | 60 | // Initialize gyro again |
svkatielee | 0:13648b72bdf8 | 61 | void ITG3200::init(void) |
svkatielee | 0:13648b72bdf8 | 62 | { |
svkatielee | 0:13648b72bdf8 | 63 | //Set FS_SEL to 0x03 for proper operation. |
svkatielee | 0:13648b72bdf8 | 64 | writeReg(SMPLRT_DIV_REG, 0x07); // samplr rte 1000hz 7sample low pass filter |
svkatielee | 0:13648b72bdf8 | 65 | writeReg(DLPF_FS_REG, 0x03 << 3); |
svkatielee | 0:13648b72bdf8 | 66 | // writeReg(L3G4200D_CTRL_REG4, 0x20); // 2000 dps full scale default for ITG3200 |
svkatielee | 0:13648b72bdf8 | 67 | writeReg(PWR_MGM_REG, 0x01); // CLK_SEL to x gyro |
svkatielee | 0:13648b72bdf8 | 68 | |
svkatielee | 0:13648b72bdf8 | 69 | // initialize varaibles |
svkatielee | 0:13648b72bdf8 | 70 | setRevPolarity(false, false, false); |
svkatielee | 0:13648b72bdf8 | 71 | setGains(1.0,1.0,1.0); |
svkatielee | 0:13648b72bdf8 | 72 | setOffsets(0.0,0.0,0.0); |
svkatielee | 0:13648b72bdf8 | 73 | } |
svkatielee | 0:13648b72bdf8 | 74 | |
svkatielee | 0:13648b72bdf8 | 75 | // read status registers of ITG3200 |
svkatielee | 0:13648b72bdf8 | 76 | void ITG3200::status(byte *s) |
svkatielee | 0:13648b72bdf8 | 77 | { |
svkatielee | 0:13648b72bdf8 | 78 | s[0]=readReg(WHO_AM_I_REG); |
svkatielee | 0:13648b72bdf8 | 79 | s[1]=readReg(SMPLRT_DIV_REG); |
svkatielee | 0:13648b72bdf8 | 80 | s[2]=readReg(DLPF_FS_REG); |
svkatielee | 0:13648b72bdf8 | 81 | s[3]=readReg(PWR_MGM_REG); |
svkatielee | 0:13648b72bdf8 | 82 | } |
svkatielee | 0:13648b72bdf8 | 83 | |
svkatielee | 0:13648b72bdf8 | 84 | // Writes a gyro register |
svkatielee | 0:13648b72bdf8 | 85 | void ITG3200::writeReg(byte reg, byte value) |
svkatielee | 0:13648b72bdf8 | 86 | { |
svkatielee | 0:13648b72bdf8 | 87 | data[0] = reg; |
svkatielee | 0:13648b72bdf8 | 88 | data[1] = value; |
svkatielee | 0:13648b72bdf8 | 89 | |
svkatielee | 0:13648b72bdf8 | 90 | _device.write(GYR_ADDRESS, data, 2); |
svkatielee | 0:13648b72bdf8 | 91 | } |
svkatielee | 0:13648b72bdf8 | 92 | |
svkatielee | 0:13648b72bdf8 | 93 | // Reads a gyro register |
svkatielee | 0:13648b72bdf8 | 94 | byte ITG3200::readReg(byte reg) |
svkatielee | 0:13648b72bdf8 | 95 | { |
svkatielee | 0:13648b72bdf8 | 96 | byte value = 0; |
svkatielee | 0:13648b72bdf8 | 97 | |
svkatielee | 0:13648b72bdf8 | 98 | _device.write(GYR_ADDRESS, ®, 1); |
svkatielee | 0:13648b72bdf8 | 99 | _device.read(GYR_ADDRESS, &value, 1); |
svkatielee | 0:13648b72bdf8 | 100 | |
svkatielee | 0:13648b72bdf8 | 101 | return value; |
svkatielee | 0:13648b72bdf8 | 102 | } |
svkatielee | 0:13648b72bdf8 | 103 | |
svkatielee | 0:13648b72bdf8 | 104 | void ITG3200::setGains(float _Xgain, float _Ygain, float _Zgain) { |
svkatielee | 0:13648b72bdf8 | 105 | gains[0] = _Xgain; |
svkatielee | 0:13648b72bdf8 | 106 | gains[1] = _Ygain; |
svkatielee | 0:13648b72bdf8 | 107 | gains[2] = _Zgain; |
svkatielee | 0:13648b72bdf8 | 108 | } |
svkatielee | 0:13648b72bdf8 | 109 | |
svkatielee | 0:13648b72bdf8 | 110 | void ITG3200::setOffsets(int _Xoffset, int _Yoffset, int _Zoffset) { |
svkatielee | 0:13648b72bdf8 | 111 | offsets[0] = _Xoffset; |
svkatielee | 0:13648b72bdf8 | 112 | offsets[1] = _Yoffset; |
svkatielee | 0:13648b72bdf8 | 113 | offsets[2] = _Zoffset; |
svkatielee | 0:13648b72bdf8 | 114 | } |
svkatielee | 0:13648b72bdf8 | 115 | |
svkatielee | 0:13648b72bdf8 | 116 | void ITG3200::setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol) { |
svkatielee | 0:13648b72bdf8 | 117 | polarities[0] = _Xpol ? -1 : 1; |
svkatielee | 0:13648b72bdf8 | 118 | polarities[1] = _Ypol ? -1 : 1; |
svkatielee | 0:13648b72bdf8 | 119 | polarities[2] = _Zpol ? -1 : 1; |
svkatielee | 0:13648b72bdf8 | 120 | } |
svkatielee | 0:13648b72bdf8 | 121 | |
svkatielee | 0:13648b72bdf8 | 122 | |
svkatielee | 0:13648b72bdf8 | 123 | void ITG3200::zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS) { |
svkatielee | 0:13648b72bdf8 | 124 | int xyz[3]; |
svkatielee | 0:13648b72bdf8 | 125 | float tmpOffsets[] = {0,0,0}; |
svkatielee | 0:13648b72bdf8 | 126 | |
svkatielee | 0:13648b72bdf8 | 127 | for (unsigned int i = 0;i < totSamples;i++){ |
svkatielee | 0:13648b72bdf8 | 128 | wait_ms(sampleDelayMS); |
svkatielee | 0:13648b72bdf8 | 129 | read(xyz); |
svkatielee | 0:13648b72bdf8 | 130 | tmpOffsets[0] += xyz[0]; |
svkatielee | 0:13648b72bdf8 | 131 | tmpOffsets[1] += xyz[1]; |
svkatielee | 0:13648b72bdf8 | 132 | tmpOffsets[2] += xyz[2]; |
svkatielee | 0:13648b72bdf8 | 133 | } |
svkatielee | 0:13648b72bdf8 | 134 | setOffsets(-tmpOffsets[0] / totSamples, -tmpOffsets[1] / totSamples, -tmpOffsets[2] / totSamples); |
svkatielee | 0:13648b72bdf8 | 135 | } |
svkatielee | 0:13648b72bdf8 | 136 | |
svkatielee | 0:13648b72bdf8 | 137 | |
svkatielee | 0:13648b72bdf8 | 138 | // Reads the 3 gyro channels and stores them in vector g |
svkatielee | 0:13648b72bdf8 | 139 | void ITG3200::read(int *g) |
svkatielee | 0:13648b72bdf8 | 140 | { |
svkatielee | 0:13648b72bdf8 | 141 | // assert the MSB of the address to get the gyro |
svkatielee | 0:13648b72bdf8 | 142 | // to do slave-transmit subaddress updating. (ITG default) |
svkatielee | 0:13648b72bdf8 | 143 | data[0] = GYRO_XOUT_H_REG; |
svkatielee | 0:13648b72bdf8 | 144 | _device.write(GYR_ADDRESS, data, 1); |
svkatielee | 0:13648b72bdf8 | 145 | |
svkatielee | 0:13648b72bdf8 | 146 | // Wire.requestFrom(GYR_ADDRESS, 6); |
svkatielee | 0:13648b72bdf8 | 147 | // while (Wire.available() < 6); |
svkatielee | 0:13648b72bdf8 | 148 | |
svkatielee | 0:13648b72bdf8 | 149 | _device.read(GYR_ADDRESS, data, 6); |
svkatielee | 0:13648b72bdf8 | 150 | |
svkatielee | 0:13648b72bdf8 | 151 | uint8_t xha = data[0]; |
svkatielee | 0:13648b72bdf8 | 152 | uint8_t xla = data[1]; |
svkatielee | 0:13648b72bdf8 | 153 | uint8_t yha = data[2]; |
svkatielee | 0:13648b72bdf8 | 154 | uint8_t yla = data[3]; |
svkatielee | 0:13648b72bdf8 | 155 | uint8_t zha = data[4]; |
svkatielee | 0:13648b72bdf8 | 156 | uint8_t zla = data[5]; |
svkatielee | 0:13648b72bdf8 | 157 | |
svkatielee | 0:13648b72bdf8 | 158 | g[0] = (short) (yha << 8 | yla); |
svkatielee | 0:13648b72bdf8 | 159 | g[1] = (short) (xha << 8 | xla); |
svkatielee | 0:13648b72bdf8 | 160 | g[2] = (short) (zha << 8 | zla); |
svkatielee | 0:13648b72bdf8 | 161 | } |
svkatielee | 0:13648b72bdf8 | 162 | |
svkatielee | 0:13648b72bdf8 | 163 | void ITG3200::readRawCal(int *_GyroXYZ) { |
svkatielee | 0:13648b72bdf8 | 164 | read(_GyroXYZ); |
svkatielee | 0:13648b72bdf8 | 165 | _GyroXYZ[0] += offsets[0]; |
svkatielee | 0:13648b72bdf8 | 166 | _GyroXYZ[1] += offsets[1]; |
svkatielee | 0:13648b72bdf8 | 167 | _GyroXYZ[2] += offsets[2]; |
svkatielee | 0:13648b72bdf8 | 168 | } |
svkatielee | 0:13648b72bdf8 | 169 | |
svkatielee | 0:13648b72bdf8 | 170 | |
svkatielee | 0:13648b72bdf8 | 171 | |
svkatielee | 0:13648b72bdf8 | 172 | void ITG3200::read3(int x, int y, int z) { |
svkatielee | 0:13648b72bdf8 | 173 | int* r2; |
svkatielee | 0:13648b72bdf8 | 174 | //readings[0]=0; |
svkatielee | 0:13648b72bdf8 | 175 | //readings[1]=0; |
svkatielee | 0:13648b72bdf8 | 176 | //readings[2]=0; |
svkatielee | 0:13648b72bdf8 | 177 | read(r2); |
svkatielee | 0:13648b72bdf8 | 178 | |
svkatielee | 0:13648b72bdf8 | 179 | x = r2[0]; |
svkatielee | 0:13648b72bdf8 | 180 | y = r2[1]; |
svkatielee | 0:13648b72bdf8 | 181 | z = r2[2]; |
svkatielee | 0:13648b72bdf8 | 182 | } |
svkatielee | 0:13648b72bdf8 | 183 | |
svkatielee | 0:13648b72bdf8 | 184 | void ITG3200::readFin(float *_GyroXYZ){ |
svkatielee | 0:13648b72bdf8 | 185 | int xyz[3]; |
svkatielee | 0:13648b72bdf8 | 186 | |
svkatielee | 0:13648b72bdf8 | 187 | readRawCal(xyz); // x,y,z will contain calibrated integer values from the sensor |
svkatielee | 0:13648b72bdf8 | 188 | _GyroXYZ[0] = (float)(xyz[0]) / (14.375 * polarities[0] * gains[0]); |
svkatielee | 0:13648b72bdf8 | 189 | _GyroXYZ[1] = (float)(xyz[1]) / (14.375 * polarities[1] * gains[1]); |
svkatielee | 0:13648b72bdf8 | 190 | _GyroXYZ[2] = (float)(xyz[2]) / (14.375 * polarities[2] * gains[2]); |
svkatielee | 0:13648b72bdf8 | 191 | } |