Revision 0:13648b72bdf8, committed 2014-11-17

Comitter:

svkatielee

Date:

Mon Nov 17 11:05:55 2014 +0000

Commit message:

Modified the L3G4200D gyro lib to be ITG3200 with the same calls so it can be substituted in HK10DOF MEMS library.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.cpp	Mon Nov 17 11:05:55 2014 +0000
@@ -0,0 +1,191 @@
+/**
+ * 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, &reg, 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]);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.h	Mon Nov 17 11:05:55 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 */